A method of operating a mobile cleaning robot can include navigating the mobile cleaning robot within an environment. Whether a movement condition is satisfied can be determined and a mopping pad tray can be moved relative to a body of the mobile cleaning robot between a cleaning position and a stored position in response to receipt of a command to move the mopping pad tray when the movement condition is satisfied.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
2.
WATER INGESTION BEHAVIORS OF MOBILE CLEANING ROBOT
A method of operating a mobile cleaning robot can include navigating the mobile cleaning robot within an environment. A vacuum system of the mobile cleaning robot can be operated to ingest debris from the environment. Whether a dispense condition is satisfied can be determined. Fluid can be dispensed from the mobile cleaning robot when the dispense condition is satisfied.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
3.
MOBILE CLEANING ROBOT WITH VARIABLE CLEANING FEATURES
A mobile cleaning robot can include a body movable within an environment and a debris bin located at least partially within the body. The robot can include a cleaning assembly connected to the body, where the cleaning assembly includes a first debris port connected to the debris bin and a second debris port connected to the debris bin.
A mobile cleaning robot movable within an environment can include a body, a drive arm, a container, a biasing element, and a link. The drive arm can be connected to the body and can be movable with respect to the body. The drive arm can support a drive wheel. The container can be connectable to the body and can be configured to carry a fluid therein. The biasing element can be connected to the drive arm to bias the drive wheel toward a floor surface. The link can be pivotably connected to the body and can be connected to the biasing element. The link can be engageable with the tank to adjust the biasing element based on an amount of the fluid in the container.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A cleaning station for a mobile robot includes a fluid vessel and a roller arranged in the fluid vessel. The fluid vessel is shaped to hold a cleaning fluid that at least partially submerges the roller. The cleaning station includes a control system configured to, when the mobile robot is docked at the cleaning station, cause rotation of the roller to direct cleaning fluid from the fluid vessel to a cleaning pad of the mobile robot in order to release debris from the cleaning pad.
A mobile cleaning robot can include a body movable within an environment and can define a suction duct. The cleaning assembly can be connected to the body and can be configured to at least partially define, together with a floor surface of the environment, a debris port connected to the suction duct. The cleaning assembly can be engageable with a surface of the environment to direct debris through the debris port, and the cleaning assembly can include a guide adjustable to alter suction through the debris port.
A47L 9/00 - DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
A47L 9/04 - Nozzles with driven brushes or agitators
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
A. cleaning pad for a mobile cleaning robot can include a backing layer, a cleaning layer, and a. card. The backing layer can be user-releasably securable to a pad tray of the mobile cleaning robot. The cleaning layer can be affixed to the backing layer and engageable with a floor surface. The card can be connected to at least one of the backing layer and the cleaning layer and can be engaged with the backing layer. The card can be slidably insertable into a retainer of the pad tray to align the cleaning pad with the pad tray of the mobile cleaning robot.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A method of operating a mobile cleaning robot system including a mobile cleaning robot and a display device can include displaying a room cleaning settings indication selectable to set one or more cleaning settings for a previously-mapped specified room. When the room cleaning settings indication is selected, a cleaning mode indication can be displayed where the cleaning mode indication is selectable to set a cleaning mode setting of the specified room.
A47L 11/30 - Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A47L 9/04 - Nozzles with driven brushes or agitators
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
A mobile cleaning robot can be movable within an environment. The mobile cleaning robot can include a body, a cleaning head, a biasing element, and a linkage. The cleaning head can be operable to extract debris from a floor surface and can be configured to move vertically relative to the body between an extended position and a retracted position. The biasing element can be connected to the body and can be movable with the cleaning head. The linkage can be connected to the cleaning head and the biasing element. The linkage can be rotatably connected to the body to, together with the biasing element, bias the cleaning head toward the retracted position.
A mobile cleaning robot can be movable within an environment, the mobile cleaning robot can include a body, a drive wheel arm, a drive wheel, a cam, and a cam follower. The drive wheel arm can be connected to the body and can be movable with respect to the body between an extended position and a retracted position. The drive wheel can be connected to the drive wheel arm and can be movable therewith. The drive wheel can be operable to move the mobile cleaning robot. The cam can be connected to the drive wheel arm and can be movable therewith. The cam follower can be connected to the body and can be engaged with the cam to move the drive wheel arm toward the extended position.
A47L 9/00 - DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
A robot cleaning system includes a mobile cleaning robot, a robot docking station, and a camera. The mobile cleaning robot includes a drive operable to move the mobile cleaning robot across a floor surface, a cleaning assembly configured to clean the floor surface, and a debris bin. The robot docking station includes a housing and a platform defined in the housing, the platform configured to receive the mobile cleaning robot in a docking position. The camera is configured to capture imagery of an underside of the mobile cleaning robot. In some implementations, the camera is disposed on or within the mobile cleaning robot. In some implementations, the camera is disposed in the platform of the robot docking station.
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
An autonomous robot is maneuvered around a feature in an environment along a first trajectory. Data characterizing the first trajectory is stored as a trajectory landmark. The autonomous cleaning robot is maneuvered along a second trajectory. Data characterizing the second trajectory is compared to the trajectory landmark. Based on comparing the data characterizing the second trajectory to the trajectory landmark, it is determined that the first trajectory matches the second trajectory. A transform that aligns the first trajectory with the second trajectory is determined. The transform is applied to an estimate of a position of the autonomous cleaning robot as a correction of the estimate.
A docking station for a mobile cleaning robot can include a base and a canister. The base can be configured to receive at least a portion of the mobile cleaning robot thereon. The base can include an electrical power interface configured to provide electrical power to the mobile cleaning robot. The canister can be connected to the base and can be located at least partially above the base. The canister can include a debris bin to receive debris from the mobile cleaning robot.
A47L 9/14 - Bags or the like; Attachment of, or closures for, bags
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A mobile cleaning robot can include a body, a drive wheel, and a wheel stop. The drive wheel can be connected to the body and can be operable to move the mobile cleaning robot about an environment. The wheel stop can be movable with respect to the body and the drive wheel between a stop position and a release position. The wheel stop can be engageable with the drive wheel in the stop position to limit vertical travel of the drive wheel with respect to the body.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A47L 9/00 - DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
A mobile cleaning robot can include a body, a drive wheel, and a plurality of skids. The drive wheel can be connected to the body and can be engageable with a floor surface of an environment. The drive wheel can be operable to move the mobile cleaning robot about an environment. The skids can be separate skids that can be connected to the body and can be engageable with the floor surface to support, together with the drive wheel, the mobile cleaning robot with respect to the floor surface.
A47L 9/04 - Nozzles with driven brushes or agitators
A47L 9/00 - DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
A47L 9/06 - Nozzles with fixed, e.g. adjustably fixed brushes or the like
16.
MOBILE CLEANING ROBOT COMPRISING A ROLLER AND A MOVABLE DUSTPAN
A mobile cleaning robot can include a body and a cleaning assembly. The body can include a suction duct. The cleaning assembly can be operable to ingest debris from a surface of an environment. The cleaning assembly can include a dustpan engageable with the surface to direct debris toward the suction duct. The dust pan can be movable with respect to the body.
