Patent application number | Description | Published |
20080307590 | Autonomous Floor-Cleaning Robot - An autonomous floor-cleaning robot comprising a housing infrastructure including a chassis, a power subsystem; for providing the energy to power the autonomous floor-cleaning robot, a motive subsystem operative to propel the autonomous floor-cleaning robot for cleaning operations, a command and control subsystem operative to control the autonomous floor-cleaning robot to effect cleaning operations, and a self-adjusting cleaning head subsystem that includes a deck mounted in pivotal combination with the chassis, a brush assembly mounted in combination with the deck and powered by the motive subsystem to sweep up particulates during cleaning operations, a vacuum assembly disposed in combination with the deck and powered by the motive subsystem to ingest particulates during cleaning operations, and a deck adjusting subassembly mounted in combination with the motive subsystem for the brush assembly, the deck, and the chassis that is automatically operative in response to an increase in brush torque in said brush assembly to pivot the deck with respect to said chassis. The autonomous floor-cleaning robot also includes a side brush assembly mounted in combination with the chassis and powered by the motive subsystem to entrain particulates outside the periphery of the housing infrastructure and to direct such particulates towards the self-adjusting cleaning head subsystem. | 12-18-2008 |
20090045766 | OBSTACLE FOLLOWING SENSOR SCHEME FOR A MOBILE ROBOT - A robot obstacle detection system including a robot housing which navigates with respect to a surface and a sensor subsystem aimed at the surface for detecting the surface. The sensor subsystem includes an emitter which emits a signal having a field of emission and a photon detector having a field of view which intersects the field of emission at a region. The subsystem detects the presence of an object proximate the mobile robot and determines a value of a signal corresponding to the object. It compares the value to a predetermined value, moves the mobile robot in response to the comparison, and updates the predetermined value upon the occurrence of ah event. | 02-19-2009 |
20090055022 | OBSTACLE FOLLOWING SENSOR SCHEME FOR A MOBILE ROBOT - A robot obstacle detection system including a robot housing which navigates with respect to a surface and a sensor subsystem aimed at the surface for detecting the surface. The sensor subsystem includes an emitter which emits a signal having a field of emission and a photon detector having a field of view which intersects the field of emission at a region. The subsystem detects the presence of an object proximate the mobile robot and determines a value of a signal corresponding to the object. It compares the value to a predetermined value, moves the mobile robot in response to the comparison, and updates the predetermined value upon the occurrence of an event. | 02-26-2009 |
20090214324 | Adaptable container handling system - An adaptable handling system featuring a boundary subsystem and one or more robots. Each robot typically includes a chassis, a container lift mechanism moveable with respect to the robot chassis for transporting at least one container, a drive subsystem for maneuvering the chassis, a boundary sensing subsystem, a container detection subsystem, and a controller. The controller is responsive to the boundary sensing subsystem and the container detection subsystem and is configured to control the drive subsystem to follow a boundary once intercepted until a container is detected and turn until another container is detected. The controller then controls the container lift mechanism to place a transported container proximate the second detected container. | 08-27-2009 |
20090254218 | ROBOT CONFINEMENT - A robot lawmnower includes a body, a drive system carried by the body, at least one caster wheel supporting the body, a grass cutter carried by the body, a controller in communication with the drive system, and a bump sensor in communication with the controller. The controller is configured to maneuver the robot to turn in place and to redirect the robot in response to the bump sensor sensing contact with an obstacle. The drive system is configured to maneuver the robot across a lawn and includes differentially driven right and left drive wheels positioned rearward of a transverse center axis defined by the body. The at least one caster wheel is positioned substantially forward of the right and left drive wheels, and the grass cutter is positioned at least partially forward of the right and left drive wheels and at least partially behind the at least one caster wheel. | 10-08-2009 |
