US20080281470A1 - Autonomous coverage robot sensing - Google Patents

Autonomous coverage robot sensing Download PDF

Info

Publication number
US20080281470A1
US20080281470A1 US12/118,250 US11825008A US2008281470A1 US 20080281470 A1 US20080281470 A1 US 20080281470A1 US 11825008 A US11825008 A US 11825008A US 2008281470 A1 US2008281470 A1 US 2008281470A1
Authority
US
United States
Prior art keywords
robot
cleaning
stasis
implementations
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US12/118,250
Other languages
English (en)
Inventor
Duane L. Gilbert, Jr.
Marcus R. Williams
Andrea M. Okerholm
Elaine H. Kristant
Sheila A. Longo
Daniel E. Kee
Marc D. Strauss
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
iRobot Corp
Original Assignee
iRobot Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=39720746&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=US20080281470(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by iRobot Corp filed Critical iRobot Corp
Priority to US12/118,250 priority Critical patent/US20080281470A1/en
Publication of US20080281470A1 publication Critical patent/US20080281470A1/en
Assigned to IROBOT CORPORATION reassignment IROBOT CORPORATION ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: STRAUSS, MARC D., KEE, DANIEL E., WILLIAMS, MARCUS R., GILBERT, DUANE L., KRISTANT, ELAINE H., LONGO, SHEILA A., OKERHOLM, ANDREA M.
Priority to US13/314,398 priority patent/US8438695B2/en
Priority to US13/537,401 priority patent/US20120265346A1/en
Priority to US15/841,739 priority patent/US11072250B2/en
Priority to US17/384,587 priority patent/US20220009363A1/en
Abandoned legal-status Critical Current

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—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
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
    • A47L11/302—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/34—Machines for treating carpets in position by liquid, foam, or vapour, e.g. by steam
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
    • A47L11/4025—Means for emptying
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4041—Roll shaped surface treating tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4063—Driving means; Transmission means therefor
    • A47L11/4066—Propulsion of the whole machine
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/408—Means for supplying cleaning or surface treating agents
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—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—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—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
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466—Rotating tools
    • A47L9/0477—Rolls
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—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
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0488—Combinations or arrangements of several tools, e.g. edge cleaning tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—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
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/52—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by DC-motors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/02—Floor surfacing or polishing machines
    • A47L11/10—Floor surfacing or polishing machines motor-driven
    • A47L11/12—Floor surfacing or polishing machines motor-driven with reciprocating or oscillating tools
    • A47L11/125—Floor surfacing or polishing machines motor-driven with reciprocating or oscillating tools with supply of cleaning agents
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/02—Floor surfacing or polishing machines
    • A47L11/10—Floor surfacing or polishing machines motor-driven
    • A47L11/14—Floor surfacing or polishing machines motor-driven with rotating tools
    • A47L11/145—Floor surfacing or polishing machines motor-driven with rotating tools with supply of cleaning agents
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/02—Floor surfacing or polishing machines
    • A47L11/10—Floor surfacing or polishing machines motor-driven
    • A47L11/14—Floor surfacing or polishing machines motor-driven with rotating tools
    • A47L11/16—Floor surfacing or polishing machines motor-driven with rotating tools the tools being disc brushes
    • A47L11/161—Floor surfacing or polishing machines motor-driven with rotating tools the tools being disc brushes with supply of cleaning agents
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/02—Floor surfacing or polishing machines
    • A47L11/20—Floor surfacing or polishing machines combined with vacuum cleaning devices
    • A47L11/201—Floor surfacing or polishing machines combined with vacuum cleaning devices with supply of cleaning agents
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/28—Floor-scrubbing machines, motor-driven
    • A47L11/282—Floor-scrubbing machines, motor-driven having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/292—Floor-scrubbing machines characterised by means for taking-up dirty liquid having rotary tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
    • A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4036—Parts or details of the surface treating tools
    • A47L11/4044—Vacuuming or pick-up tools; Squeegees
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/44—Wheel Hub motors, i.e. integrated in the wheel hub
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2250/00—Driver interactions
    • B60L2250/16—Driver interactions by display
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/32—Auto pilot mode
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2270/00—Problem solutions or means not otherwise provided for
    • B60L2270/10—Emission reduction
    • B60L2270/14—Emission reduction of noise
    • B60L2270/145—Structure borne vibrations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60—Electric or hybrid propulsion means for production processes
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Definitions

  • the disclosure relates to surface cleaning robots, such as robots configured to perform autonomous cleaning tasks.
  • the mop or sponge is dipped into a container filled with a cleaning fluid to allow the mop or sponge to absorb an amount of the cleaning fluid.
  • the mop or sponge is then moved over the surface to apply a cleaning fluid onto the surface.
  • the cleaning fluid interacts with contaminants on the surface and may dissolve or otherwise emulsify contaminants into the cleaning fluid.
  • the cleaning fluid is therefore transformed into a waste liquid that includes the cleaning fluid and contaminants held in suspension within the cleaning fluid. Thereafter, the sponge or mop is used to absorb the waste liquid from the surface.
  • the sponge or mop may also be used as a scrubbing element for scrubbing the floor surface, and especially in areas where contaminants are particularly difficult to remove from the household surface.
  • the scrubbing action serves to agitate the cleaning fluid for mixing with contaminants as well as to apply a friction force for loosening contaminants from the floor surface. Agitation enhances the dissolving and emulsifying action of the cleaning fluid and the friction force helps to break bonds between the surface and contaminants.
  • the waste liquid After cleaning an area of the floor surface, the waste liquid must be rinsed from the mop or sponge. This is typically done by dipping the mop or sponge back into the container filled with cleaning fluid. The rinsing step contaminates the cleaning fluid with waste liquid and the cleaning fluid becomes more contaminated each time the mop or sponge is rinsed. As a result, the effectiveness of the cleaning fluid deteriorates as more of the floor surface area is cleaned.
  • Some manual floor cleaning devices have a handle with a cleaning fluid supply container supported on the handle and a scrubbing sponge at one end of the handle. These devices include a cleaning fluid dispensing nozzle supported on the handle for spraying cleaning fluid onto the floor. These devices also include a mechanical device for wringing waste liquid out of the scrubbing sponge and into a waste container.
  • the robot may include a weight distribution that remains substantially constant throughout the cleaning process, the weight distributed between a cleaning element, a squeegee, and drive wheels.
  • the weight distribution can provide sufficient pressure to the wetting element and the squeegee while allowing sufficient thrust for to be applied at drive wheels.
  • the robot can have a small volume required to navigate in tightly dimensioned spaces while having a weight distribution configured for wet-cleaning a surface.
  • the applicator is configured to dispense the cleaning liquid onto the cleaning surface substantially near the forward end of the chassis.
  • the robot includes a wetting element carried by the chassis and engaging the cleaning surface to distribute the cleaning liquid along at least a portion of the cleaning surface when the robot is driven in a forward direction.
  • the wetting element is arranged substantially forward of a transverse axis defined by the right and left driven wheels, and the wetting element slideably supports at least about ten percent of the mass of the robot above the cleaning surface.
  • Implementations of this aspect of the disclosure may include one or more of the following features.
  • the collection region of the vacuum assembly is arranged substantially rearward of the transverse axis defined by the right and left drive wheels, and the vacuum assembly slideably supports at least about twenty percent of the mass of the robot above the cleaning surface.
