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 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
H05B 47/155 - Commande coordonnée de plusieurs sources lumineuses
A47L 11/24 - Machines à balayer le plancher, actionnées par moteur
A47L 11/40 - Machines à nettoyer les planchers, les tapis, les meubles, les murs ou leurs revêtements - Éléments ou parties constitutives des machines non prévus dans les groupes , ou non limités à un de ces groupes, p.ex. poignées, dispositions des interrupteurs, bords, amortisseurs ou leviers
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.
G05B 19/10 - Commande à programme autre que la commande numérique, c.à d. dans des automatismes à séquence ou dans des automates à logique utilisant des sélecteurs
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 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 - Machines à nettoyer les planchers, les tapis, les meubles, les murs ou leurs revêtements - Éléments ou parties constitutives des machines non prévus dans les groupes , ou non limités à un de ces groupes, p.ex. poignées, dispositions des interrupteurs, bords, amortisseurs ou leviers
An evacuation station includes a base and a canister removably attached to the base. The base includes a ramp having an inclined surface for receiving a robotic cleaner having a debris bin. The ramp defines an evacuation intake opening arranged to pneumatically interface with the debris bin. The base also includes a first conduit portion pneumatically connected to the evacuation intake opening, an air mover having an inlet and an exhaust, and a particle filter pneumatically the exhaust of the air mover. The canister includes a second conduit portion arranged to pneumatically interface with the first conduit portion to form a pneumatic debris intake conduit, an exhaust conduit arranged to pneumatically connect to the inlet of the air mover when the canister is attached to the base, and a separator in pneumatic communication with the second conduit portion.
A47L 9/00 - LAVAGE OU NETTOYAGE DOMESTIQUE; ASPIRATEURS EN GÉNÉRAL - Parties constitutives ou accessoires des aspirateurs, p.ex. moyens mécaniques pour commander l'aspiration ou pour entraîner une action de battement; Dispositifs de rangement spécialement conçus pour les aspirateurs ou les pièces de ceux-ci; Véhicules porteurs spécialement conçus pour les aspirateurs
A47L 9/10 - Filtres; Séparateurs de poussière; Enlèvement de la poussière; Echange automatique des filtres
A robot floor cleaning system (10,10') features a mobile floor cleaning robot (100,100') and an evacuation station (200,200'). The robot includes: a chassis (102) with at least one drive wheel (142a, 142b) operable to propel the robot across a floor surface; a cleaning bin (122, 122 ', 122") disposed within the robot and arranged to receive debris ingested by the robot during cleaning; and a robot vacuum (120) configured to pull debris into the cleaning bin from an opening (109,109') on an underside of the robot. The evacuation station is configured to evacuate debris from the cleaning bin of the robot, and includes: a housing (202,202') defining a platform (206,206') for receiving the cleaning robot with the opening on the underside of the robot aligned with a suction opening (216) of the platform; and an evacuation vacuum (212) operable to draw air into the evacuation station housing through the suction opening.
A47L 9/10 - Filtres; Séparateurs de poussière; Enlèvement de la poussière; Echange automatique des filtres
A47L 9/00 - LAVAGE OU NETTOYAGE DOMESTIQUE; ASPIRATEURS EN GÉNÉRAL - Parties constitutives ou accessoires des aspirateurs, p.ex. moyens mécaniques pour commander l'aspiration ou pour entraîner une action de battement; Dispositifs de rangement spécialement conçus pour les aspirateurs ou les pièces de ceux-ci; Véhicules porteurs spécialement conçus pour les aspirateurs
A47L 11/20 - Machines à encaustiquer ou polir les planchers combinées avec des dispositifs de nettoyage par le vide
A47L 11/40 - Machines à nettoyer les planchers, les tapis, les meubles, les murs ou leurs revêtements - Éléments ou parties constitutives des machines non prévus dans les groupes , ou non limités à un de ces groupes, p.ex. poignées, dispositions des interrupteurs, bords, amortisseurs ou leviers
A robot floor cleaning system (10,10') features a mobile floor cleaning robot (100,100') and an evacuation station (200,200'). The robot includes: a chassis (102) with at least one drive wheel (142a, 142b) operable to propel the robot across a floor surface; a cleaning bin ( 122, 122 ', 122") disposed within the robot and arranged to receive debris ingested by the robot during cleaning; and a robot vacuum (120) configured to pull debris into the cleaning bin from an opening (109,109') on an underside of the robot. The evacuation station is configured to evacuate debris from the cleaning bin of the robot, and includes: a housing (202,202') defining a platform (206,206') for receiving the cleaning robot with the opening on the underside of the robot aligned with a suction opening (216) of the platform; and an evacuation vacuum (212) operable to draw air into the evacuation station housing through the suction opening.