20090292393 | Obstacle Following Sensor Scheme For A Mobile Robot - A robot obstacle detection system including a robot housing which navigates with respect to a surface and a sensor subsystem aimed at the surface for detecting the surface. The sensor subsystem includes an emitter which emits a signal having a field of emission and a photon detector having a field of view which intersects the field of emission at a region. The subsystem detects the presence of an object proximate the mobile robot and determines a value of a signal corresponding to the object. It compares the value to a predetermined value, moves the mobile robot in response to the comparison, and updates the predetermined value upon the occurrence of an event. | 11-26-2009 |
20090319083 | Robot Confinement - A method of confining a robot in a work space includes providing a portable barrier signal transmitting device including a primary emitter emitting a confinement beam primarily along an axis defining a directed barrier. A mobile robot including a detector, a drive motor and a control unit controlling the drive motor is caused to avoid the directed barrier upon detection by the detector on the robot. The detector on the robot has an omnidirectional field of view parallel to the plane of movement of the robot. The detector receives confinement light beams substantially in a plane at the height of the field of view while blocking or rejecting confinement light beams substantially above or substantially below the plane at the height of the field of view. | 12-24-2009 |
20100049364 | Navigational Control System for a Robotic Device - An autonomous cleaning apparatus includes a chassis, a drive system disposed on the chassis and operable to enable movement of the cleaning apparatus, and a controller in communication with the drive system. The controller includes a processor operable to control the drive system to steer movement of the cleaning apparatus. The autonomous cleaning apparatus includes a cleaning head system disposed on the chassis and a sensor system in communication with the controller. The sensor system includes a debris sensor for generating a debris signal, a bump sensor for generating a bump signal, and an obstacle following sensor disposed on a side of the autonomous cleaning apparatus for generating an obstacle signal. The processor executes a prioritized arbitration scheme to identify and implement one or more dominant behavioral modes based upon at least one signal received from the sensor system. | 02-25-2010 |
20100049365 | Method and System for Multi-Mode Coverage For An Autonomous Robot - A control system for a mobile robot ( | 02-25-2010 |
20100063628 | NAVIGATIONAL CONTROL SYSTEM FOR A ROBOTIC DEVICE - An autonomous cleaning apparatus includes a chassis, a drive system disposed on the chassis and operable to enable movement of the cleaning apparatus, and a controller in communication with the drive system. The controller includes a processor operable to control the drive system to steer movement of the cleaning apparatus. The autonomous cleaning apparatus includes a cleaning head system disposed on the chassis and a sensor system in communication with the controller. The sensor system includes a debris sensor for generating a debris signal, a bump sensor for generating a bump signal, and an obstacle following sensor disposed on a side of the autonomous cleaning apparatus for generating an obstacle signal. The processor executes a prioritized arbitration scheme to identify and implement one or more dominant behavioral modes based upon at least one signal received from the sensor system. | 03-11-2010 |
20100257690 | AUTONOMOUS FLOOR-CLEANING ROBOT - A floor cleaning robot includes a housing having an underside, a substantially semi-circular front portion, and a substantially semi-circular rear portion. A displaceable bumper of a substantially semi-circular leading edge is located along a front portion of the housing. A leading wheel is mounted on the underside of the housing located adjacent to a mid-point of the semi-circular leading edge, and a battery pack cover is positioned rearwardly of the leading wheel and covers a battery pack that supplies power to the robot. At least two drive wheels are positioned rearwardly of the leading wheel, and at least one main brush is positioned rearwardly of the at least two drive wheels and is configured to rotate about an axis substantially parallel to the underside. The floor cleaning robot also includes at least one side brush having at least two arms extending outwardly from a central hub located in a recess in the underside of the housing, the at least one side brush being attached to the hub such that rotation of the hub causes the brush to direct debris from a floor surface beyond the semi-circular leading edge of the robot housing for collection by the robot. An ejectable dust bin is provided that has a surface forming at least a portion of a semi-circular trailing edge of the housing. | 10-14-2010 |