  • a forward portion of the collection region of the vacuum assembly is configured to pass a point on the cleaning surface about 0.25 s to about 0.6 s after a forward portion of the applicator has passed the point on the cleaning surface when the robot is driven at a maximum speed in the forward direction.
  • the robot includes a navigation system in communication with the drive system and configured to navigate the robot.
  • the vacuum assembly is configured to collect a portion of the cleaning liquid dispensed onto the cleaning surface and the navigation system is configured to navigate the robot to return to collect the cleaning liquid remaining on the surface.
  • the navigation system is configured to navigate the robot along a pseudo-random path to return to collect the cleaning liquid remaining on the surface.
  • the collection region of the vacuum assembly includes a squeegee and a vacuum chamber.
  • the squeegee is attached to the chassis and formed with a longitudinal ridge disposed proximate to the cleaning surface and extending across a cleaning width for providing a liquid collection volume at a forward edge of the ridge.
  • the vacuum chamber is partially formed by the squeegee, and the vacuum chamber is disposed proximate to the longitudinal ridge, extending across the cleaning width.
  • the vacuum chamber is in fluid communication with the liquid collection volume by a plurality of suction ports defined by the squeegee, substantially above the longitudinal ridge.
  • the drive system is configured to maneuver the robot within a volume of less than about 3 L. In certain implementations, the supply volume is configured to hold about 600 mL or greater of cleaning liquid.
  • the drive system is configured to provide between about 100 grams-force and about 700 grams-force at each wheel to propel the robot at a maximum forward rate of about 200 mm/s to about 400 mm/s.
  • the center of gravity of the robot is substantially along a transverse axis defined by the right and left differentially driven wheels.
  • the robot includes an extension element carried by the chassis and extending transversely from the chassis.
  • the extension element is configured to guide debris toward the chassis.
  • the extension element includes a spring detent configured to allow the extension element to flex upon contact with an obstacle and to return to a substantially original position upon disengagement from the obstacle.
  • the extension element is in fluid communication with the vacuum assembly and configured to suction debris toward the vacuum assembly.
  • a surface treatment robot in another aspect, includes a chassis having forward and rear ends and a drive system carried by the chassis and configured to maneuver the robot over a cleaning surface.
  • the drive system includes right and left differentially driven wheels.
  • the robot includes a vacuum assembly carried by the chassis and including a collection region and a suction region. The collection region engages the cleaning surface and the suction region is in fluid communication with the collection region. The suction region is configured to suction waste from the cleaning surface through the collection region.
  • the robot includes a collection volume carried by the chassis and in fluid communication with the vacuum assembly for collecting waste removed by the vacuum assembly.
  • the robot includes a supply volume carried by the chassis and configured to hold a cleaning liquid.
  • An applicator is carried by the chassis and in fluid communication with the supply volume.
  • the applicator is configured to dispense the cleaning liquid onto the cleaning surface substantially near the forward end of the chassis.
  • the supply volume and the collection volume are configured to maintain a substantially constant center of gravity along a transverse axis defined by the right and left differentially driven wheels while at least about 25 percent of the total volume of the robot shifts from cleaning liquid in the supply volume to waste in the collection volume as cleaning liquid is dispensed from the applicator and waste is collected by the vacuum assembly.
  • the wetting element has a substantially arcuate shape and includes bristles extending from the wetting element to engage the cleaning surface.
  • the bristles are configured to deform substantially separately from one another to dissipate a force created when the wetting element contacts an obstacle as the robot is driven.
  • the suction region of the vacuum assembly includes a fan and an intake conduit in fluid communication with the fan and in fluid communication with the vacuum chamber.
  • the fan is configured to draw air from the vacuum chamber through the intake conduit to generate a negative air pressure within the vacuum chamber for drawing waste liquid from the collection region into the vacuum chamber.
  • At least a portion of the intake conduit is arranged about 90 degrees relative to the direction of flow of the waste liquid into the vacuum chamber to block substantial flow of waste liquid into the fan.
  • the supply volume defines a first port and the collection volume defines a second port.
  • the first port is arranged substantially opposite the second port to allow the robot to remain in substantially the same orientation when cleaning liquid is added to the supply volume as when waste is emptied from the collection volume.
  • the robot includes a bumper carried by the chassis and arranged substantially along the front end of the chassis. The bumper defines an opening providing access to the first port of the supply volume.
  • an autonomous coverage robot in another aspect, includes a body having forward and rear ends, a perimeter, and a top region.
  • the robot includes a drive system carried by the body and configured to maneuver the robot over a cleaning surface, the drive system comprising right and left differentially driven wheels.
  • the robot includes an optical receiver carried by the body substantially below the top region and substantially forward of the transverse axis defined by the right and left differentially driven wheels.
  • the robot includes a signal channeler in optical communication with the optical receiver.
  • the signal channeler is arranged along the top region of the body and extends substantially around the entire perimeter of the body.
  • the signal channeler is configured to receive an optical signal from a remote transmitter in substantially any direction around the perimeter of the body.
  • the signal channeler is internally reflective to direct the optical signal toward the receiver, and the drive system is configured to alter a heading setting in response to the optical signal received by the receiver.
  • the robot includes a collection volume carried by the body for collecting waste removed from the surface by the robot.
  • the signal channeler forms at least a portion of the top surface of the collection volume.
  • the signal channeler is formed of a material having an index of refraction of about 1.4 or greater to allow substantially total internal reflection within the signal channeler.
  • the signal channeler includes a first mirror disposed along a first surface and a second mirror disposed along a second surface, opposite the first surface. The first mirror and the second mirror are configured to internally reflect light within the signal channeler.
  • an autonomous robot in another aspect, includes a chassis and a biased-to-drop suspension system coupled to the chassis.
  • the biased-to-drop suspension system has a top position and a bottom position.
  • the robot includes a vacuum assembly carried by the chassis and configured to suction waste from the cleaning surface.
  • a collection volume is carried by the chassis and in fluid communication with the vacuum assembly for collecting waste suctioned by the vacuum assembly.
  • the robot includes a seal movable from an open position to a closed position to interrupt at least a portion of the fluid communication between the vacuum assembly and the collection volume. The seal is coupled to the suspension system and configured to move from the open position to the closed position when the biased-to-drop suspension system moves from the top position to the bottom position.
  • the vacuum assembly includes a fan and the seal is configured to interrupt at least a portion of the fluid communication between the fan and the collection volume.
  • a method of detecting stasis of an autonomous robot includes emitting a directed beam from an optical emitter carried on the robot.
  • the method includes controlling a drive system of the robot to provide a motion sequence of the robot.
  • the method includes detecting the directed beam at a photon detector carried on the robot.
  • a stasis condition of the robot is determined based at least in part on a level of optical communication between the optical emitter and the photon detector.
  • a method of detecting stasis of an autonomous robot includes maneuvering a robot over a surface and, from an optical emitter carried on the robot, emitting a directed beam from the optical emitter. At a photon detector carried on the robot, the method includes detecting a reflection of the directed beam from the surface. The method includes determining a stasis condition of the robot based at least in part on variations in strength of the reflection detected by the photon detector.
  • a robot wall detection system in another aspect, includes a body configured to move over a surface and a sensor carried by the body for detecting the presence of a wall.
  • the sensor includes an emitter which emits a directed beam having a defined field of emission toward a wall in a substantially forward direction of the body.
  • the sensor includes a detector having a defined field of view extending toward the wall in a substantially forward direction of the robot. The defined field of view is near-parallel to the defined field of emission and intersects the defined field of emission at a finite region substantially forward of the sensor.
