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1. 发明授权

US10478037B2 Method for operating a floor-cleaning device and floor-cleaning device 有权
公开(公告)号：US10478037B2
公开(公告)日：2019-11-19
申请号：US15014778
申请日：2016-02-03
申请人： Alfred Kärcher GmbH & Co. KG , robart GmbH
发明人： Markus Duenne , Michael Schahpar , Harold Artes
IPC分类号： A47L9/28 , G05D1/02
摘要： A method for operating a self-propelling and self-steering floor-cleaning device is provided, wherein at least one map of at least one room to be cleaned is storable in a storage unit of the floor-cleaning device, as is a user-predeterminable cleaning plan having one or more cleaning tasks, wherein at least one cleaning task is associated with a particular room that is identifiable from a map, and the floor-cleaning device is placed in a room. In order to provide a method of this kind that enables efficient execution of the cleaning plan, when the cleaning plan is executed, the floor-cleaning device determines whether the room in which it is placed is the particular room, and, if the result of this determination is negative, performance of the cleaning task is not carried out, is interrupted, or is ended. A floor-cleaning device for performing the method is also provided.

2. 发明申请

US20180180738A1 Optical triangulation sensor for distance measurement 审中-公开
公开(公告)号：US20180180738A1
公开(公告)日：2018-06-28
申请号：US15737510
申请日：2016-06-06
申请人： RobArt GmbH
发明人： Vladimir Alexandrov , Harold Artés , Christoph Freudenthaler , Michael Schahpar
IPC分类号： G01S17/48 , G01S7/481 , G01S17/93
CPC分类号： G01S17/48 , B25J9/1676 , G01S7/4813 , G01S17/936 , Y10S901/01 , Y10S901/47
摘要： An optical triangulation sensor for distance measurement is described herein. In accordance with one embodiment, the apparatus comprises a light source for the generation of structured light, an optical reception device, at least one attachment element and a carrier with a first groove on a lateral surface of the carrier, wherein the light source and/or optical reception device is at least partially arranged in the first groove and is held in place on the carrier by the attachment element.

3. 发明申请

US20150170509A1 INTERACTION BETWEEN A MOBILE ROBOT AND AN ALARM INSTALLATION 有权
标题翻译：移动机器人与报警安装之间的相互作用
公开(公告)号：US20150170509A1
公开(公告)日：2015-06-18
申请号：US14411578
申请日：2013-06-25
申请人： ROBART GMBH
发明人： Harold Artes , Michael Schahpar , Kai Iskratsch
IPC分类号： G08B29/18 , G08B13/00 , G08B25/00
CPC分类号： G08B29/18 , G05D1/0274 , G05D2201/0203 , G08B13/00 , G08B13/18 , G08B13/19608 , G08B13/19645 , G08B13/19656 , G08B13/19697 , G08B25/008 , G08B25/10 , G08B25/14 , G08B29/185 , H04N7/181
摘要： A system has a mobile robot for autonomously performing activities and a statically fitted alarm installation for monitoring an area. Accordingly, the robot and the alarm installation communicate with one another via a communication link. The mobile self-propelled robot uses a map of the environment to navigate across a floor space through at least a portion of the area and to locate its position on the map. Triggering of an alarm by the alarm installation is prevented when the robot moves into the area to be monitored. The triggering of the alarm by the alarm installation is made possible again when the robot moves out of the area to be monitored.
摘要翻译：系统具有用于自主执行活动的移动机器人和用于监视区域的静态安装的报警装置。因此，机器人和报警装置通过通信链路相互通信。移动自走式机器人使用环境地图通过至少一部分区域在地板空间上导航，并在地图上定位其位置。当机器人移动到要监视的区域时，防止报警安装触发报警。当机器人移出要监视的区域时，可以通过报警安装触发报警。

4. 发明授权

US11768494B2 Subdivision of maps for robot navigation 有权
公开(公告)号：US11768494B2
公开(公告)日：2023-09-26
申请号：US15775333
申请日：2016-11-11
申请人： RobArt GmbH
发明人： Harold Artes , Michael Schahpar , Dominik Seethaler , Reinhard Vogel
IPC分类号： G05D1/02 , G05D1/00
CPC分类号： G05D1/0214 , G05D1/0044 , G05D1/0219 , G05D1/0246 , G05D1/0274 , G05D2201/0203 , G05D2201/0215
摘要： An optical triangulation sensor for distance measurement is described herein. In accordance with one embodiment, the apparatus comprises a light source for the generation of structured light, an optical reception device, at least one attachment element and a carrier with a first groove on a lateral surface of the carrier, wherein the light source and/or optical reception device is at least partially arranged in the first groove and is held in place on the carrier by the attachment element.