A47L 11/282 - Floor-scrubbing machines, motor-driven having rotary tools
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A method of a fan system directing an air stream at a target can include receiving, with a controller, a first image from an image capture sensor and analyzing the first image from the image capture sensor to determine a first location of the target. The method can also include receiving a second image from the image capture sensor and analyzing the second image from the image capture sensor to determine a second location of the target. The method can also include comparing the first location of the target and the second location of the target and sending a signal to a. first motor to rotate a housing about a first axis respective to a base to direct an air stream exiting an outlet of a channel at the target.
F24F 8/10 - Treatment, e.g. purification, of air supplied to human living or working spaces otherwise than by heating, cooling, humidifying or drying by separation, e.g. by filtering
F24F 11/64 - Electronic processing using pre-stored data
F24F 11/77 - Control systems characterised by their outputs; Constructional details thereof for controlling the supply of treated air, e.g. its pressure for controlling air flow rate or air velocity by controlling the speed of ventilators
F24F 11/79 - Control systems characterised by their outputs; Constructional details thereof for controlling the supply of treated air, e.g. its pressure for controlling the direction of the supplied air
F24F 11/33 - Responding to malfunctions or emergencies to fire, excessive heat or smoke
F24F 11/52 - Indication arrangements, e.g. displays
F04D 25/10 - Units comprising pumps and their driving means the working fluid being air, e.g. for ventilation the unit having provisions for automatically changing the direction of output air
A filtering device for an evacuation station includes a filter bag configured to collect debris evacuated from a cleaning robot by an evacuation station. The filtering device includes an interface assembly configured to interface with the evacuation station. The interface assembly includes (i) a base attached to the filter bag along an opening of the filter bag, (ii) an access door configured to provide or limit access to a space within the filter bag depending on whether the access door is in an open position or a closed position, and (iii) one or more hinges connecting the base to the access door. The access door is rotatable around the one or more hinges from the closed position to the open position.
Some autonomous cleaning robots include a drive configured to maneuver the autonomous cleaning robot about a floor surface. The robots (100) include a cleaning system to clean the floor surface as the autonomous cleaning robot is maneuvered about the floor surface. The robots (100) include a robot button (102) positioned on the autonomous cleaning robot. The robots include a controller (200) in electrical communication with the drive and the robot button. The controller is configured to perform operations including selecting a behavior of the autonomous cleaning robot from a plurality of behaviors of the autonomous cleaning robot responsive to a duration of actuation of the robot button and causing the autonomous mobile robot to initiate the behavior.
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
A docking station for a mobile cleaning robot can include a base portion configured to receive the mobile cleaning robot. The docking station can include a housing connected to the base portion and a pad cleaning system. The pad cleaning system can be connected to the housing and can include a cleaning head engageable with a cleaning pad of the mobile cleaning robot to remove debris from the cleaning pad, the cleaning head can include a nozzle configured to discharge a fluid onto the cleaning pad.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A docking station for a mobile cleaning robot can include a housing. The housing can define or comprise a pad receptacle and a pad dispenser. The pad receptacle can be configured to receive a soiled pad from a pad tray of the mobile cleaning robot. The pad dispenser can be configured to provide a fresh pad to the pad tray of the mobile cleaning robot.
An autonomous cleaning robot includes a controller configured to execute instructions to perform operations including moving the autonomous cleaning robot along a first portion of a path toward a waypoint, detecting, with a ranging sensor of the autonomous cleaning robot, an obstacle along the path between the first portion of the path and a second portion of the path, navigating the autonomous cleaning robot about the obstacle along a trajectory that maintains at least a clearance distance between the autonomous cleaning robot and the obstacle, and moving the autonomous cleaning robot along the second portion of the path.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
23.
FLOOR AND AIR CLEANING SYSTEMS AND RELATED METHODS
An autonomous cleaning robot includes a drive system to move the autonomous cleaning robot about a floor surface in a space, a cleaning system to clean a floor surface in the space as the drive system moves the autonomous cleaning robot about the floor surface, and a controller configured to execute instructions to perform one or more operations. The one or more operations include initiating a cleaning mission to clean the floor surface in the space, and transmitting a signal to control an operation of an air purifier remote from the autonomous cleaning robot as the autonomous cleaning robot performs the cleaning mission.
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
F24F 8/108 - Treatment, e.g. purification, of air supplied to human living or working spaces otherwise than by heating, cooling, humidifying or drying by separation, e.g. by filtering using dry filter elements
A docking station for a mobile cleaning robot can include a base and a storage compartment. The base can be configured to receive the mobile cleaning robot. The base can include an electrical power interface configured to provide electrical power to the mobile cleaning robot. The storage compartment can be integrated with the base and the storage compartment can be sized and shaped to receive a user-replaceable accessory associated with the base or the mobile cleaning robot.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A method of operating a mobile cleaning robot can include receiving a privacy mode setting from a user interface, where the privacy mode setting can be based on a user selection between at least two different privacy mode settings for determining whether to operate the mobile cleaning robot in an image-capture-restricted mode. An image stream of an image capture device of the mobile cleaning robot can be permitted in an absence of a user-selection of a more restrictive one of the privacy settings. At least a portion of the image stream can be restricted or disabled based at least in part on a user-selection of a more restrictive one of the privacy settings.
Described herein are systems, devices, and methods for validating location of a docking station for docking a mobile robot. In an example, a mobile robot system includes a docking station and a mobile cleaning robot. The mobile cleaning robot includes a drive system to move the mobile cleaning robot about an environment including a docking area within a distance of the docking station, and a controller circuit to detect, from an image of the docking area, a presence or absence of one or more obstacles in the docking area. A notification may be generated to inform a user about the detected obstacles. The mobile device may generate a recommendation to the user to clear the docking area or reposition the docking station, or suggest one or more candidate locations for placing the docking station.
A method of operating an autonomous mobile cleaning robot using image processing can include producing, using a front-facing camera of the robot, an imaging output based on an optical field of view of the front-facing camera, the imaging output. A first portion of the imaging output and a second portion of the imaging output can be determined. An image capture parameter of the front-facing camera can be adjusted based on the upper portion of the imaging output and the lower portion of the imaging output.
Described herein are systems, devices, and methods for scheduling and controlling a mobile robot based on user location, user behavior, or other contextual information. In an example, a mobile cleaning robot comprises a drive system configured to move the mobile cleaning robot about an environment in a user's residence, and a controller circuit configured to receive an indication of a user entering or exiting a pre-defined geographical zone with respect to a location of the user's residence. Such indication may be detected using location and geofencing services of a mobile device. Based on the indication of the user entering or exiting the geofence, the controller circuit may generate a motion control signal to navigate the mobile cleaning robot to conduct a mission in the environment.
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
A47L 9/00 - DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
A mobile computing device includes a user input device and a controller. The user input device includes a display, and the controller is operably connected to the user input device and configured to execute instructions to perform operations. The operations include presenting on the display, information about one or more areas that were not cleaned by an autonomous cleaning robot during a first mission. The operations further include transmitting data corresponding to a user-selected subset of the one or more areas to cause the robot to clean the user-selected subset during a second mission.