A47L 9/10 - Filtres; Séparateurs de poussière; Enlèvement de la poussière; Echange automatique des filtres
A47L 9/00 - LAVAGE OU NETTOYAGE DOMESTIQUE; ASPIRATEURS EN GÉNÉRAL - Parties constitutives ou accessoires des aspirateurs, p.ex. moyens mécaniques pour commander l'aspiration ou pour entraîner une action de battement; Dispositifs de rangement spécialement conçus pour les aspirateurs ou les pièces de ceux-ci; Véhicules porteurs spécialement conçus pour les aspirateurs
A47L 11/20 - Machines à encaustiquer ou polir les planchers combinées avec des dispositifs de nettoyage par le vide
A47L 11/40 - Machines à nettoyer les planchers, les tapis, les meubles, les murs ou leurs revêtements - Éléments ou parties constitutives des machines non prévus dans les groupes , ou non limités à un de ces groupes, p.ex. poignées, dispositions des interrupteurs, bords, amortisseurs ou leviers
ABSTRACT A mobile floor cleaning robot (100) includes a body (110) defining a forward drive direction (F), a drive systern (120), a cleaning system (160), and a controller (150) in communication with the drive and cleaning systems. The cleaning system includes a pad holder (190) having a bottorn surface (194b) for receiving a cleaning pad (400), and a fluid applicator (162) configured to apply fluid (172) to the floor surface (10). The controller controls the drive system and the fluid applicator while executing a cleaning routing. The cleaning routine includes applying fluid to a floor surface area substantially equal to a footprint area (AF ) of the robot and returning the robot to the floor surface area in a movement pattern that moves a center (Pc) and lateral edges (PR and PL) of the cleaning pad separately through the floor surface area to moisten the cleaning pad with the applied fluid. Date Recue/Date Received 2021-08-31
A47L 11/284 - Machines à frotter le plancher, actionnées par moteur ayant des outils animés d'un mouvement de va-et-vient
A47L 11/03 - Machines à encaustiquer ou polir les planchers caractérisées par le fait qu'elles peuvent dispenser les agents de nettoyage ou de polissage
A47L 11/12 - Instruments actionnés par moteur à outils à mouvement alternatif ou oscillant
B25J 5/00 - Manipulateurs montés sur roues ou sur support mobile
A mobile floor cleaning robot (100) includes a body (110) defining a forward drive direction (F), a drive system (120), a cleaning system (160), and a controller (150) in communication with the drive and cleaning systems. The cleaning system includes a pad holder (190) having a bottom surface (194b) for receiving a cleaning pad (400), and a fluid applicator (162) configured to apply fluid (172) to the floor surface ( 10). The controller controls the drive system and the fluid applicator while executing a cleaning routing. The cleaning routine includes applying fluid to a floor surface area substantially equal to a footprint area (AF ) of the robot and returning the robot to the floor surface area in a movement pattern that moves a center (Pc) and lateral edges (PR and PL) of the cleaning pad separately through the floor surface area to moisten the cleaning pad with the applied fluid.
A47L 11/284 - Machines à frotter le plancher, actionnées par moteur ayant des outils animés d'un mouvement de va-et-vient
A47L 11/03 - Machines à encaustiquer ou polir les planchers caractérisées par le fait qu'elles peuvent dispenser les agents de nettoyage ou de polissage
A47L 11/12 - Instruments actionnés par moteur à outils à mouvement alternatif ou oscillant
B25J 5/00 - Manipulateurs montés sur roues ou sur support mobile
10.
ENVIRONMENTAL MANAGEMENT SYSTEMS INCLUDING MOBILE ROBOTS AND METHODS USING SAME
A computer-implemented method for receiving user commands for a remote cleaning robot and sending the user commands to the remote cleaning robot, the remote cleaning robot including a drive motor and a cleaning motor, includes displaying a user interface including a control area, and within the control area: a user-manipulable launch control group including a plurality of control elements, the launch control group having a deferred launch control state and an immediate launch control state; at least one user-manipulable cleaning strategy control element having a primary cleaning strategy control state and an alternative cleaning strategy control state; and a physical recall control group including a plurality of control elements, the physical recall control group having an immediate recall control state and a remote audible locator control state. The method further includes: receiving user input via the user-manipulable control elements; responsive to the user inputs, displaying simultaneously within the same control area a real-time robot state reflecting a unique combination of control states; and commanding the remote cleaning robot to actuate the drive motor and cleaning motor to clean a surface based on the received input and unique combination of control states.