20100257691 | AUTONOMOUS FLOOR-CLEANING ROBOT - A robot includes a robot housing having a substantially arcuate forward portion and a motor drive housed by the robot housing and configured to maneuver the robot on a floor surface. At least two independently driven drive wheels are moveably attached to the robot housing and biased toward the floor surface, each of the drive wheels being moveable downwardly in response to the each of the drive wheels moving over a cliff in the floor surface. A plurality of cliff sensors are disposed adjacent a forward edge of the robot housing and spaced from each other, each cliff sensor including an emitter and a detector aimed toward the floor surface and configured to receive emitter emissions reflected off of the floor surface, each cliff sensor being responsive to a cliff in the floor surface and configured to send a signal when a cliff in the floor surface is detected. The robot also includes a wheel drop sensor in communication with each drive wheel that senses when a drive wheel moves downwardly and sends a signal indicating downward movement of the pivoted drive wheel. A controller is in communication with the cliff sensors, each of the wheel drop sensors, and the motor drive to redirect the robot when a cliff in the floor surface is detected. | 10-14-2010 |
20100263142 | METHOD AND SYSTEM FOR MULTI-MODE COVERAGE FOR AN AUTONOMOUS ROBOT - A mobile robot operable to move on a surface in a room is provided. The mobile robot includes a shell and a chassis including at least two wheels. At least one motor is connected to the wheels for moving the mobile robot on the surface. A cleaner is operable to clean the surface as the mobile robot moves on the surface. A wall sensor is operable to detect a wall in the room as the mobile robot moves on the surface. A controller is operable to control the motor to move the mobile robot on the surface in accordance with a wall following mode and a bounce mode. In the wall following mode, the mobile robot moves generally adjacent to and along the wall in response to detection of the wall by the wall sensor. In the bounce mode, the mobile robot moves away from the wall. | 10-21-2010 |
20100263158 | AUTONOMOUS FLOOR-CLEANING ROBOT - A floor-cleaning robot includes a wheeled housing having a perimeter, a motor drive operably connected to wheels of the housing to move the robot across a floor surface, and a bumper responsive to obstacles encountered by the robot. A controller is in electrical communication with both the bumper and the motor drive and is configured to control the motor drive to maneuver the robot to avoid detected obstacles across the floor surface during a floor-cleaning operation. A driven cleaning brush, rotatable about an axis substantially parallel to an underside of the housing, is disposed substantially across a central region of the underside and is positioned to brush the floor surface as the robot is moved across the floor surface. Additionally, a driven side brush extending beyond the perimeter is positioned to brush floor surface debris from beyond the perimeter toward a projected path of the driven cleaning brush. | 10-21-2010 |
20100268384 | ROBOT CONFINEMENT - A robot confinement system includes a portable housing and a mobile robot. The portable housing includes a first detector operable to detect a presence of the mobile robot in a field of detection, and an emitter operable to emit a first signal when the first detector detects the presence of the mobile robot in the field of detection. The mobile robot is operable to move on a surface to clean the surface and includes a controller operable to control a movement path of the mobile robot on the surface. The mobile robot further includes a second detector operable to detect the first signal emitted by the portable housing. The controller of the mobile robot is operable to change the movement path of the mobile robot in response to detection of the first signal. | 10-21-2010 |
20110131741 | Autonomous Floor-Cleaning Robot - An autonomous floor-cleaning robot comprising a housing infrastructure including a chassis, a power subsystem; for providing the energy to power the autonomous floor-cleaning robot, a motive subsystem operative to propel the autonomous floor-cleaning robot for cleaning operations, a command and control subsystem operative to control the autonomous floor-cleaning robot to effect cleaning operations, and a self-adjusting cleaning head subsystem that includes a deck mounted in pivotal combination with the chassis, a brush assembly mounted in combination with the deck and powered by the motive subsystem to sweep up particulates during cleaning operations, a vacuum assembly disposed in combination with the deck and powered by the motive subsystem to ingest particulates during cleaning operations, and a deck adjusting subassembly mounted in combination with the motive subsystem for the brush assembly, the deck, and the chassis that is automatically operative in response to an increase in brush torque in said brush assembly to pivot the deck with respect to said chassis. The autonomous floor-cleaning robot also includes a side brush assembly mounted in combination with the chassis and powered by the motive subsystem to entrain particulates outside the periphery of the housing infrastructure and to direct such particulates towards the self-adjusting cleaning head subsystem. | 06-09-2011 |