  • a circuit in communication with the detector controls the distance between the body and the wall.
  • FIG. 1 is a schematic block diagram showing the interrelationship of subsystems of an autonomous cleaning robot.
  • FIG. 2 is a perspective view of an autonomous cleaning robot.
  • FIG. 3 is a bottom view of the autonomous cleaning robot of FIG. 1 .
  • FIG. 4 is a side view of the autonomous cleaning robot of FIG. 1 .
  • FIG. 5 is a front view of the autonomous cleaning robot of FIG. 1 .
  • FIG. 6 is a rear view of the autonomous cleaning robot of FIG. 1 .
  • FIG. 7 is an exploded perspective view of the autonomous cleaning robot of FIG. 1 (shown the user interface removed).
  • FIG. 8 is a schematic representation of a liquid applicator module of the autonomous cleaning robot of FIG. 1 .
  • FIG. 10 is a top view of a wetting element of an autonomous cleaning robot.
  • FIG. 11 is a perspective view of an active brush element.
  • FIG. 12 is a top view of an autonomous cleaning robot.
  • FIG. 13 is a schematic representation of a vacuum module of an autonomous cleaning robot.
  • FIG. 14 is a perspective view of a portion of the vacuum module of an autonomous cleaning robot.
  • FIG. 15A-B is a schematic representation of an active sealing system of an autonomous cleaning robot.
  • FIG. 16 is an exploded perspective view of a fan of an autonomous cleaning robot.
  • FIG. 17 is a perspective view of a squeegee of the autonomous cleaning robot of FIG. 1 .
  • FIG. 18 is a side view of the squeegee of the autonomous cleaning robot of FIG. 1 .
  • FIG. 19 is a bottom view of the squeegee of the autonomous cleaning robot of FIG. 1 .
  • FIG. 20 is an exploded perspective view of a wheel of the autonomous cleaning robot of FIG. 1 .
  • FIG. 21 is a perspective view of a wire seal of an autonomous cleaning robot.
  • FIG. 22 is an exploded perspective view of a signal channeler and omni-directional receiver of an autonomous cleaning robot.
  • FIG. 23A is a partial top cross-sectional view of a wall follower sensor mounted on a bumper of the autonomous cleaning robot of FIG. 1 .
  • FIG. 23B is a schematic representation of a wall follower sensor of an autonomous cleaning robot.
  • FIG. 24 is a flow chart depicting steps associated with the logic of an autonomous cleaning robot including a wall follower.
  • FIG. 26 is a cross sectional view of the bump sensor of FIG. 25 taken along the line 26 - 26 .
  • FIG. 27 is a rear view of the bumper of the autonomous cleaning robot of FIG. 1 .
  • FIG. 28 is a schematic representation of a bumper in alignment with wheels of an autonomous cleaning robot.
  • FIG. 29 is a schematic representation of a cliff sensor of an autonomous cleaning robot.
  • FIG. 30 is a flow chart depicting steps associated with the logic of an autonomous cleaning robot including a cliff detector.
  • FIG. 31 is a side view of the chassis of the autonomous cleaning robot of FIG. 1 with a stasis sensor mounted to the chassis.
  • FIG. 32 is an exploded perspective view of a stasis sensor of the autonomous cleaning robot of FIG. 1 .
  • FIG. 33 is a top view of a wiggle sensor of an autonomous cleaning robot.
  • An autonomous robot may be designed to clean flooring.
  • the autonomous robot may vacuum carpeted or hard-surfaces and wash floors via liquid-assisted washing and/or wiping and/or electrostatic wiping of tile, vinyl or other such surfaces.
  • An autonomous robot is movably supported on a surface and is used to clean the surface while traversing the surface.
  • the robot can wet clean the surface by applying a cleaning liquid to the surface, spreading (e.g., smearing, scrubbing) the cleaning liquid on the surface, and collecting the waste (e.g., substantially all of the cleaning liquid and debris mixed therein) from the surface.
  • a cleaning liquid e.g., smearing, scrubbing
  • waste e.g., substantially all of the cleaning liquid and debris mixed therein
  • an autonomous wet cleaning robot can remove more debris from a surface.
  • FIG. 1 is a schematic block diagram showing the interrelationship of subsystems of an autonomous cleaning robot.
  • a controller 1000 is powered by a powered by a power module 1200 and receives inputs from a sensor module 1100 and an interface module 1700 .
  • the controller 1000 combines the inputs from the sensor module 1100 with information (e.g., behaviors) preprogrammed on the controller 1000 to control a liquid storage module 1500 , a liquid applicator module 1400 , and a vacuum module 1300 (e.g., a wet-dry vacuum module) while also controlling a transport drive 1600 to maneuver the autonomous cleaning robot across a cleaning surface (hereinafter referred to as a “surface”).
  • information e.g., behaviors
  • a liquid storage module 1500 e.g., a liquid applicator module 1400
  • a vacuum module 1300 e.g., a wet-dry vacuum module
  • a controller 1000 controls the autonomous movement of the robot across the surface by directing motion of the drive wheels that are used to propel the robot across the surface.
  • the controller 1000 can redirect the motion of the robot in response to any of various different signals from sensors (e.g., sensors carried on the robot, a navigation beacon). Additionally or alternatively, the controller can direct the robot across the surface in a substantially random pattern to improve the cleaning coverage provided by the robot.
  • cleaning liquid can be added to the liquid storage module 1500 via an external source of cleaning liquid.
  • the robot can then be set on a surface to be cleaned, and cleaning can be initiated through an interface module 1700 (e.g., a user interface carried by the robot).
  • the controller 1000 controls the transport drive 1600 to maneuver the robot in a desired pattern across the surface.
  • the controller also controls a liquid applicator module 1400 to supply cleaning liquid to the surface and a vacuum module 1300 to collect waste from the surface.
  • waste can be removed from the robot.
  • the robot is lightweight and has a compact form factor that each facilitate, for example, handling of the robot such that the robot can be moved to another area to be cleaned or put in storage until a subsequent use.
  • the robot is substantially sealable (e.g., passively sealable, actively sealable) to minimize spillage of cleaning liquid and/or waste from the robot while the robot is in use or while the robot is being handled.
  • a user interface 400 is carried on a substantially top portion of the chassis 100 and configured to receive one or more user commands and/or display a status of the robot 10 .
  • the user interface 400 is in communication with a controller (described in detail below) carried by the robot 10 such that one or more commands to the user interface 400 can initiate a cleaning routine to be executed by the robot 10 .
  • a bumper 300 is carried on a forward portion of the chassis 100 and configured to detect one or more events in the path of the robot 10 (e.g., as wheel modules 500 , 501 propel the robot 10 across a surface during a cleaning routine).
  • the robot 10 can respond to events (e.g., obstacles, cliffs, walls) detected by the bumper 300 by controlling wheel modules 500 , 501 to maneuver the robot 10 in response to the event (e.g., away from the event). While some sensors are described herein as being arranged on the bumper, these sensors can additionally or alternatively be arranged at any of various different positions on the robot 10 .
  • the robot 10 stores cleaning fluid and waste and, thus, substantially the entire electrical system is fluid-sealed and/or isolated from cleaning liquid and/or waste stored on the robot 10 .
  • sealing that can be used to separate electrical components of the robot 10 from the cleaning liquid and/or waste include covers, plastic or resin modules, potting, shrink fit, gaskets, or the like. Any and all elements described herein as a circuit board, PCB, detector, or sensor can be sealed using any of various different methods.