H04Q 9/00 - Dispositions dans les systèmes de commande à distance ou de télémétrie pour appeler sélectivement une sous-station à partir d'une station principale, sous-station dans laquelle un appareil recherché est choisi pour appliquer un signal de commande ou
A system and method for mapping parameter data acquired by a robot mapping system is disclosed. Parameter data characterizing the environment is collected while the robot localizes itself within the environment using landmarks. Parameter data is recorded in a plurality of local grids, i.e., sub-maps associated with the robot position and orientation when the data was collected. The robot is configured to generate new grids or reuse existing grids depending on the robot's current pose, the pose associated with other grids, and the uncertainty of these relative pose estimates. The pose estimates associated with the grids are updated over time as the robot refines its estimates of the locations of landmarks from which determines its pose in the environment. Occupancy maps or other global parameter maps may be generated by rendering local grids into a comprehensive map indicating the parameter data in a global reference frame extending the dimensions of the environment.
A system and method for mapping parameter data acquired by a robot mapping system is disclosed. Parameter data characterizing the environment is collected while the robot localizes itself within the environment using landmarks. Parameter data is recorded in a plurality of local grids, i.e., sub-maps associated with the robot position and orientation when the data was collected. The robot is configured to generate new grids or reuse existing grids depending on the robot's current pose, the pose associated with other grids, and the uncertainty of these relative pose estimates. The pose estimates associated with the grids are updated over time as the robot refines its estimates of the locations of landmarks from which determines its pose in the environment. Occupancy maps or other global parameter maps may be generated by rendering local grids into a comprehensive map indicating the parameter data in a global reference frame extending the dimensions of the environment.
A system and method for mapping parameter data acquired by a robot mapping system is disclosed. Parameter data characterizing the environment is collected while the robot localizes itself within the environment using landmarks. Parameter data is recorded in a plurality of local grids, i.e., sub-maps associated with the robot position and orientation when the data was collected. The robot is configured to generate new grids or reuse existing grids depending on the robot's current pose, the pose associated with other grids, and the uncertainty of these relative pose estimates. The pose estimates associated with the grids are updated over time as the robot refines its estimates of the locations of landmarks from which determines its pose in the environment. Occupancy maps or other global parameter maps may be generated by rendering local grids into a comprehensive map indicating the parameter data in a global reference frame extending the dimensions of the environment.
A system and method for mapping parameter data acquired by a robot mapping system is disclosed. Parameter data characterizing the environment is collected while the robot localizes itself within the environment using landmarks. Parameter data is recorded in a plurality of local grids, i.e., sub-maps associated with the robot position and orientation when the data was collected. The robot is configured to generate new grids or reuse existing grids depending on the robot's current pose, the pose associated with other grids, and the uncertainty of these relative pose estimates. The pose estimates associated with the grids are updated over time as the robot refines its estimates of the locations of landmarks from which determines its pose in the environment. Occupancy maps or other global parameter maps may be generated by rendering local grids into a comprehensive map indicating the parameter data in a global reference frame extending the dimensions of the environment.
A proximity sensor (520) includes first and second components (522, 523) disposed on a sensor body (514) adjacent to one another. The first component (522, 524) is one of an emitter (522) and a receiver (524), and the second component (522a, 524a) is the other one of an emitter and a receiver, A third component (522b, 524b) is disposed adjacent the second sensor opposite the first sensor. The third component is an emitter if the first sensor is an emitter or a receiver if the first sensor is a receiver. Each component has a respective field of view (523, 525). First and second fields of view intersect, defining a first volume (VI) that detects a floor surface (10) within a first threshold distance (¾). The second and third fields of view intersect, defining a second volume (V2) that detects a floor surface within a second threshold distance (DAC).