5. 发明授权

US10362918B2 Self-propelled and self-steering floor cleaner and method for cleaning a floor surface 有权
公开(公告)号：US10362918B2
公开(公告)日：2019-07-30
申请号：US15342684
申请日：2016-11-03
申请人： Alfred Kärcher GmbH & Co. KG , robart GmbH
发明人： Christian Hofner , Christian Wurm , Heiko Hoennige , Barbara Pfister , Markus Duenne , Norman Kohler , Heiko Blumhardt , Michael Schahpar , Harold Artes
IPC分类号： G05D1/00 , A47L11/40 , A47L11/24 , A47L11/30 , B25J9/16 , B25J11/00 , B25J19/02 , G05D1/02
摘要： A self-propelled, self-steering floor cleaner is provided, including a cleaning device with at least one cleaning unit for cleaning a floor surface of a room having at least a section of an obstacle therein that is not in contact with the floor surface, a transmission unit for emitting radiation directed at the obstacle and the floor surface, a detection unit for detecting reflected radiation and providing a detection signal, a control unit coupled to the detection unit, and a chassis for movement on the floor surface including a drive unit coupled to the control unit, it being determinable from the detection signal whether a space and a cleanable floor surface section are present underneath the obstacle, the drive unit being actuatable to move the floor cleaner for cleaning the floor surface section, with at least one cleaning unit. The invention also relates to a method for cleaning a floor surface.

6. 发明授权

US09298183B2 Robot and method for autonomous inspection or processing of floor areas 有权
标题翻译：自动检测或处理地板面积的机器人和方法
公开(公告)号：US09298183B2
公开(公告)日：2016-03-29
申请号：US14430461
申请日：2013-09-24
申请人： RobArt GmbH
发明人： Harold Artés , Dominik Seethaler , Michael Schahpar
IPC分类号： G05D1/00 , G05D1/02 , A47L11/40
CPC分类号： G05D1/0022 , A47L11/4011 , G05D1/0219 , G05D1/0274 , G05D2201/0203
摘要： A mobile, self-propelling robot for carrying out activities autonomously is described. The robot can include a drive module for moving the robot over the floor surface, a processing module, a navigation module that navigates based on a map of the surroundings. The robot can also include a sensor module for sensing information relating to the structure of the surroundings, an analysis unit designed to determine the surface processed during a processing operation, to compare the surface and store information about a deviation therebetween, and a communication module to communicate the stored information about the deviation and thereby provide a user with the possibility of intervening, where on the basis of predefinable criteria it is decided whether information is to be communicated or not. The communication module can also receive a control instruction from the user and to interrupt, continue, modify or start again the processing operation.
摘要翻译：描述了一种用于自主进行活动的移动式自推进机器人。机器人可以包括用于将机器人移动到地板表面上的驱动模块，处理模块，基于周围地图导航的导航模块。机器人还可以包括用于感测与周围结构有关的信息的传感器模块，设计用于确定在处理操作期间处理的表面的分析单元，以比较表面并存储关于它们之间的偏差的信息;以及通信模块，传达所存储的关于偏差的信息，从而向用户提供干预的可能性，其中基于预定义的准则，决定是否传达信息。通信模块还可以从用户接收控制指令，并且中断，继续，修改或重新启动处理操作。

7. 发明授权

US11550054B2 Optical triangulation sensor for distance measurement 有权
公开(公告)号：US11550054B2
公开(公告)日：2023-01-10
申请号：US15737510
申请日：2016-06-06
申请人： RobArt GmbH
发明人： Vladimir Alexandrov , Harold Artés , Christoph Freudenthaler , Michael Schahpar
IPC分类号： G01S17/48 , G01S7/481 , G01S17/931 , B25J9/16
摘要： An optical triangulation sensor for distance measurement is described herein. In accordance with one embodiment, the apparatus comprises a light source for the generation of structured light, an optical reception device, at least one attachment element and a carrier with a first groove on a lateral surface of the carrier, wherein the light source and/or optical reception device is at least partially arranged in the first groove and is held in place on the carrier by the attachment element.