  • the robot 10 can move across a surface through any of various different combinations of movements relative to three mutually perpendicular axes defined by the chassis: a central vertical axis 20 , a fore-aft axis 22 and a transverse axis 24 .
  • the forward travel direction along the fore-aft axis 22 is designated F (sometimes referred to hereinafter as “forward”)
  • the aft travel direction along the fore-aft axis 22 is designated A (sometimes referred to hereinafter as “rearward”).
  • the transverse axis extends between a right side, designated R, and a left side, designated L, of the robot 10 substantially along an axis defined by center points of wheel modules 500 , 501 . In subsequent figures, the R and L directions remain consistent with the top view, but may be reversed on the printed page.
  • a user opens a fill door 304 disposed along the bumper 300 and adds cleaning fluid to the volume within the robot 10 .
  • the user then closes the fill door 304 such that the fill door 304 forms a substantially water-tight seal with the bumper 300 or, in some implementations, with a port extending through the bumper 300 .
  • the user then sets the robot 10 on a surface to be cleaned and initiates cleaning by entering one or more commands on the user interface 400 .
  • a wiggle motion of the robot 10 can be used by the controller to detect stasis of the robot 10 . Additionally or alternatively, the controller can maneuver the robot 10 to rotate substantially in place such that, for example, the robot can maneuver out of a corner or away from an obstacle. In some implementations, the controller directs the robot 10 over a substantially random (e.g., pseudo-random) path traversing the surface to be cleaned. As described in detail below, the controller is responsive to any of various different sensors (e.g., bump sensors, proximity sensors, walls, stasis conditions, and cliffs) disposed about the robot 10 .
  • sensors e.g., bump sensors, proximity sensors, walls, stasis conditions, and cliffs
  • the controller can redirect wheel modules 500 , 501 in response to signals from the sensors such that the robot 10 wet vacuums the surface while avoiding obstacles and clutter. If the robot 10 becomes stuck or entangled during use, the controller is configured to direct wheel modules 500 , 501 through a series of escape behaviors such that the robot 10 can resume normal cleaning of the surface.
  • the robot 10 is generally advanced in a forward direction during cleaning operations.
  • the robot 10 is generally not advanced in the aft direction during cleaning operations but may be advanced in the aft direction to avoid an object or maneuver out of a corner or the like. Cleaning operation can continue or be suspended during aft transport.
  • injection orifices 210 are substantially equally spaces long the length of the trough 202 to produce a substantially uniform spray pattern of cleaning liquid on the surface. In some embodiments, the injection orifices 210 are configured to allow cleaning liquid to drip from the injection orifices 210 .
  • a wetting element 204 is carried on the baseplate 200 , substantially rearward of the trough 202 . Ends of the wetting element 204 extend in a transverse direction substantially the entire width (e.g., diameter) of the robot 10 . In use, the wetting element 204 slideably contacts the surface to support a forward portion of the robot 10 above the cleaning surface. As the robot 10 moves in a substantially forward direction, the sliding contact between the wetting element 204 and the surface spreads the cleaning liquid on the surface.
  • a second wetting element 206 is carried on the baseplate 200 , substantially rearward of the wetting element 204 to further spread and/or agitate the cleaning liquid on the surface.
  • wheel modules 500 , 501 pass through the cleaning liquid spread on the surface.
  • a combination of weight distribution (e.g., drag) of the robot 10 , material selection for the tires of the wheel modules 500 , 501 , and a biased-to-drop suspension system improve the traction of wheel modules 500 , 501 through the cleaning liquid such that wheel modules 500 , 501 can pass over the cleaning liquid without substantial slipping.
  • a squeegee 208 is carried on the baseplate 200 and, during use, extends from the baseplate 200 to movably contact the surface.
  • the squeegee 208 is positioned substantially rearward of the wheel modules 500 , 501 .
  • rearward positioning of the squeegee 208 can increase the dwell time of the cleaning liquid on the surface and, thus, increase the effectiveness of the cleaning operation.
  • rearward positioning of the squeegee 208 can reduce rearward tipping of the robot 10 in response to thrust created by the wheel modules 500 , 501 propelling the robot 10 in a forward direction.
  • the movable contact between the squeegee 208 acts to lift waste (e.g., a mixture of cleaning liquid and debris) from the cleaning surface as the robot 10 is propelled in a forward direction.
  • waste e.g., a mixture of cleaning liquid and debris
  • the squeegee 208 is configured to pool the waste substantially near suction apertures 212 defined by the squeegee 208 .
  • a vacuum assembly carried by the robot 10 suctions the waste from the cleaning surface and into the robot 10 , leaving behind a wet vacuumed surface.
  • the controller stops movement of the robot 10 and provides an alert (e.g., a visual alert or an audible alert) to the user via the user interface 400 .
  • the user can then open an empty door 104 to expose a waste port defined by the waste collection volume remove collected waste from the robot 10 . Because the fill door 304 and the empty door 104 are disposed along substantially opposite sides of the chassis, the fill door 304 and the empty door 104 can be opened simultaneously to allow waste to drain out of the robot 10 while cleaning liquid is added to the robot 10 .
  • the user may move (e.g., rotate) a handle 401 away from the chassis 100 and lift the robot 10 using the handle 401 .
  • the handle 401 pivots about a transverse axis (e.g., a center transverse axis) including the center of gravity of the robot 10 such that the handle 401 can be used to carry the robot 10 substantially like a pail.
  • the robot 10 includes a passive sealing system and/or an active sealing system such that the robot 10 remains substantially water-tight during transport.
  • An active and/or passive sealing system can reduce the escape of waste and/or cleaning fluid from the robot 10 as the robot 10 is moved from one area to another.
  • the handle 401 After moving the robot 10 , the user can position the handle 401 back into a position substantially flush with the top portion of the robot to reduce the potential for the handle 401 becoming entangled with an object while the robot 10 is in use.
  • the handle 401 includes a magnetized portion that biases the handle 401 toward a position flush with the top portion of the robot.
  • the handle 401 includes a spring that biases the handle 401 toward a position substantially flush with the top portion of the robot 10 .
  • the user can recharge a power supply carried on-board the robot 10 .
  • the user can open a charge port door 106 on a back portion of the chassis 100 .
  • the user can connect a wall charger to a charge port behind the charge port door 106 .
  • the wall charger is configured to plug into a standard household electrical outlet.
  • one or more indicators e.g., visual indicators, audible indicators
  • the user interface 400 can alert the user to the state of charge of the power supply.
  • the user can disconnect the robot 10 from the wall charger and close the charge port door 106 .
  • the charge port door 106 forms a substantially water-tight seal with the chassis 100 such that the charge port remains substantially free of liquid when the charge port door 106 is closed.
  • the power supply is removed from the robot 10 and charged separately from the robot 10 .
  • the power supply is removed and replaced with a new power supply.
  • the robot 10 is recharged through inductive coupling between the robot 10 and an inductive transmitter. Such inductive coupling can improve the safety of the robot 10 by reducing the need for physical access to electronic components of the robot 10 .
  • the chassis 100 , baseplate 200 , bumper 300 , user interface 400 , and wheel modules 500 , 501 fit together such that robot 10 has a substantially cylindrical shape with a top surface and a bottom surface that is substantially parallel to and opposite the top surface.
  • Such a substantially cylindrical shape can reduce the potential for the robot 10 to become entangled (e.g., snagged) and/or break on obstacles as the robot 10 traverses a surface.