A mobile cleaning robot can include a body, a pad assembly, and a pad drive system. The pad assembly can be connected to the body and can be movable relative thereto. The pad drive system can be connected to the body and can be operable to move the pad assembly relative to the body between a stored position and a cleaning position.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A47L 11/12 - Floor surfacing or polishing machines motor-driven with reciprocating or oscillating tools
A47L 11/284 - Floor-scrubbing machines, motor-driven having reciprocating tools
A47L 11/282 - Floor-scrubbing machines, motor-driven having rotary tools
Described herein are systems, devices, and methods for controlling a mobile cleaning robot to escape from a stuck state using a learned robot escape behavior model. The model is trained using reinforcement learning at a cloud-computing device or networked devices. A mobile cleaning robot comprises a drive system, a sensor circuit to collect sensor data associated with a detected stuck state, and a controller circuit that can receive the trained robot escape behavior model, and apply the sensor data associated with the detected stuck state to the trained robot escape behavior model to determine an escape policy. The drive system or one or more actuators of the mobile robot can remove the mobile robot from the stuck state according to the determined escape policy.
Described herein are systems, devices, and methods for localizing and recognizing an object in an environment. In an example, a mobile cleaning robot comprises a drive system to move the mobile cleaning robot about an environment, an imaging sensor to take images of an object in the environment from different perspectives. The multiple observations include images of the object that is at least partially occluded by an obstacle. A controller circuit of the mobile robot can, for multiple different locations in a map of the environment, calculate respective fractional visibility values using the plurality of images. The fractional visibility values each represent a probability of the object being visible through the corresponding location. The controller circuit can localize and recognize the object based on the fractional visibility values at the multiple locations on the map.
Robot localization or mapping can be provided without requiring the expense or complexity an "at-a-distance" sensor, such as a camera, a LIDAR sensor, or the like. Adjacency-derived landmark features can be used and non-unique landmark features can be accommodated. Uncertainty in robot pose can be tracked and compared to an adaptive threshold, and non-dock and dock-based localization behavior can be controlled based on the uncertainty, the adaptive threshold, one or more other thresholds, and the accessibility of available differently oriented landmark features, such as perpendicularly oriented straight wall segments landmark features. Available features can be sorted according to a quality metric, and path planning and navigation techniques are also included for helping obtain successful wall-following and localization observations.
Robot localization or mapping can be provided without requiring the expense or complexity an "at-a-distance" sensor, such as a camera, a LIDAR sensor, or the like. Landmark features can be created or matched using motion sensor data, such as odometry or gyro data or the like, and adjacency sensor data. Despite the relative ambiguity of adjacency-sensor derived landmark features, a particle filter approach can be configured to use such information, instead of requiring "at-a-distance" information from a constant stream of visual images from a camera, such as for robot localization or mapping. Landmark sequence constraints or a Wi-Fi signal strength map can be used together with the particle filter approach.
Systems, devices, and methods for scheduling and controlling a mobile cleaning robot based on a seasonal or environmental debris accumulation event are discussed. A mobile cleaning robot receives a seasonal cleaning schedule corresponding to a seasonal or environmental debris accumulation event. The seasonal cleaning schedule includes instructions to clean a portion of the mobile robot's environment having a debris state varied seasonally. The mobile cleaning robot executes a cleaning mission in the environment in accordance with the seasonal cleaning schedule.
A docking station (100, 800) for a mobile cleaning robot (101, 801) can include a canister (102, 802) and a base (104) configured to receive the mobile cleaning robot (101, 801) thereon, where the base (104) can include a front portion (112) and a back portion (114) opposite the front portion (112). The base (104) can include a vacuum port (118) extending at least partially through the base (104). The canister (102, 802) can be connected to the back portion (114) of the base (104) and can be located at least partially above the base (104). The canister (102, 802) can include a debris bin (120, 820) connected to the vacuum port (118) to receive debris therefrom and a fan compartment (122, 822) connected to a side wall (124) of the debris bin (120, 820) and including a fan system (132) operable to draw debris through the vacuum port (118) and the debris bin (120, 820).
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
A47L 7/00 - Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids
A mobile cleaning robot system can include a mobile cleaning robot and processing circuitry. The mobile cleaning robot can include a camera and can be operable to clean a floor surface of an environment. The processing circuitry can be in communication with the mobile cleaning robot and the camera, the processing circuitry configured to produce an image output based on an optical field of view of the camera. The processing circuitry can also detect a visual fiducial in the image output and can determine a behavior modification based on the visual fiducial. The processing circuitry can modify movement of the mobile cleaning robot based on the behavior modification.
A machine-readable medium can include instructions for presenting a user interface, which when executed by a processor, can cause the processor to display an image on the user interface representing a mobile cleaning robot that is in communication with the processor. The processor can also display lines representing an environment of the mobile cleaning robot, where the image and the lines can together be indicative of a status of the mobile cleaning robot.
A user device, such as a smartphone or a tablet computer, can provide a user with information pertaining to operations of an autonomous robotic lawnmower to assist the user with monitoring the operations of the robotic lawnmower and with setting up the autonomous robotic lawnmower. For example, the user device can present example lawn shapes and recommended locations of beacons suitable for these lawn shapes, can indicate the quantity of beacons detected by the autonomous robotic lawnmower, can be used to establish a region on a lawn where the autonomous robotic lawnmower performs a particular behavior, can be used to select a grass height that the autonomous robotic lawnmower cuts the lawn, and can be taught a particular path to take when returning to a docking station to charge the autonomous robotic lawnmower.
A method includes receiving mapping data collected by an autonomous cleaning robot as the autonomous cleaning robot moves about an environment. A portion of the mapping data is indicative of a location of an object in the environment. The method includes defining a clean zone at the location of the object such that the autonomous cleaning robot initiates a clean behavior constrained to the clean zone in response to encountering the clean zone in the environment.
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A method of assisting user-configuration of hardware for a mobile autonomous cleaning robot can include detecting a flooring type of a room or other portion of an environment. A size of the portion of the environment can be detected and a total size of the environment can be determined. Generating a hardware characteristic recommendation can be generated based at least in part on the flooring type, the size of the portion of the environment, and the total size of the environment.
A47L 9/04 - Nozzles with driven brushes or agitators
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
Described herein are systems, devices, and methods for maintaining a valid semantic map of an environment for a mobile robot. A mobile robot comprises a drive system, a sensor circuit to sense occupancy information, a memory, a controller circuit, and a communication system. The controller circuit can generate a first semantic map corresponding to a first robot mission using first occupancy information and first semantic annotations, transfer the first semantic annotations to a second semantic map corresponding to a subsequent second robot mission. The control circuit can generate the second semantic map that includes second semantic annotations generated based on the transferred first semantic annotations. User feedback on the first or the second semantic map can be received via a communication system. The control circuit can update first semantic map and use it to navigate the mobile robot in a future mission.