B25J 9/10 - Manipulateurs à commande programmée caractérisés par des moyens pour régler la position des éléments manipulateurs
A47L 9/00 - LAVAGE OU NETTOYAGE DOMESTIQUE; ASPIRATEURS EN GÉNÉRAL - Parties constitutives ou accessoires des aspirateurs, p.ex. moyens mécaniques pour commander l'aspiration ou pour entraîner une action de battement; Dispositifs de rangement spécialement conçus pour les aspirateurs ou les pièces de ceux-ci; Véhicules porteurs spécialement conçus pour les aspirateurs
B25J 5/00 - Manipulateurs montés sur roues ou sur support mobile
An autonomous mobile robot comprise: a chassis having a drive system mounted therein in communication with a control system; a cleaning head assembly having a lower cage and mounted to the chassis; a debris collection bin mounted to the chassis; a vacuum airway having a vacuum inlet and an airway outlet positioned adjacent the debris collection bin, and configured to deliver debris from the cleaning head assembly to a debris collection bin, the vacuum airway extending between the cleaning assembly and debris collection bin and being in fluid communication with an impeller disposed within the debris collection bin; and a cleaning head module connected to the chassis and having a front roller including a front shape-changing resilient tube and an adjacent rear roller including a rear shape-changing resilient tube rotatably opposing therewith beneath the vacuum inlet. The surface of the front shape-changing tube and the surface rear shape-changing tube are separated by a narrowest air gap of less than 1 cm, such that the vacuum draw directed from the vacuum airway is concentrated within the narrowest air gap.
A47L 9/04 - Buses avec brosses ou agitateurs commandés
A47L 11/40 - Machines à nettoyer les planchers, les tapis, les meubles, les murs ou leurs revêtements - Éléments ou parties constitutives des machines non prévus dans les groupes , ou non limités à un de ces groupes, p.ex. poignées, dispositions des interrupteurs, bords, amortisseurs ou leviers
17.
RESILIENT AND COMPRESSIBLE ROLLER AND AUTONOMOUS COVERAGE ROBOT
A resilient compressible roller rotatably engaged with an autonomous coverage robot, the resilient compressible roller comprising: a rigid drive shaft; a resilient tubular member having a longitudinal axis and including an outer surface, one or more vanes extending outwardly from the outer surface, a hub disposed along the longitudinal axis of the tubular member within the outer surface, the hub having one or more engagement elements formed therein for engaging securely with the rigid drive shaft, a plurality of resilient curvilinear spokes extending between an inner surface of the flexible tubular member and the hub.
A47L 9/04 - Buses avec brosses ou agitateurs commandés
A47L 11/40 - Machines à nettoyer les planchers, les tapis, les meubles, les murs ou leurs revêtements - Éléments ou parties constitutives des machines non prévus dans les groupes , ou non limités à un de ces groupes, p.ex. poignées, dispositions des interrupteurs, bords, amortisseurs ou leviers
A robot system (1600) includes a mobile robot (100) having a controller (500) executing a control system (510) for controlling operation of the robot, a cloud computing service (1620) in communication with the controller of the robot, and a remote computing device (310) in communication with the cloud computing service. The remote computing device communicates with the robot through the cloud computing service.
A robot system includes a mobile robot having a controller executing a control system for controlling operation of the robot, a cloud computing service in communication with the controller of the robot, and a remote computing device in communication with the cloud computing service. The remote computing device communicates with the robot through the cloud computing service.
G05D 1/02 - Commande de la position ou du cap par référence à un système à deux dimensions
B25J 5/00 - Manipulateurs montés sur roues ou sur support mobile
H04N 7/12 - Systèmes dans lesquels le signal de télévision est transmis par un canal ou une pluralité de canaux parallèles, la bande passante de chaque canal étant inférieure à la largeur de bande du signal de télévision
The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. Certain embodiments contemplate improvements to the front-end processing in a SLAM-based system. Particularly, certain of these embodiments contemplate a novel landmark matching process. Certain of these embodiments also contemplate a novel landmark creation process. Certain embodiments contemplate improvements to the back-end processing in a SLAM- based system. Particularly, certain of these embodiments contemplate algorithms for modifying the SLAM graph in real-time to achieve a more efficient structure.
An autonomous coverage robot includes a body, a drive system disposed on the body, and a cleaning assembly disposed on the body and configured to engage a floor surface while the robot is maneuvered across the floor surface. The cleaning assembly includes a driven cleaning roller, a cleaning bin disposed on the body for receiving debris agitated by the cleaning roller, and an air mover. The cleaning bin includes a cleaning bin body having a cleaning bin entrance disposed adjacent to the cleaning roller and a roller scraper disposed on the cleaning bin body for engaging the cleaning roller. The cleaning bin body has a holding portion in pneumatic communication with the cleaning bin entrance, and the air mover is operable to move air into the cleaning bin entrance.
brevets