  • the substantially cylindrical shape of the robot 10 has a form factor that allows a user to lift and manipulate the robot 10 in a manner similar to the manipulation of a typical canteen carried by hikers.
  • a user can fill the robot 10 with cleaning liquid by placing the robot 10 under a typical bathroom or kitchen faucet.
  • the robot 10 With the robot 10 in the same orientation used to fill the robot with cleaning liquid, the robot can be emptied into the bathroom or kitchen sink.
  • the robot 10 includes a front face 302 and a back face 102 , each of which are substantially flat and configured to balance the robot 10 on end.
  • a user can place back face 102 on a substantially flat surface (e.g., a countertop, bottom of a kitchen sink, bottom of a bathtub) such that the robot 10 is balanced on the countertop with front face 302 facing upward toward the user.
  • a substantially flat surface e.g., a countertop, bottom of a kitchen sink, bottom of a bathtub
  • front face 302 facing upward toward the user.
  • a user can place front face 302 on a substantially flat surface to allow a user to more easily access components of the robot 10 (e.g., a battery compartment, a charging port).
  • the robot 10 performs cleaning operations in tightly dimensioned areas.
  • the robot 10 can have a compact form factor for avoiding clutter or obstacles while wet-vacuuming a surface.
  • the robot 10 can be dimensioned to navigate household doorways, under toe kicks, and under many typical chairs, tables, portable islands, and stools, and behind and beside some toilets, sink stands, and other porcelain fixtures.
  • the overall height of the robot 10 is less than a standard height of a toe-kick panel of a standard North American bathroom vanity.
  • the overall height of the robot 10 can be less than about 18 centimeters (e.g., about 15 centimeters, about 12 centimeters, about 9 centimeters).
  • the overall diameter of the robot 10 is approximately equal to the standard distance between the base of an installed toilet and a bathroom wall. As compared to larger diameter robots, such a diameter of the robot 10 can improve cleaning around the base of a toilet, e.g., substantially between the toilet and the wall.
  • the overall diameter of the robot 10 can be less than about 26 centimeters (e.g., about 20 centimeters, about 15 centimeters, about 10 centimeters).
  • the wheel modules 500 , 501 are configured to maneuver the robot 10 in such tightly dimensioned spaces (e.g., in a volume of less than about 3 L).
  • the robot 10 is described as having a substantially cylindrical shape in the range of dimensions described above, the robot 10 can have other cross-sectional diameter and height dimensions, as well as other cross-sectional shapes (e.g. square, rectangular and triangular, and volumetric shapes, e.g. cube, bar, and pyramidal) to facilitate wet cleaning narrow or hard-to-reach surfaces.
  • other cross-sectional shapes e.g. square, rectangular and triangular, and volumetric shapes, e.g. cube, bar, and pyramidal
  • the robot 10 carries a volume of cleaning fluid that is at least about 20 percent (e.g. at least about 30 percent, at least about 40 percent) of the volume of the robot 10 .
  • the average forward travel speed of the robot 10 can be a function of the cleaning quality and/or the surface coverage area required for a given implementation. For example, slower forward travel speeds can allow a longer soak time (e.g., longer contact time) between the cleaning fluid and the debris on the surface such that the debris can be more easily removed from the surface through suction with the squeegee 208 . Additionally or alternatively, faster forward travel speeds can allow the robot 10 to clean a larger surface area before requiring refilling with cleaning liquid and/or recharging the power supply.
  • cleaning quality and surface coverage that is acceptable to consumers is achieved by configuring the robot 10 to allow between about 0.3 and about 0.7 seconds of contact between the cleaning liquid and the surface before the cleaning liquid is collected into the robot 10 through squeegee 208 .
  • the contact time between the cleaning liquid and the surface is about 0.25 to about 0.6 seconds, the variation in contact time depending on the positioning of the cleaning fluid distribution relative to the forward edge of the robot 10 and the positioning of the vacuum assembly relative to the rearward edge of the robot.
  • the robot 10 includes a navigation system configured to allow the robot 10 to deposit cleaning liquid on a surface and subsequently return to collect the cleaning liquid from the surface through multiple passes. As compared to the single-pass configuration described above, such configurations can allow cleaning liquid to be left on the surface for a longer period of time while the robot 10 travels at a higher rate of speed.
  • the navigation system allows the robot 10 to return to positions where the cleaning fluid has been deposited on the surface but not yet collected.
  • the navigation system can maneuver the robot in a pseudo-random pattern across the surface such that the robot is likely to return to the portion of the surface upon which cleaning fluid has remained.
  • the transverse distance between wheel modules 500 , 501 is substantially equal to the transverse cleaning width (e.g., the transverse width of the wetting element 204 .
  • wheel modules 500 , 501 are configured to grip a portion of the surface covered with cleaning liquid. With sufficient traction force, the wheel modules 500 , 501 can propel the robot 10 through the cleaning liquid. With insufficient traction force, however, the wheel modules 500 , 501 can slip on the cleaning liquid and the robot 10 can become stuck in place.
  • Heavier robots can apply sufficient pressure at wheels to avoid slipping as the wheels pass over the cleaning liquid. As compared to lighter robots, however, heavier robots are more difficult to handle (e.g., for refilling at a sink, for carrying to storage). Accordingly, the robot 10 is configured to weigh less than 3 kg (fully loaded with cleaning liquid) while wheel modules 500 , 501 provide sufficient traction to propel robot 10 through cleaning liquid on distributed on the surface.
  • the center of gravity of the robot 10 is substantially along the transverse axis 23 such that much of the weight of the robot 10 is over the wheel modules 500 , 501 during a cleaning operation.
  • Such a weight distribution of robot 10 can exert a sufficient downward force on wheel modules 500 , 501 to overcome slippage while also allowing wheel modules 500 , 501 to overcome drag forces created as wetting element 204 and squeegee 208 movably contact the surface.
  • the weight of the robot is distributed to overcome such drag forces while applying sufficient cleaning pressure to the surface (e.g., sufficient pressure to wetting element 204 and squeegee 208 ).
  • the wheel modules 500 , 501 can support about 50% to about 70% of the weight of the robot 10 above the surface.
  • the wetting element 204 can support at least about 10% of the weight of the robot above the surface, along the forward portion of the robot.
  • the squeegee 208 can support at least about 20% of the weight of the robot above the surface, along the rearward portion of the robot.
  • the supply volume and the collection volume are configured to maintain the center of gravity of the robot substantially over the transverse axis 24 while at least about 25 percent of the total volume of the robot shifts from cleaning liquid in the supply volume to waste in the collection volume as the cleaning cycle progresses from start to finish.
  • the robot is about 1 kg to about 5 kg full.
  • the robot can weigh as much as 7 kg full.
  • Exemplary ranges for physical dimensions of the robot are a full mass of 1-10 kg; a cleaning width of 5 cm-40 cm within a diameter of 10-50 cm; a wheel diameter 1.5 cm-20 cm; drive wheel contact line 2 cm-10 cm for all drive wheels (two, three, four drive wheels); drive wheel contact patch for all wheels 2 cm 2 or higher.
  • the robot 10 can be less than about 1.5 kg empty, and less than approximately 3 kg full, and carry about 0.5 kg to about 1 kg (or 400-1200 ml) of clean or dirty fluid (in the case where the robot applies fluid as well as picks it up).