Described herein are systems and methods for assessing a health status of a cleaning head assembly in a mobile cleaning robot. The mobile robot includes motorized cleaning member that rotatably engages a floor surface to extract debris. An exemplary system includes a processor circuit that receives robot data produced by the mobile cleaning robot traversing an environment, determines a robot parameter using a portion of the received robot data corresponding to a floor area having a specific surface condition traversed repeatedly by the mobile cleaning robot, and determines a state of the cleaning head and an estimate of remaining useful life of the cleaning head based on the robot parameter. The determined state of the cleaning head system can be provide to a user via a user interface.
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
An autonomous mobile cleaning robot can include a robot body, a bumper, and a coupling. The robot body can include a displacement sensor. The bumper can be moveably coupled to the body. The coupling can include a displacement limiter associated with the displacement sensor. The displacement limiter can inhibit or limit sensing by the displacement sensor of displacement of the bumper from the robot body caused by forces below a threshold horizontal force value.
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
A method includes receiving sensor data collected by an autonomous mobile robot as the autonomous mobile robot moves about an environment, the sensor data being indicative of sensor events and locations associated with the sensor events. The method includes identifying a subset of the sensor events based on the locations. The method includes providing, to a user computing device, data indicative of a recommended behavior control zone in the environment, the recommended behavior control zone containing a subset of the locations associated with the subset of the sensor events. The method includes defining, in response to a user selection from the user computing device, a behavior control zone such that the autonomous mobile robot initiates a behavior in response to encountering the behavior control zone, the behavior control zone being based on the recommended behavior control zone.
An autonomous cleaning robot includes a drive system to support the autonomous cleaning robot above a floor surface, an image capture device positioned on the autonomous cleaning robot to capture imagery of a portion of the floor surface forward of the autonomous cleaning robot, and a controller operably connected to the drive system and the image capture device. The drive system is operable to maneuver the autonomous cleaning robot about the floor surface. The controller is configured to execute instructions to perform operations including initiating, based on a user-selected sensitivity and the imagery captured by the image capture device, an avoidance behavior to avoid an obstacle on the portion of the floor surface.
An autonomous mobile cleaning robot can include an outer shell and a bumper. The outer shell can include a rim extending around at least a portion of a periphery of the outer shell and can include a first feature connected to the rim. The bumper can be connected to the outer shell and can movable with respect to the outer shell when the bumper is connected to the outer shell. The bumper can include a second feature connected to the inner surface.
B60R 19/02 - Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
A47L 5/00 - Structural features of suction cleaners
A47L 7/02 - Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids with driven tools for special purposes
A method includes constructing a map of an environment based on mapping data produced by an autonomous cleaning robot in the environment during a first cleaning mission. Constructing the map includes providing a label associated with a portion of the mapping data. The method includes causing a remote computing device to present a visual representation of the environment based on the map, and a visual indicator of the label. The method includes causing the autonomous cleaning robot to initiate a behavior associated with the label during a second cleaning mission.
G06F 19/00 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
An autonomous mobile robot includes a drive system to support the robot above a surface, a sensor system configured to generate a signal indicative of a location of the robot on the surface, and a controller operably connected to the drive system and the sensor system. The drive system is operable to navigate the robot about the surface. The controller is configured to execute instructions to perform operations including establishing a behavior control zone on the surface, controlling the drive system, in response to establishing the behavior control zone on the surface, to maneuver the robot to a location of the behavior control zone on the surface, and maneuvering, using the drive system, the robot about the surface and initiating a behavior in response to determining, based on the signal indicative of the location of the robot, that the robot is proximate the behavior control zone.
An autonomous cleaning robot includes a drive system to maneuver the autonomous cleaning robot across a floor surface; a cleaning assembly for cleaning the floor surface; and a sensor system disposed at a forward portion of the autonomous cleaning robot. The sensor system includes a movable element having (i) a first configuration in which the movable element extends beyond a bottom surface of the autonomous cleaning robot by a first amount, and (ii) a second configuration in which the movable element extends beyond the bottom surface of the autonomous cleaning robot by a second amount less than the first amount; a spring mechanically coupled to the movable element, the spring being biased to hold the movable element in the first configuration; and a sensor assembly configured to generate a signal based on the configuration of the movable element.
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
51.
ADJUSTABLE PARAMETERS FOR AUTONOMOUS CLEANING ROBOTS
A method of operating an autonomous cleaning robot includes presenting, on a display of a mobile device, a representation of each of multiple cleaning levels, each cleaning level corresponding to a respective rank overlap parameter for a wet cleaning mission of the autonomous cleaning robot. The method includes receiving, at the mobile device, an input indicative of a selection of one of the cleaning levels; and controlling the autonomous cleaning robot to execute a wet cleaning mission according to the rank overlap parameter corresponding to the selected one of the cleaning levels.
A cleaning pad includes a mounting surface disposed on a top side of the cleaning pad. The mounting surface is configured to provide a mechanical connection to an autonomous cleaning robot. The cleaning pad includes a first outer layer disposed on a bottom side of the cleaning pad, the first outer layer having a first coefficient of friction; and a second outer layer disposed on the bottom side of the cleaning pad, the second outer layer having a second coefficient of friction less than the first coefficient of friction.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A cleaning roller mountable to a cleaning robot is featured. The cleaning roller includes an elongate member extending along a longitudinal axis of the cleaning roller, and a vane extending outward from the elongate member. The vane includes a first vane portion attached to the elongate member, and a second vane portion attached to the first vane portion. The first vane portion extends from the elongate member at a location intersecting a radial axis of the cleaning roller. The first vane portion extends along a first axis angled relative to the radial axis and away from the radial axis in a tangential direction. The second vane portion extends along a second axis angled relative to the first axis. A first angle between the first axis and the radial axis is greater than a second angle between the second axis and the radial axis.
A46B 13/02 - Brushes with driven brush bodies power-driven
A46B 15/00 - Other brushes; Brushes with additional arrangements
A46B 3/04 - Brushes characterised by the way in which the bristles are fixed or joined in or on the brush body or carrier by mouldable materials, e.g. metals, cellulose derivatives, plastics
A47L 11/18 - Floor surfacing or polishing machines motor-driven with rotating tools the tools being roll brushes
A47L 11/282 - Floor-scrubbing machines, motor-driven having rotary tools
An autonomous mobile robot includes a drive system to maneuver the autonomous mobile robot about an environment, a first magnetic field antenna system responsive to a magnetic field pulse to generate a first signal, and a second magnetic field antenna system responsive to the magnetic field pulse to generate a second signal. The magnetic field pulse is emitted by a magnetic field emitter system in the environment. The autonomous mobile robot further includes a controller to execute instructions to perform operations including reorienting the autonomous mobile robot based on the first signal and the second signal.
A method of operating an autonomous cleaning robot includes presenting, on a display of a handheld computing device, a graphical representation of a map including a plurality of selectable rooms, presenting, on the display, at least one selectable graphical divider representing boundaries of at least one of the plurality of selectable rooms, the at least one selectable graphical divider being adjustable to change at least one of the boundaries of the plurality of selectable rooms, receiving input, at the handheld computing device, representing a selection of an individual selectable graphical divider, receiving input, at the handheld computing device, representing at least one adjustment to the individual selectable graphical divider, the at least one adjustment including at least one of moving, rotating, or deleting the individual selectable graphical divider, and presenting, on the display, a graphical representation of a map wherein the individual selectable graphical divider is adjusted.