20110144805 | NAVIGATIONAL CONTROL SYSTEM FOR A ROBOTIC DEVICE - A navigational control system for altering movement activity of a robotic device operating in a defined working area, comprising a transmitting subsystem integrated in combination with the robotic device, the transmitting subsystem comprising means for emitting a number of directed beams, each directed beam having a predetermined emission pattern, and a receiving subsystem functioning as a base station that includes a navigation control algorithm that defines a predetermined triggering event for the navigational control system and a set of detection units positioned within the defined working area in a known spaced-apart relationship, the set of detection units being configured and operative to detect one or more of the directed beams emitted by the transmitting system; and wherein the receiving subsystem is configured and operative to process the one or more detected directed beams under the control of the navigational control algorithm to determine whether the predetermined triggering event has occurred, and, if the predetermined triggering event has occurred transmit a control signal to the robotic device, wherein reception of the control signal by the robotic device causes the robotic device to implement a prescribed conduct that alters the movement activity of the robotic device. | 06-16-2011 |
20110301757 | ADAPTABLE CONTAINER HANDLING ROBOT WITH BOUNDARY SENSING SUBSYSTEM - An adaptable container handling robot includes a chassis, a container transport mechanism, a drive subsystem for maneuvering the chassis, a boundary sensing subsystem configured to reduce adverse effects of outdoor deployment, and a controller subsystem responsive to the boundary sensing subsystem. The controller subsystem is configured to detect a boundary, control the drive subsystem to turn in a given direction to align the robot with the boundary, and control the drive subsystem to follow the boundary. | 12-08-2011 |
20130085603 | NAVIGATIONAL CONTROL SYSTEM FOR A ROBOTIC DEVICE - A navigational control system for altering movement activity of a robotic device operating in a defined working area, comprising a transmitting subsystem integrated in combination with the robotic device, the transmitting subsystem comprising means for emitting a number of directed beams, each directed beam having a predetermined emission pattern, and a receiving subsystem functioning as a base station that includes a navigation control algorithm that defines a predetermined triggering event for the navigational control system and a set of detection units positioned within the defined working area in a known spaced-apart relationship, the set of detection units being configured and operative to detect one or more of the directed beams emitted by the transmitting system. | 04-04-2013 |
20130103194 | Robot Confinement - A method of confining a robot in a work space includes providing a portable barrier signal transmitting device including a primary emitter emitting a confinement beam primarily along an axis defining a directed barrier. A mobile robot including a detector, a drive motor and a control unit controlling the drive motor is caused to avoid the directed barrier upon detection by the detector on the robot. The detector on the robot has an omnidirectional field of view parallel to the plane of movement of the robot. The detector receives confinement light beams substantially in a plane at the height of the field of view while blocking or rejecting confinement light beams substantially above or substantially below the plane at the height of the field of view. | 04-25-2013 |
20130110281 | METHODS AND SYSTEMS FOR AUTOMATED TRANSPORTATION OF ITEMS BETWEEN VARIABLE ENDPOINTS | 05-02-2013 |
20130110341 | METHODS AND SYSTEMS FOR MAINTENANCE AND OTHER PROCESSING OF CONTAINER-GROWN PLANTS USING AUTONOMOUS MOBILE ROBOTS | 05-02-2013 |
20130174371 | AUTONOMOUS FLOOR-CLEANING ROBOT - A floor cleaning robot comprises a housing, wheels, and a motor driving the wheels to move the robot across a floor, a control module disposed within the housing and directing movement of the robot across the floor, a sensor for detecting and communicating obstacle information to the control module so that the control module can cause the robot to react to the obstacle, a removable bin disposed at least partially within the housing and receiving particulates, a first rotating member directing particulates toward the bin, and a second rotating member cooperating with the first rotating member to direct particulates toward the bin. The removable bin receives particulates directed thereto by the first and second rotating members and the particulates pass from the first rotating member to the removable bin without passing through a filter. | 07-11-2013 |