  • the waste tank can be sized according to the efficiency of the pick-up process. For example, with a comparatively inefficient squeegee designed to or arranged to leave a predetermined amount of wet fluid on each pass (e.g., so that the cleaning fluid can dwell and progressively work on stains or dried food patches), the waste tank can be designed to be equal in size or smaller than the clean tank. A proportion of the deposited fluid will never be picked up, and another portion will evaporate before it can be picked up.
  • an efficient squeegee e.g., silicone
  • a proportion of the tank volume e.g., 5% or higher, may also be devoted to foam accommodation or control, which can increase the size of the waste tank.
  • the wetting element 204 and the squeegee 208 create drag, and for a robot under 10 kg, should create an average drag of less than about 40% of the weight of the robot 10 (e.g., less than about 25% of the weight of the robot).
  • Drag forces total drag associated with any blades, squeegees, dragging components
  • Maximum available traction typically is no more than about 40% of robot weight on slick surfaces with a surfactant based (low surface tension) cleaning fluid, perhaps as high as 50% in best case situations, and traction/thrust must exceed drag/parasitic forces.
  • the robot 10 can have a thrust/traction, provided mostly by the driven wheels, of about 150% or more of average drag/parasitic force.
  • the rotating brush can create drag or thrust.
  • the robot 10 has a weight of about 1.4 kg fully loaded, with less than about 100 gram-force of drag (on a surface with a static coefficient of friction of about 0.38) caused by the wetting element 204 and less than about 320 gram-force of drag (on a surface with a static coefficient of friction of about 0.77) caused by the squeegee 208 , but more than 1100 gram-force of thrust contributed by wheel modules 500 , 501 to propel the robot 10 at a maximum forward rate of about 200 mm/s to about 400 mm/s.
  • weight is added to the robot 10 to improve traction of wheel modules 500 , 501 by putting more weight on the wheels (e.g., metal handle, clevis-like pivot mount, larger motor than needed, and/or ballast in one embodiment of the present device).
  • the robot can include a rotating brush and derive a functional percentage of thrust from a forwardly rotating brush (which is turned off generally in reverse), which is not a feature needed in a large industrial cleaner.
  • the width of the cleaning head for the mass of a household cleaning robot differs from industrial self-propelled cleaners. This is especially true for wet cleaning.
  • the robot 10 has at least about 1 cm of (wet) cleaning width for every 1 kg of robot mass (e.g., about 4, 5, or 6 cm of cleaning width for every 1 kg of robot mass), and up to about 20 cm of cleaning width for every kg of robot mass (the higher ratios generally apply to lower masses).
  • the robot 10 can weigh approximately 1.5 kg when fully loaded with cleaning liquid and can have a wet cleaning width of about 16.5 cm, such that the robot 10 can have about 11 cm of wet cleaning width for every 1 kg of robot mass.
  • Self-propelled industrial cleaning machines typically have 1 ⁇ 3 cm of cleaning width or less per kg machine mass.
  • Ratios of these dimensions or properties determine whether a robot under 5 kg, and in some cases under 10 kg, will be effective for general household use. Although some such ratios are described explicitly above, such ratios (e.g., cm squared area of wheel contact per kg of robot mass, cm of wheel contact line per kg-force of drag, and the like) are expressly considered to be inherently disclosed herein, albeit limited to the set of different robot configurations discussed herein.
  • the robot 10 includes tires having a 3 mm foam tire thickness with 2 mm deep sipes. This configuration performs best when supporting no more than 3 to 4 kg per tire. The ideal combination of sipes, cell structure and absorbency for a tire is affected by robot weight.
  • rubber or vinyl tires are configured with surface features to reduce slippage.
  • the robot 10 includes at least one wetting element 204 and one squeegee 208 .
  • a wet vacuum portion can be closely followed by a squeegee to build up the thickness of a deposited water film for pick-up.
  • the squeegee 208 can have sufficient flexibility and range of motion to clear any obstacle taller than 2 mm, but ideally to clear the ground clearance of the robot (e.g., about a 41 ⁇ 2 mm minimum height or the ground clearance of the robot).
  • the physical parameters of the squeegee are controlled and balanced.
  • the squeegee 208 includes a working edge radius of 3/10 mm for a squeegee less than 300 mm.
  • the squeegee 208 can have a working edge of about 1/10 to 5/10 mm. Wear, squeegee performance and drag force can be improved with a squeegee of substantially rectangular cross section (optionally trapezoidal) and/or 1 mm (optionally about 1 ⁇ 2 mm to 1 ⁇ 2 mm) thickness, 90 degree corners (optionally about 60 to 120 degrees), parallel to the floor within 1 ⁇ 2 mm over its working length (optionally within up to 3 ⁇ 4 mm), and straight to within 1/500 mm per unit length (optionally within up to 1/100), with a working edge equal to or less than about 3/10 mm as noted above. Deviations from the above parameters can require greater edge pressure (force opposite to gravity) to compensate, thus decreasing available traction.
  • the wetting element 204 and the squeegee 208 are configured to contact the floor over a broad range of surface variations (e.g., in wet cleaning scenarios, including tiled, flat, wood, deep grout floors).
  • the wetting element 204 and/or the squeegee 208 are mounted using a floating mount (e.g., on springs, elastomers, guides, or the like) to improve contact with the broad range of surface variations.
  • the wetting element 204 and the squeegee 208 are mounted to the chassis 100 with sufficient flexibility for the designed amount of interference or engagement of the wetting element 204 and/or the squeegee 208 to the surface. As described above, any reactionary force exhibited by the brushes/scrubbing apparatus that is opposite to gravity (up) subtracts from available traction and should not exceed 10% of robot weight.
  • the robot includes more than one brush, e.g., two counter-rotating brushes with one or more brush on either fore-aft side of the center line of the robot, or more.
  • the robot can also include a differential rotation brush such that two brushes, each substantially half the width of the robot at the diameter of rotation, are placed on either lateral side of the fore-aft axis 22 , each extending along half of the diameter.
  • Each brush can be connected to a separate drive and motor, and can rotate in opposite directions or in the same direction or in the same direction, at different speeds in either direction, which would provide rotational and translational impetus for the robot.
  • the center of gravity of the robot 10 will tend to move during recovery of fluids unless the cleaner and waste tanks are balanced to continually maintain the same center of gravity location. Maintaining the same center of gravity location (by tank compartment design) can allow a passive suspension system to deliver the maximum available traction.
  • the robot 10 includes a tank design that includes a first compartment having a profile that substantially maintains the position of the compartment center of gravity as it empties, a second compartment having a profile that substantially maintains the position of the compartment center of gravity as it fills, wherein the center of gravity of the combined tanks is maintained substantially within the wheel diameter and over the wheels.
  • the robot 10 includes tanks stacked in a substantially vertical direction and configured to maintain the same location of the center of gravity of the robot 10 .
  • superior mobility is achieved either by modeling or assuming a minimum percentage of fluid recovered across all surfaces (70% of fluid put down for example) and designing the profile of the compartments and center of gravity positions according to this assumption/model.
  • setting spring force equal to the maximum unladen (empty tank) condition can contribute to superior traction and mobility.
  • suspension travel is at least equal the maximum obstacle allowed by the bumper (and other edge barriers) to travel under the robot.
  • maximum designed obstacle climbing capability should be 10% of wheel diameter or less.
  • a 4.5 mm obstacle or depression should be overcome or tackled by a 45 mm diameter wheel.
  • the robot is low for several reasons.