A mobile robot includes a recessed well in a top surface of the mobile robot, at least one capacitive sensor underlying the recessed well and having a first region and a second region, one or more mobility sensors, and a controller coupled to the at least one capacitive sensor and the one or more mobility sensors. The controller is configured to determine an operating status of the mobile robot responsive to output signals from the one or more mobility sensors, and selectively disregard an input at a first portion of the recessed well corresponding to the first region of the at least one capacitive sensor based on the operating status of the mobile robot.
A47L 7/02 - Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids with driven tools for special purposes
A47L 9/00 - DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
G06F 3/044 - Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means by capacitive means
H03K 17/955 - Proximity switches using a capacitive detector
G05D 1/02 - Control of position or course in two dimensions
57.
MAP BASED TRAINING AND INTERFACE FOR MOBILE ROBOTS
A method of operating an autonomous cleaning robot is described. The method includes initiating a training run of the autonomous cleaning robot and receiving, at a mobile device, location data from the autonomous cleaning robot as the autonomous cleaning robot navigates an area. The method also includes presenting, on a display of the mobile device, a training map depicting portions of the area traversed by the autonomous cleaning robot during the training run and presenting, on the display of the mobile device, an interface configured to allow the training map to be stored or deleted. The method also includes initiating additional training runs to produce additional training maps and presenting a master map generated based on a plurality of stored training maps.
An evacuation station for collecting debris from a cleaning robot includes a controller configured to execute instructions to perform one or more operations. The one or more operations includes initiating an evacuation operation such that an air mover draws air containing debris from the cleaning robot, through an intake of the evacuation station, and through a canister of the evacuation station and such that a receptacle received by the evacuation station receives at least a portion of the debris drawn from the cleaning robot. The one or more operations includes ceasing the evacuation operation in response to a pressure value being within a range. The pressure value is determined based at least in part on data indicative of an air pressure, and the range is set based at least in part on a number of evacuation operations initiated before the evacuation operation.
A47L 7/00 - Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
A method for operating or interacting with a mobile robot includes determining, using at least one processor, a mapping between a first coordinate system associated with a mobile device and a second coordinate system associated with the mobile robot, in which the first coordinate system is different from the second coordinate system. The method includes providing at the mobile device a user interface to enable a user to interact with the mobile robot in which the interaction involves usage of the mapping between the first coordinate system and the second coordinate system.
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
G05B 19/4155 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
A docking station for a robotic lawnmower includes a base, an electrical connector above the base and positioned along a longitudinal axis of the docking station, and a central guide member positioned on the base and along the longitudinal axis. The central guide member includes a right lateral surface extending away from the longitudinal axis and toward the electrical connector from a first end portion proximate the longitudinal axis to a second end portion, and a left lateral surface extending away from the longitudinal axis and toward the electrical connector from a first end portion proximate the longitudinal axis to a second end portion.
A47L 5/30 - Suction cleaners with handles and nozzles fixed on the casings, e.g. wheeled suction cleaners with steering handle with driven dust-loosening tools, e.g. rotating brushes
A47L 9/00 - DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
B60L 11/18 - using power supplied from primary cells, secondary cells, or fuel cells
G05D 1/02 - Control of position or course in two dimensions
G05D 1/03 - Control of position or course in two dimensions using near-field transmission systems, e.g. inductive-loop type
H02J 7/00 - Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
An autonomous robot lawnmower includes a blade assembly including blades, a drive system to drive the blades through a cutting area having a cutting width, and a lateral blade guard including at least four bars spaced apart from one another by no less than 1 mm and no more than 15 mm. The at least four bars are positioned between the blades and a mowable area when the robot lawnmower is supported on the mowable area. The at least four bars extend across a portion of the cutting width and extending rearward and forward of the cutting area.
A mobile cleaning robot that includes a drive system configured to navigate around an operational environment, a ranging device configured to communicate with other ranging devices of respective electronic devices that are in the operational environment, and processors in communication with the ranging device that are configured to receive a distance measurement from the respective electronic devices present in the operational environment, each distance measurement representing a distance between the mobile cleaning robot and a respective electronic device, tag each of the distance measurements with location data indicative of a spatial location of the mobile cleaning robot in the operational environment, determine spatial locations of each of the electronic devices in the operational environment, and populate a visual representation of the operating environment with visual indications of the electronic devices in the operating environment.
A cleaning bin mountable to an autonomous cleaning robot operable to receive debris from a floor surface includes an inlet positioned between lateral sides of the cleaning bin and an outlet configured to connect to a vacuum assembly, the vacuum assembly operable to direct an airflow from the inlet of the cleaning bin to the outlet of the cleaning bin. The cleaning bin includes a debris chamber to receive debris from the airflow, separated from the debris chamber by a prefilter, forming at least a portion of a top surface of the debris chamber and at least a portion of a bottom surface of the airflow chamber, and a filter socket configured to receive a filter and provide the airflow through the filter to the outlet of the cleaning bin, wherein the filter is positioned substantially perpendicular to the prefilter when the filter is positioned in the filter socket.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
The present disclosure provides a base station for receiving a mobile cleaning robot including a docking structure. The docking structure includes a horizontal surface and at least two electrical charging contacts, each of the electrical charging contacts having a contact surface positioned above the horizontal surface. The base station also includes a platform that is connectable to the docking structure. The platform includes a raised rear surface having a front portion and a rear portion, two wheel wells located in the front portion of the raised rear surface of the platform, and a plurality of raised surface features forward of the raised rear surface configured to support an underside portion of the mobile cleaning robot.
A cleaning roller is mountable to a cleaning robot. The cleaning roller includes a sheath comprising a shell, an outer diameter of the shell tapering from a first end portion of the sheath and a second end portion of the sheath toward a center of the roller. The cleaning roller further includes a core including a central portion interlocked with the sheath to rotationally couple the core to the sheath and inhibit relative translation of the sheath and the core along an axis of rotation. An inner surface of the sheath and an outer surface of the core define an air gap therebetween, the air gap extending from the central portion of the core longitudinally along the axis of rotation toward the first end portion or the second end portion.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A grass cutting mobile robot includes a body and a blade assembly connected to the body and rotatable about a drive axis. The blade assembly includes blades, a housing to hold the blades, a coupling latch configured to lock the housing to a drive shaft of the mobile robot, and a spring that connects the blade to the coupling latch. The housing is configured for coupling to an actuator so that the housing is rotatable about a drive axis, and receives a shaft that connects the housing to the actuator. The shaft includes a groove or an undercut therein. The coupling latch is rotatable within the housing to move an engagement end towards, or away from the groove or undercut. The engagement end is positionable within the groove to lock the housing to the actuator.