20130181544 | EMERGENCY STOP METHOD AND SYSTEM FOR AUTONOMOUS MOBILE ROBOTS - An emergency stop system for an autonomous mobile robot includes a base unit connected to the robot and an element engageable by a user extending from the base unit. The element is movably held by the base unit in an operation mode position. The base unit includes a mechanism for detecting the presence of the element in the operation mode position and triggering an emergency stop of the robot when the element is moved out of the operation mode position by the user. | 07-18-2013 |
20130211589 | NAVIGATIONAL CONTROL SYSTEM FOR A ROBOTIC DEVICE - An autonomous cleaning apparatus includes a chassis, a drive system disposed on the chassis and operable to enable movement of the cleaning apparatus, and a controller in communication with the drive system. The controller includes a processor operable to control the drive system to steer movement of the cleaning apparatus. The autonomous cleaning apparatus includes a cleaning head system disposed on the chassis and a sensor system in communication with the controller. The sensor system includes a debris sensor for generating a debris signal, a bump sensor for generating a bump signal, and an obstacle following sensor disposed on a side of the autonomous cleaning apparatus for generating an obstacle signal. The processor executes a prioritized arbitration scheme to identify and implement one or more dominant behavioral modes based upon at least one signal received from the sensor system. | 08-15-2013 |
20130325178 | Method and System for Multi-Mode Coverage for an Autonomous Robot - A control system for a mobile robot ( | 12-05-2013 |
20130338828 | NAVIGATIONAL CONTROL SYSTEM FOR A ROBOTIC DEVICE - A navigational control system for altering movement activity of a robotic device operating in a defined working area, comprising a transmitting subsystem integrated in combination with the robotic device, the transmitting subsystem comprising means for emitting a number of directed beams, each directed beam having a predetermined emission pattern, and a receiving subsystem functioning as a base station that includes a navigation control algorithm that defines a predetermined triggering event for the navigational control system and a set of detection units positioned within the defined working area in a known spaced-apart relationship, the set of detection units being configured and operative to detect one or more of the directed beams emitted by the transmitting system; and wherein the receiving subsystem is configured and operative to process the one or more detected directed beams under the control of the navigational control algorithm to determine whether the predetermined triggering event has occurred, and, if the predetermined triggering event has occurred transmit a control signal to the robotic device, wherein reception of the control signal by the robotic device causes the robotic device to implement a prescribed conduct that alters the movement activity of the robotic device. | 12-19-2013 |
20140095008 | Lawn Care Robot - A robot lawnmower includes a body and a drive system carried by the body and configured to maneuver the robot across a lawn. The robot also includes a grass cutter and a swath edge detector, both carried by the body. The swath edge detector is configured to detect a swath edge between cut and uncut grass while the drive system maneuvers the robot across the lawn while following a detected swath edge. The swath edge detector includes a calibrator that monitors uncut grass for calibration of the swath edge detector. In some examples, the calibrator comprises a second swath edge detector. | 04-03-2014 |
20140102061 | Lawn Care Robot - A robot lawnmower includes a body and a drive system carried by the body and configured to maneuver the robot across a lawn. The robot also includes a grass cutter and a swath edge detector, both carried by the body. The swath edge detector is configured to detect a swath edge between cut and uncut grass while the drive system maneuvers the robot across the lawn while following a detected swath edge. The swath edge detector includes a calibrator that monitors uncut grass for calibration of the swath edge detector. In some examples, the calibrator comprises a second swath edge detector. | 04-17-2014 |
20140102062 | Lawn Care Robot - A robot lawnmower includes a body and a drive system carried by the body and configured to maneuver the robot across a lawn. The robot also includes a grass cutter and a swath edge detector, both carried by the body. The swath edge detector is configured to detect a swath edge between cut and uncut grass while the drive system maneuvers the robot across the lawn while following a detected swath edge. The swath edge detector includes a calibrator that monitors uncut grass for calibration of the swath edge detector. In some examples, the calibrator comprises a second swath edge detector. | 04-17-2014 |