8. 发明授权

US09984558B2 Interaction between a mobile robot and an alarm installation 有权
公开(公告)号：US09984558B2
公开(公告)日：2018-05-29
申请号：US14411578
申请日：2013-06-25
申请人： ROBART GMBH
发明人： Harold Artes , Michael Schahpar , Kai Iskratsch
IPC分类号： G08B23/00 , G08B29/18 , G05D1/02 , G08B13/18 , G08B13/196 , G08B25/10 , G08B25/14 , H04N7/18 , G08B13/00 , G08B25/00
CPC分类号： G08B29/18 , G05D1/0274 , G05D2201/0203 , G08B13/00 , G08B13/18 , G08B13/19608 , G08B13/19645 , G08B13/19656 , G08B13/19697 , G08B25/008 , G08B25/10 , G08B25/14 , G08B29/185 , H04N7/181
摘要： A system has a mobile robot for autonomously performing activities and a statically fitted alarm installation for monitoring an area. Accordingly, the robot and the alarm installation communicate with one another via a communication link. The mobile self-propelled robot uses a map of the environment to navigate across a floor space through at least a portion of the area and to locate its position on the map. Triggering of an alarm by the alarm installation is prevented when the robot moves into the area to be monitored. The triggering of the alarm by the alarm installation is made possible again when the robot moves out of the area to be monitored.

9. 发明申请

US20150212520A1 Robot And Method For Autonomous Inspection Or Processing Of Floor Areas 有权
标题翻译：机器人和自动检测方法或地板处理方法
公开(公告)号：US20150212520A1
公开(公告)日：2015-07-30
申请号：US14430461
申请日：2013-09-24
申请人： ROBART GMBH
发明人： Harold Artés , Dominik Seethaler , Michael Schahpar
IPC分类号： G05D1/00 , A47L11/40 , G05D1/02
CPC分类号： G05D1/0022 , A47L11/4011 , G05D1/0219 , G05D1/0274 , G05D2201/0203
摘要： A mobile, self-propelling robot for carrying out activities autonomously is described. The robot can include a drive module for moving the robot over the floor surface, a processing module, a navigation module that navigates based on a map of the surroundings. The robot can also include a sensor module for sensing information relating to the structure of the surroundings, an analysis unit designed to determine the surface processed during a processing operation, to compare the surface and store information about a deviation therebetween, and a communication module to communicate the stored information about the deviation and thereby provide a user with the possibility of intervening, where on the basis of predefinable criteria it is decided whether information is to be communicated or not. The communication module can also receive a control instruction from the user and to interrupt, continue, modify or start again the processing operation.
摘要翻译：描述了一种用于自主进行活动的移动式自推进机器人。机器人可以包括用于将机器人移动到地板表面上的驱动模块，处理模块，基于周围地图导航的导航模块。机器人还可以包括用于感测与周围结构有关的信息的传感器模块，设计用于确定在处理操作期间处理的表面的分析单元，以比较表面并存储关于它们之间的偏差的信息;以及通信模块，传达所存储的关于偏差的信息，从而向用户提供干预的可能性，其中基于预定义的准则，决定是否传达信息。通信模块还可以从用户接收控制指令，并且中断，继续，修改或重新启动处理操作。

10. 发明授权

US12140965B2 Method for controlling an autonomous mobile robot 有权
公开(公告)号：US12140965B2
公开(公告)日：2024-11-12
申请号：US16323308
申请日：2017-08-04
申请人： RobArt GmbH
发明人： Harold Artes , Michael Schahpar , Dominik Seethaler , Reinhard Vogel , Daniel Bartel
IPC分类号： G05D1/02 , G01C21/00 , G05D1/00
CPC分类号： G05D1/0274 , G01C21/383 , G05D2201/0203
摘要： A method for controlling an autonomous mobile robot. According to one exemplary embodiment, the method comprises the storage and management of at least one map associated with an area of use for the robot and the navigation of the robot through the area of use for the robot, wherein the robot continuously determines its position on the map. The method further comprises the detection of a repositioning procedure, during which the robot carries out a movement that the robot itself cannot control. During this repositioning procedure, the robot detects information about its position and/or its state of motion with the aid of sensors and, based on the detected information, determines an estimated value for its position.

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