A01D 34/685 - Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator with motor driven cutters or wheels with two or more cutters
A01B 69/04 - Special adaptations of automatic tractor steering, e.g. electric system for contour ploughing
A01D 34/00 - Mowers; Mowing apparatus of harvesters
A01D 34/63 - Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
A01D 34/66 - Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis mounted on a vehicle, e.g. a tractor, or drawn by an animal or a vehicle with two or more cutters
A01D 34/68 - Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator with motor driven cutters or wheels
A protractible and retractable mast system for an autonomous mobile robot includes an elongate flexible member including a first lateral end and a second lateral end, and a fastener having a first portion extending along a length of the first lateral end and a second portion extending along a length of the second lateral end. The flexible member is configured to be at least partially coiled within a body of the robot, and a portion of the flexible member is vertically movable away from the body when the flexible member is being uncoiled. The fastener is configured to connect the first lateral end to the second lateral end when the flexible member is being uncoiled, and disconnect the first lateral end from the second lateral end when the flexible member is being coiled.
An autonomous cleaning robot including a drive configured to move the cleaning robot across a floor surface in an area to be cleaned and a controller. The controller is configured to receive data representing an editable mission timeline including data representing a sequence of rooms to be cleaned, navigate the cleaning robot to clean the rooms following the sequence, track operational events occurring in each of the rooms, and transmit data about time spent navigating each room included in the sequence.
A cleaning pad for an autonomous cleaning robot evenly wets and collects debris for cleaning operations. The pad includes a core of absorbent layers for absorbing liquid through capillary action and for distributing the liquid within the cleaning pad. The pad includes a wrap layer around the core, the wrap layer comprising a fibrous layer that is flexible and absorbent, the fibrous layer configured to absorb liquid through capillary action and transfer the liquid to the core. The pad includes one or more transition regions spanning a cleaning width of the cleaning pad, the one or more transition regions dividing the cleaning pad into at least two segments. The forward positioned segment of the pad, of the at least two segments of the pad, has a lesser thickness compared to a thickness of an aft positioned segment of the at least two segments.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
B32B 27/12 - Layered products essentially comprising synthetic resin next to a fibrous or filamentary layer
B32B 3/02 - Layered products essentially comprising a layer with external or internal discontinuities or unevennesses, or a layer of non-planar form; Layered products essentially having particular features of form characterised by features of form at particular places, e.g. in edge regions
B32B 3/04 - Layered products essentially comprising a layer with external or internal discontinuities or unevennesses, or a layer of non-planar form; Layered products essentially having particular features of form characterised by features of form at particular places, e.g. in edge regions characterised by a layer folded at the edge, e.g. over another layer
B32B 3/26 - Layered products essentially comprising a layer with external or internal discontinuities or unevennesses, or a layer of non-planar form; Layered products essentially having particular features of form characterised by a layer with cavities or internal voids
B32B 5/02 - Layered products characterised by the non-homogeneity or physical structure of a layer characterised by structural features of a layer comprising fibres or filaments
B32B 5/24 - Layered products characterised by the non-homogeneity or physical structure of a layer characterised by the presence of two or more layers which comprise fibres, filaments, granules, or powder, or are foamed or specifically porous one layer being a fibrous or filamentary layer
B32B 5/26 - Layered products characterised by the non-homogeneity or physical structure of a layer characterised by the presence of two or more layers which comprise fibres, filaments, granules, or powder, or are foamed or specifically porous one layer being a fibrous or filamentary layer another layer also being fibrous or filamentary
An autonomous cleaning robot includes a drive configured to move the robot across a floor surface, a brush proximate a lateral side of the robot, and a motor configured to rotate the brush about an axis of rotation. The brush includes a hub configured to engage the motor of the robot and arms each extending outwardly from the hub away from the axis of rotation and each being angled relative to a plane normal to the axis of rotation of the brush. Each of the arms include a first portion extending outwardly from the hub away from the axis of rotation and a second portion extending outwardly from the first portion away from the axis of rotation. An angle between the first portion of each of the arms and the plane is larger than an angle between the second portion of the each of the arms and the plane.
A47L 11/00 - Machines for cleaning floors, carpets, furniture, walls, or wall coverings
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A47L 9/00 - DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
A47L 9/04 - Nozzles with driven brushes or agitators
B08B 1/04 - Cleaning by methods involving the use of tools, brushes, or analogous members using rotary operative members
A method of operating a user terminal includes receiving occupancy data for an operating environment responsive to navigation of the operating environment by a mobile robot, and displaying a visual representation of the operating environment based on the occupancy data. The method further includes receiving information identifying a plurality of electronic devices that are local to the operating environment and respective operating states thereof, and populating the visual representation of the operating environment with visual indications of respective spatial locations of the electronic devices in the operating environment and status indications of the respective operating states of the electronic devices. Related methods for controlling the electronic devices based on their respective spatial locations and the relative spatial context of the operating environment are also discussed.
A method of operating a computing device includes receiving occupancy data for an operating environment of a mobile robot based on localization data detected by at least one localization sensor of the mobile robot responsive to navigation thereof in the operating environment, and receiving signal coverage data for the operating environment based on wireless communication signals acquired by at least one wireless receiver of the mobile robot responsive to navigation thereof in the operating environment. The wireless communication signals are transmitted by at least one electronic device that is local to the operating environment. The method further includes generating a map indicating coverage patterns of the wireless communication signals at respective locations in the operating environment by correlating the occupancy data and the signal coverage data. Related methods, mobile robots, and user terminals are also discussed.
This document describes a mobile cleaning robot that includes a chassis that supports a drive system, a debris collection volume; and a cleaning head formed to complete a bottom of the robot. The cleaning head includes a frame for affixing the cleaning head to the chassis, a monolithic housing having an interior cavity, a suspension linkage movably suspending the monolithic housing from the frame, the suspension linkage being configured to lift the monolithic housing, a diaphragm formed of a flexible material and mated to the monolithic housing, a rigid duct mated the frame to form a pneumatic path between the monolithic housing and the rigid duct through the diaphragm, and cleaning extractors disposed in the interior cavity of the monolithic housing.
In one aspect, a mobile robot includes a chassis, a shell moveably mounted on the chassis by a shell suspension system, and a sensor assembly configured to sense a distance and a direction of shell movement relative to the chassis. The sensor assembly includes a magnet disposed on an underside of the shell. The sensor assembly further includes three or more Hall effect sensors disposed on the chassis in a triangular pattern at fixed distances such that the three or more Hall effect sensors are positioned beneath the magnet when no force is applied to the shell, wherein relative motion between the magnet and the Hall effect sensors causes the sensors to produce differing output signals. The mobile robot also includes a controller configured to receive output signals from the Hall effect sensors and to determine a distance and a direction of movement of the shell relative to the chassis.
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
G05D 3/12 - Control of position or direction using feedback
G01R 33/00 - Arrangements or instruments for measuring magnetic variables
H01L 43/00 - Devices using galvano-magnetic or similar magnetic effects; Processes or apparatus specially adapted for the manufacture or treatment thereof or of parts thereof
A cleaning bin mountable to an autonomous cleaning robot operable to receive debris from a floor surface includes a debris compartment to receive a first portion of debris separated from the airflow and a particulate compartment to receive a second portion of debris separated from the airflow. The cleaning bin also includes a debris separation cone having an inner conduit defining an upper opening and lower opening. The upper opening receives the airflow from the air channel. The inner conduit tapers from the upper opening to the lower opening such that the airflow forms a cyclone within the inner conduit.