20140222251 | Robot Confinement - A method of confining a robot in a work space includes providing a portable barrier signal transmitting device including a primary emitter emitting a confinement beam primarily along an axis defining a directed barrier. A mobile robot including a detector, a drive motor and a control unit controlling the drive motor is caused to avoid the directed barrier upon detection by the detector on the robot. The detector on the robot has an omnidirectional field of view parallel to the plane of movement of the robot. The detector receives confinement light beams substantially in a plane at the height of the field of view while blocking or rejecting confinement light beams substantially above or substantially below the plane at the height of the field of view. | 08-07-2014 |
20140250613 | AUTONOMOUS FLOOR-CLEANING ROBOT - An autonomous floor-cleaning robot comprising a housing infrastructure including a chassis, a power subsystem; for providing the energy to power the autonomous floor-cleaning robot, a motive subsystem operative to propel the autonomous floor-cleaning robot for cleaning operations, a command and control subsystem operative to control the autonomous floor-cleaning robot to effect cleaning operations, and a self-adjusting cleaning head subsystem that includes a deck mounted in pivotal combination with the chassis, a brush assembly mounted in combination with the deck and powered by the motive subsystem to sweep up particulates during cleaning operations, a vacuum assembly disposed in combination with the deck and powered by the motive subsystem to ingest particulates during cleaning operations, and a deck adjusting subassembly mounted in combination with the motive subsystem for the brush assembly, the deck, and the chassis that is automatically operative in response to an increase in brush torque in said brush assembly to pivot the deck with respect to said chassis. The autonomous floor-cleaning robot also includes a side brush assembly mounted in combination with the chassis and powered by the motive subsystem to entrain particulates outside the periphery of the housing infrastructure and to direct such particulates towards the self-adjusting cleaning head subsystem. | 09-11-2014 |
20140288708 | OBSTACLE FOLLOWING SENSOR SCHEME FOR A MOBILE ROBOT - A robot obstacle detection system including a robot housing which navigates with respect to a surface and a sensor subsystem aimed at the surface for detecting the surface. The sensor subsystem includes an emitter which emits a signal having a field of emission and a photon detector having a field of view which intersects the field of emission at a region. The subsystem detects the presence of an object proximate the mobile robot and determines a value of a signal corresponding to the object. It compares the value to a predetermined value, moves the mobile robot in response to the comparison, and updates the predetermined value upon the occurrence of an event. | 09-25-2014 |
20140289991 | NAVIGATIONAL CONTROL SYSTEM FOR A ROBOTIC DEVICE - An autonomous cleaning apparatus includes a chassis, a drive system disposed on the chassis and operable to enable movement of the cleaning apparatus, and a controller in communication with the drive system. The controller includes a processor operable to control the drive system to steer movement of the cleaning apparatus. The autonomous cleaning apparatus includes a cleaning head system disposed on the chassis and a sensor system in communication with the controller. The sensor system includes a debris sensor for generating a debris signal, a bump sensor for generating a bump signal, and an obstacle following sensor disposed on a side of the autonomous cleaning apparatus for generating an obstacle signal. The processor executes a prioritized arbitration scheme to identify and implement one or more dominant behavioral modes based upon at least one signal received from the sensor system. | 10-02-2014 |
20140316557 | METHODS AND SYSTEMS FOR MAINTENANCE AND OTHER PROCESSING OF CONTAINER-GROWN PLANTS USING AUTONOMOUS MOBILE ROBOTS - A system is provided for processing container-grown plants positioned in a given area. The system includes a processing station positioned in the area for processing the container-grown plants. It also includes one or more autonomous mobile container handling robots configured to: (i) travel to a source location in the area and pick up a container-grown plant, (ii) transport the container-grown plant to the processing station where a process is performed on the container-grown plant, (iii) transport the container-grown plant from the processing station to a destination location in the area, (iv) deposit the container-grown plant at the destination location, and (v) repeat (i) through (iv) for a set of container-grown plants in the source location. | 10-23-2014 |