  • the bumper is set low to distinguish between carpet, thresholds, and hard floors such that a bumper 3 mm from the ground will prevent the robot from mounting most carpets (2-5 mm bumper ground clearance, 3 mm being preferable).
  • the remainder of the robot working surface, e.g., the vacuum assembly also have members extending toward the floor (air guides, squeegees, brushes) that are made more effective by a lower ground clearance. Because the ground clearance of one embodiment is between 3-6 mm, the wheels need only be 30 mm-60 mm. Other wheel sizes can also be used.
  • chassis 100 carries a liquid volume 600 substantially along an inner portion of the chassis 100 .
  • portions of the liquid volume 600 are in fluid communication with liquid delivery and air handling systems carried on the chassis 100 to allow cleaning fluid to be pumped from the liquid volume 600 and to allow waste to be suctioned into the liquid volume 600 .
  • liquid volume 600 can be accessed through fill door 304 and empty door 104 (not shown in FIG. 7 ).
  • a signal channeler 402 is connected to a top portion of chassis 100 and substantially covers the liquid volume 600 to allow components to be attached along a substantially top portion of the robot 10 .
  • An edge of the signal channeler 404 is visible from substantially the entire outer circumference of the robot 10 to allow the signal channeler 404 to receive a light signal (e.g., an infrared light signal) from substantially any direction.
  • the signal channeler 402 receives light from a light source (e.g., a navigation beacon) and internally reflects the light toward a receiver disposed within the signal channeler 402 .
  • the signal channeler 402 can be at least partially formed of a material (e.g., polycarbonate resin thermoplastic) having an index of refraction of about 1.4 or greater to allow substantially total internal reflection within the signal channeler.
  • the signal channeler 402 can include a first mirror disposed along a top surface of the signal channeler 402 and a second mirror disposed along a bottom surface of the signal channeler 402 and facing the first mirror. In this configuration, the first and second mirrors can internally reflect light within the signal channeler 402 .
  • the signal channeler 402 includes a recessed portion 406 that can support at least a portion of the user interface 400 .
  • a user interface printed circuit board (PCB) can be arranged in the recessed portion 406 and covered by a membrane to form a substantially water-tight user interface 400 .
  • PCB printed circuit board
  • a bottom portion of signal channeler 402 can form a top portion of the liquid volume 600 .
  • Bumper 300 connects to the hinges 110 arranged substantially along the forward portion of the chassis 100 .
  • the hinged connection between bumper 300 and chassis 100 can allow the bumper to move a short distance relative to the chassis 100 when the bumper 300 contacts an obstacle.
  • Bumper 300 is flexibly connected to a fill port 602 of the liquid volume 600 such that the bumper 300 and the fill port 602 can flex relative to one another as the bumper 300 moves relative to the chassis 100 upon contact with an obstacle.
  • the bumper 300 includes a substantially transparent section 306 near a top portion of the bumper.
  • the transparent section 306 can extend substantially along the entire perimeter of the bumper 300 .
  • the transparent section 306 can be substantially transparent to a signal receivable by an omni-directional receiver disposed substantially near a center portion of the signal channeler 402 such that the omni-directional receiver can receive a signal from a transmitter positioned substantially forward of the bumper 300 .
  • the baseplate 200 is carried on a substantially bottom portion of chassis 100 .
  • the baseplate 200 includes pivot hinges that extend from a forward portion of the baseplate 200 and can allow the baseplate 200 to be snapped into complementary hinge features on the chassis 100 . In some implementations, a user can unhinge the baseplate 200 from the chassis 100 without the use of tools.
  • the baseplate 200 carries the trough 202 near a forward portion of the robot 10 and a wetting element 204 substantially rearward of the trough 202 .
  • the baseplate 200 extends around a portion of each wheel module 500 , 501 to form portion of wheel wells for wheels 504 , 505 , substantially rearward of the wetting element 204 .
  • the baseplate 200 carries a vacuum assembly including a squeegee 208 configured in slidable contact with the surface to pool waste near the contact edge between the squeegee 208 and the surface.
  • the squeegee 208 defines a plurality of orifices substantially near the contact edge between the squeegee 208 and the surface. As the vacuum assembly 1300 creates suction, waste is lifted from the surface and into the robot through the plurality of orifices defined by the squeegee 208 .
  • a user can unhinge the baseplate 200 from the chassis 100 in order to clean the baseplate 200 .
  • the user can remove the trough 202 , the wetting element 204 , and/or the squeegee 208 from the baseplate 200 to repair or replace these components.
  • liquid volume 600 can function as both a liquid supply volume S and a waste collection volume W.
  • Liquid volume 600 is configured such that liquid moves from the liquid supply volume S to the surface and then is picked up and returned to a waste collection volume W.
  • the supply volume S and the waste collection volume W are configured to maintain a substantially constant center of gravity along the transverse axis 24 while at least 25 percent of the total volume of the robot 10 shifts from cleaning liquid in the supply volume S to waste in the collection volume W as cleaning liquid is dispensed from the applicator and waste is collected by the vacuum assembly.
  • all or a portion of the supply volume S is a flexible bladder within the waste collection volume W and surrounded by the waste collection volume W such that the bladder compresses as cleaning liquid exits the bladder and waste filling the waste collection volume W takes place of the cleaning liquid that has exited the bladder.
  • a system can be a self-regulating system which can keep the center of gravity of the robot 10 substantially in place (e.g., over the transverse axis 24 ).
  • the bladder can be full such that the bladder is expanded to substantially fill the waste collection volume W.
  • the volume of the bladder decreases such that waste entering the waste collection volume W replaces the displaced cleaning fluid that has exited the flexible bladder.
  • the flexible bladder is substantially collapsed within the waste collection volume W and the waste collection volume is substantially full of waste.
  • the maximum volume of the flexible bladder (e.g., the maximum storage volume of cleaning liquid) is substantially equal to the volume of the waste collection volume W.
  • the volume of the waste collection volume W is larger (e.g., about 10 percent to about 20 percent larger) than the maximum volume of the flexible bladder.
  • Such a larger waste collection volume W can allow the robot 10 to operate in an environment in which the volume of the waste collected is larger than the volume of the cleaning liquid dispensed (e.g., when the robot 10 maneuvers over substantial spills).
  • the supply volume S has been described as a flexible bladder substantially surrounded by the waste collection volume W, other configurations are possible.
  • the supply volume S and the waste collection volume W can be compartments that are stacked or partially stacked on top of one another with their compartment-full center of gravity within 10 cm of one another.
  • the supply volume S and the waste collection volume W can be concentric (concentric such that one is inside the other in the lateral direction); or can be interleaved (e.g., interleaved L shapes or fingers in the lateral direction).
  • a liquid applicator module 1400 applies a volume of cleaning liquid onto the surface across the width of the wetting element 204 which, in some implementations, extends substantially the entire width (e.g., diameter) of the robot 10 .
  • the liquid applicator module can spray the floor directly, spray a fluid-bearing brush or roller, or apply fluid by dripping or capillary action to the floor, brush, roller, or pad.
  • the liquid applicator module 1400 receives a supply of cleaning liquid from a supply volume S within the liquid volume 600 carried by the chassis 100 .
  • a pump 240 pumps the cleaning fluid through the liquid applicator module through one or more injection orifices 210 defined by the trough 202 extending along the front portion of baseplate 200 (see, e.g., FIG. 2 ).
  • Each injection orifice 210 is oriented to spray cleaning liquid toward the cleaning surface.