A cleaning roller mountable to a cleaning robot includes an elongate shaft extending from a first end portion to a second end portion along an axis of rotation. The first and second end portions are mountable to the cleaning robot for rotating about the axis of rotation. The cleaning roller further includes a core affixed around the shaft and having outer end portions positioned along the elongate shaft and proximate the first and second end portions. The core tapers from proximate the first end portion of the shaft toward a center of the shaft. The cleaning roller further includes a sheath affixed to the core and extending beyond the outer end portions of the core. The sheath includes a first half and a second half each tapering toward the center of the shaft.
A47L 11/18 - Floor surfacing or polishing machines motor-driven with rotating tools the tools being roll brushes
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
This document describes a mobile cleaning robot including a chassis having a forward portion and an aft portion; a blower affixed to the chassis; a bin supported by the chassis and configured to receive airflow from the blower, the chassis enabling evacuation of the bin through a bottom of the robot. The bin includes a top, a bottom, a sidewall, and an internal barrier. The bin includes a first volume and a second volume separated by the internal barrier and a filter unit supported by the internal barrier and removably disposed in an airflow path between the first volume that includes an intake port in the bin and the second volume that includes an exhaust port in the bin.
A method of operating a mobile robot includes generating a segmentation map defining respective regions of a surface based on occupancy data that is collected by a mobile robot responsive to navigation of the surface, identifying sub-regions of at least one of the respective regions as non-clutter and clutter areas, and computing a coverage pattern based on identification of the sub-regions. The coverage pattern indicates a sequence for navigation of the non-clutter and clutter areas, and is provided to the mobile robot. Responsive to the coverage pattern, the mobile robot sequentially navigates the non-clutter and clutter areas of the at least one of the respective regions of the surface in the sequence indicated by the coverage pattern. Related methods, computing devices, and computer program products are also discussed.
B25J 11/00 - Manipulators not otherwise provided for
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
An autonomous robot lawnmower includes a chassis, a drive supporting the chassis above a lawn and configured to maneuver the robot lawnmower about the lawn, and a motorized lawn cutting assembly including one or more blades. The robot lawnmower further includes a first blade guard movably mounted to a first lateral side of the chassis and extending from the chassis toward the lawn, and a second blade guard movably mounted to a second lateral side of the chassis and extending from the chassis toward the lawn.
An autonomous mobile robot includes a body, a drive supporting the body above a floor surface, a light-propagating plate positioned on the body and having a periphery defining a continuous loop, light sources each being positioned to direct light through a portion of the plate to a portion of the continuous loop, and a controller to selectively operate the light sources to provide a visual indicator of a status or service condition of the autonomous mobile robot. The drive is configured to maneuver the mobile robot about the floor surface.
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
G06F 19/00 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
81.
AUTONOMOUS ROBOT AUTO-DOCKING AND ENERGY MANAGEMENT SYSTEMS AND METHODS
A method for docking an autonomous mobile floor cleaning robot with a charging dock, the robot including a receiver coil and a structured light sensor, the charging dock including a docking bay and a transmitter coil, includes: positioning the robot in a prescribed docked position in the docking bay using the structured light sensor and by sensing a magnetic field emanating from the transmitter coil; and thereafter induction charging the robot using the receiver coil and the transmitter coil with the robot in the docked position.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
B25J 11/00 - Manipulators not otherwise provided for
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
H02J 50/00 - Circuit arrangements or systems for wireless supply or distribution of electric power
H02J 5/00 - Circuit arrangements for transfer of electric power between ac networks and dc networks
82.
SYSTEMS AND METHODS TO CONTROL AN AUTONOMOUS MOBILE ROBOT
A method for controlling one or more operations of an autonomous mobile robot maneuverable within a home includes establishing wireless communication between an autonomous mobile robot and a remote computing system and, in response to receiving a wireless command signal from the remote computing system, initiating one or more operations of the autonomous mobile robot. The autonomous mobile robot is remote from an audio media device stationed within the home. The audio media device is capable of receiving and emitting audio. The remote computing system is configured to associate identification data of the autonomous mobile robot with identification data of the audio media device. The wireless command signal corresponds to an audible user command received by the audio media device.
A grass cutting mobile robot includes a body and a blade assembly connected to the body and rotatable about a drive axis. The blade assembly includes blades, a housing to hold the blades, and a spring that connects the blade to the housing. The housing includes a slot in which to mount a blade so that a portion of the blade is movable through the slot towards another blade in response to an impact. The slot slopes upwards in the housing towards the body, thereby enabling the blade to move upwards relative to a ground surface toward the body in response to the impact. The spring is for constraining movement of the blade relative to the housing.
A01D 34/68 - Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator with motor driven cutters or wheels
A01B 69/04 - Special adaptations of automatic tractor steering, e.g. electric system for contour ploughing
A01D 34/63 - Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
An autonomous mobile robot includes a chassis, a drive supporting the chassis above a floor surface in a home and configured to move the chassis across the floor surface, a variable height member being coupled to the chassis and being vertically extendible, a camera supported by the variable height member, and a controller. The controller is configured to operate the drive to navigate the robot to locations within the home and to adjust a height of the variable height member upon reaching a first of the locations. The controller is also configured to, while the variable height member is at the adjusted height, operate the camera to capture digital imagery of the home at the first of the locations.
A robotic end effector includes a finger and at least one actuator. The finger extends from a proximal end to a distal end along a finger axis. The finger includes a first phalanx proximate the proximal end, a second phalanx proximate the distal end, and a knuckle joint including at least one vertebra interposed between and separating the first and second phalanxes. The knuckle joint is configured to permit the second phalanx to pivot relative to the first phalanx about a pivot axis transverse to the linger axis. Each vertebra has an axial thickness extending along the finger axis and a lateral width extending perpendicular to its axial thickness, and its lateral width is greater than its axial thickness. The at least one actuator is operable to move the second phalanx relative to the first phalanx about the pivot axis.
A method of mowing with an autonomous robot lawnmower includes traversing a mowable area with the autonomous robot lawnmower carrying a cutter and a vegetation characteristic sensor. The vegetation characteristic sensor is configured to generate sensor data in response to detecting a vegetation characteristic of the mowable area. The vegetation characteristic is selected from the group consisting of a moisture content, a grass height, and a color. The method includes storing position-referenced data representing the vegetation characteristic detected across the mowable area. The position-referenced data is based at least in part on the sensor data and position data. The method includes sending data to a remote device to cause the remote device to display a map including information based on the position-referenced data.
A method performed by a mobile lawn mowing robot includes pairing a beacon with the mobile lawn mowing robot. Pairing the beacon with the mobile lawn mowing robot includes determining a distance between the beacon and the mobile lawn mowing robot and confirming that the beacon is within a pairing distance from the mobile lawn mowing robot based on a comparison of the determined distance to a pairing distance. Pairing the beacon with the mobile robot lawn mowing robot further includes, subsequent to confirming that the beacon is within the pairing distance from the mobile lawn mowing robot, pairing the beacon with the mobile lawn mowing robot, and, following pairing, detecting wideband or ultra-wideband signals from the beacon, and using the wideband or ultra-wideband signals to enable navigation over an area.
An autonomous robot comprises a robot body, a drive configured to propel the robot, a sensor system disposed on the robot body, and a navigation controller circuit in communication with the drive and the sensor system. The sensor system comprises at least one proximity sensor comprising a sensor body, and a first emitter, a second emitter and a receiver housed by the sensor body, wherein the receiver detects objects in a bounded detection volume of the receiver field of view aimed outward and downward beyond a periphery of the robot body. The receiver is disposed above and between the first and second emitters, the emitters having a twice-reshaped emission beams angled upward to intersect the receiver field of view at a fixed range of distances from the periphery of the robot body to define the bounded detection volume.
G06F 19/00 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
A mobile robot includes a body configured to traverse a surface and to receive debris from the surface, and a debris bin within the body. The debris bin includes a chamber to hold the debris received by the mobile robot, an exhaust port through which the debris exits the debris bin; and a door unit over the exhaust port. The door unit includes a flap configured to move, in response to air pressure at the exhaust port, between a closed position to cover the exhaust port and an open position to open a path between the chamber and the exhaust port. The door unit, including the flap in the open position and in the closed position, is within an exterior surface of the mobile robot.
A mobile robot includes a body movable over a surface within an environment, a calibration coil carried on the body and configured to produce a calibration magnetic field, a sensor circuit carried on the body and responsive to the calibration magnetic field, and a controller carried on the body and in communication with the sensor circuit. The sensor circuit is configured to generate calibration signals based on the calibration magnetic field. The controller is configured to calibrate the sensor circuit as a function of the calibration signals, thereby resulting in a calibrated sensor circuit configured to detect a transmitter magnetic field within the environment and to generate detection signals based on the transmitter magnetic field. The controller is configured to estimate a pose of the mobile robot as a function of the detection signals.
A61B 5/05 - Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
A robot includes a body and a bumper. The body is movable relative to a surface and includes a first portion of a sensor. The bumper is mounted on the body and movable relative to the body and includes a backing and a second portion of the sensor. The backing is movable relative to the body in response to a force applied to the bumper. The second portion of the sensor is attached to the backing and movable with the backing relative to the first portion of the sensor in response to a force applied to the bumper. The sensor is configured to output an electrical signal in response to a movement of the backing. The electrical signal is proportional to an amount of displacement of the second portion relative to the first portion.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
92.
RESTRICTING MOVEMENT OF A MOBILE ROBOT DURING AUTONOMOUS FLOOR CLEANING WITH A REMOVABLE PAD
A robot includes a body that is movable relative to a surface one or more measurement devices within the body to output information based on an orientation of the body at an initial location on the surface, and a controller within the body to determine an orientation of the body based on the information and to restrict movement of the body to an area by preventing movement of the body beyond a barrier that is based on the orientation of the body and the initial location.
An example robot includes a body that is movable relative to a surface, a bumper mounted on the body to enable movement of the bumper relative to the body, a sensor to produce a signal in response to the movement of the bumper relative to the body caused by contact between the bumper and the surface, and a controller to control movement of the body to cause the body to track the surface based on a value. The bumper is movable between an uncompressed position relative to the body and a compressed position relative to the body. The signal varies linearly with the movement of the bumper relative to the body. The value is based on the signal and indicates that the bumper in a partially compressed position has a compression range between the uncompressed position and the compressed position.
An autonomous floor cleaning robot includes a body, a controller supported by the body, a drive supporting the body to maneuver the robot across a floor surface in response to commands from the controller, and a pad holder attached to an underside of the body to hold a removable cleaning pad during operation of the robot. The pad includes a mounting plate and a mounting surface. The mounting plate is attached to the mounting surface. The robot includes a pad sensor to sense a feature on the pad and to generate a signal based on the feature, which is defined in part by a cutout on the card backing. The mounting plate enables the pad sensor to detect the feature. The controller is responsive to the signal to perform operations including selecting a cleaning mode based on the signal, and controlling the robot according to a selected cleaning mode.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A method includes maneuvering a robot in (i) a following mode in which the robot is controlled to travel along a path segment adjacent an obstacle, while recording data indicative of the path segment, and (ii) in a coverage mode in which the robot is controlled to traverse an area. The method includes generating data indicative of a layout of the area, updating data indicative of a calculated robot pose based at least on odometry, and calculating a pose confidence level. The method includes, in response to the confidence level being below a confidence limit, maneuvering the robot to a suspected location of the path segment, based on the calculated robot pose and the data indicative of the layout and, in response to detecting the path segment within a distance from the suspected location, updating the data indicative of the calculated pose and/or the layout.
An autonomous floor cleaning robot includes a robot body defining a forward drive direction, a controller supported by the robot body, a drive supporting the robot body and configured to maneuver the robot across a surface in response to commands from the controller, a pad holder disposed on an underside of the robot body and configured to retain a removable cleaning pad during operation of the cleaning robot; and a pad sensor arranged to sense a feature of a cleaning pad held by the pad holder and generate a corresponding signal. The controller is responsive to the signal generated by the pad sensor, and configured to control the robot according to a cleaning mode selected from a set of multiple robot cleaning modes as a function of the signal generated by the pad sensor.
An autonomous floor-traversing robot includes: a wheeled body including a chassis and at least one motorized wheel configured to propel the chassis across a floor, the chassis defining an interior compartment disposed beneath a chassis ceiling; a cover extending across at least a central area of the chassis ceiling; and a graspable handle connected to the chassis and located outside the cover so as to be accessible from above the robot, the handle arranged to enable lifting of the robot. The chassis ceiling defines drainage channels configured to conduct the liquid away from the central area of the chassis ceiling.
Cleaning robots may use floor-type-detection techniques as a trigger for autonomously altering various floor-cleaning characteristics. In some examples, a controller circuit of the robot is configured to determine a flooring type as a function of a signal from a motion sensor indicative of a change in pitch caused by the robot crossing a flooring discontinuity. In some examples, the controller circuit is configured to determine a flooring type based on a power draw signal corresponding to the cleaning head assembly of the robot.
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
A47L 11/00 - Machines for cleaning floors, carpets, furniture, walls, or wall coverings
A method of operating a mobile robot includes receiving a layout map corresponding to a patrolling environment at a computing device and maneuvering the robot in the patrolling environment based on the received layout map. The method further includes receiving imaging data of a scene about the robot when the robot maneuvers in the patrolling environment at the computing device. The imaging data is received from one or more imaging sensors disposed on the robot and in communication with the computing device. The method further includes identifying a person in the scene based on the received imaging data and aiming a field of view of at least one imaging sensor to continuously perceive the identified person in the field of view. The method further includes capturing a human recognizable image of the identified person using the at least one imaging sensor.
A robot includes a support, a movable member coupled to the support to permit gimbal rotation about a pitch axis and a yaw axis, and first and second linear actuators connected to each of the support and the movable member and operable to rotate the movable member about the pitch axis and the yaw axis. The first linear actuator is pivotally attached to the movable member at a first pivot point. The second linear actuator is pivotally attached to the movable member at a second pivot point. The first and second pivot points are each angularly offset from the pitch axis and the yaw axis by about 45 degrees and are located on the same side of the pitch axis.
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