  • at least a portion of the injection orifices 210 can be oriented to spray cleaning liquid toward the cleaning surface, in a direction substantially toward the forward direction of travel of the robot 10 .
  • at least a portion of the injection orifices 210 can be oriented to spray cleaning liquid toward the cleaning surface, in a direction substantially toward the rearward direction of travel of the robot 10 .
  • the liquid applicator module 1400 includes a supply volume S which, as described in detail below, is a compartment within liquid volume 600 . However, in some implementations, supply volume S is a separate volume carried by the chassis 100 . Supply volume S defines an exit aperture 604 in fluid communication with a fluid conduit 70 .
  • fluid conduit 606 delivers a supply of cleaning liquid to a pump assembly 240 (e.g., a peristaltic pump assembly). Pressure created by pump assembly 240 forces liquid to trough 202 and through injection orifices 210 toward the surface.
  • the liquid applicator module 1400 applies cleaning liquid to the surface at a volumetric rate ranging from about 0.1 mL per square foot to about 6.0 mL per square foot (e.g., about 3 mL per square foot). However, depending upon the application, the liquid applicator module 1400 can apply any desired volume of cleaning liquid onto the surface. Additionally or alternatively, the liquid applicator module 1400 can be used to apply other liquids onto the surface such as water, disinfectant, chemical coatings, and the like.
  • the liquid applicator module 1400 can be a closed system (e.g., when pump 240 is a peristaltic pump) such that the liquid applicator module 1400 can be used to deliver a wide variety of cleaning solutions, including solutions without damaging other components (e.g., seals) of the robot 10 .
  • a user can fill the supply container S with a measured volume of clean water and a corresponding measured volume of a cleaning agent.
  • the water and cleaning agent can be poured into the supply volume S through fill port 602 accessible through fill door 304 in bumper 300 .
  • the fill port 602 can include a funnel to allow for easier pouring of the cleaning liquid into the supply volume S.
  • a filter is disposed between fill port 602 and the supply volume S to inhibit foreign material from entering the supply volume S and potentially damaging the liquid applicator module 1400 .
  • the supply volume S has a liquid volume capacity of about 500 mL to about 2000 mL.
  • the wetting element 204 can slideably contact the surface such that the movement of the robot 10 across the surface causes the wetting element 204 to spread the cleaning liquid across the surface.
  • Wetting element 204 is arranged substantially parallel to trough 202 and extends past each end of the trough 202 to allow, for example, for suitable smearing near the edges of the trough 202 . Ends 215 , 216 of wetting element 204 extend substantially in front of respective wheels 504 , 505 . By smearing cleaning liquid directly in front of wheels 504 , 505 , wetting element 204 can improve the traction between the wheels 504 , 505 and the surface.
  • the substantially arcuate shape of the wetting element 204 can allow for more efficient packaging of components within chassis 100 .
  • the substantially arcuate shape of the wetting element 204 can allow one or more components (e.g., a printed circuit board (PCB) to be positioned within the boundary defined by the wetting element.
  • PCB printed circuit board
  • Wetting element 204 includes a linear region 218 substantially centered along the wetting element 204 .
  • the linear region 218 follows a complementary linear region of baseplate 200 can function as a pivoting leading edge for mounting baseplate 200 on pivot hinges or the like.
  • wetting element 204 can be mounted and dismounted from baseplate 200 separately (e.g., through the use of pivot hinges mounted on the wetting element 204 ).
  • baseplate 200 includes a scrubbing brush 220 extending substantially along a front portion of the baseplate 200 .
  • the scrubbing brush 220 includes a plurality of bristle clusters 222 extending from the scrubbing brush 220 toward the cleaning surface.
  • the bristle clusters 222 are spaced (e.g., substantially evenly spaced) along the scrubbing brush 220 .
  • Bristle clusters 222 can each include a plurality of soft compliant bristles with a first end of each bristle secured in a holder such as a crimped metal channel, or other suitable holding element.
  • bristle clusters 222 are individual plugs press fit into the scrubbing brush 220 .
  • a second end of each bristle is free to bend as each bristle makes contact with the cleaning surface.
  • the length and diameter of the bristles of bristle clusters 222 , as well as a nominal interference dimension that the smearing bristles make with respect to the cleaning surface can be varied to adjust bristle stiffness and to thereby affect the smearing action.
  • the scrubbing brush 220 includes nylon bristles within an average bristle diameter in the range of about 0.05-0.2 mm (0.002-0.008 inches).
  • the nominal length of each bristle is approximately 16 mm (0.62 inches) between the holder and the cleaning surface and the bristles are configured with an interference dimension of approximately 0.75 mm (0.03 inches).
  • the scrubbing brush 220 can include a woven or nonwoven material, e.g., a scrubbing pad or sheet material configured to contact the surface.
  • Cleaning liquid can be introduced to the scrubbing brush 220 in any of various different ways. For example, cleaning liquid can be injected or dripped on the surface immediately forward of the scrubbing brush. Additionally or alternatively, cleaning liquid can be introduced through bristle clusters 222 such that the bristle clusters 222 substantially wick the cleaning liquid toward the surface.
  • the baseplate 200 can carry other elements configured to spread the cleaning liquid on the surface.
  • the baseplate 200 can carry a sponge or a rolling member in contact with the surface.
  • the baseplate 200 carries one or more active scrubbing elements that are movable with respect to the cleaning surface and with respect to the robot chassis. Movement of the active scrubbing elements can increase the work done between the scrubbing element and the cleaning surface. Each active scrubbing element can be driven for movement with respect to the chassis 100 by a drive module, also attached to the chassis 100 . Active scrubbing element can also include a scrubbing pad or sheet material held in contact with the cleaning surface, or a compliant solid element such a sponge or other compliant porous solid foam element held in contact with the surface and vibrated by a vibrated backing element.
  • active scrubbing elements can include a plurality of scrubbing bristles, and/or any movably supported conventional scrubbing brush, sponge, or scrubbing pad used for scrubbing.
  • an ultrasound emitter is used to generate scrubbing action.
  • the relative motion between active scrubbing elements and the chassis can include linear and/or rotary motion and the active scrubbing elements can be configured to be replaceable or cleanable by a user.
  • the scrubbing bristles 616 are long enough to interfere with the cleaning surface during rotation such that the scrubbing bristles 616 are bent by the contact with the cleaning surface. Additional bristles can be introduced into receiving holes 620 . The spacing between adjacent bristle clusters (e.g., bristle clusters 622 , 624 ) can be reduced to increase scrubbing intensity.
  • Scrubbing bristles 616 can be installed in the brush assembly in groups or clumps with each clump including a plurality of bristles held by a single attaching device or holder.
  • Clump locations can be disposed along a longitudinal length of the bristle holder element 618 in one or more patterns 626 , 628 .
  • the one or more patterns 626 , 628 place at least one bristle clump in contact with cleaning surface across the cleaning width during each revolution of the rotatable brush element 604 .
  • the rotation of the brush element 604 is clockwise as viewed from the right side such that relative motion between the scrubbing bristles 616 and the cleaning surface tends to move loose contaminants and waste liquid toward the rearward direction.
  • the friction force generated by clockwise rotation of the brush element 604 can drive the robot in the forward direction thereby adding to the forward driving force of the robot transport drive system.
  • the nominal dimension of each scrubbing bristles 616 extended from the cylindrical holder 618 can cause the bristle to interfere with the cleaning surface and there for bend as it makes contact with the surface.
  • the interference dimension is the length of bristle that is in excess of the length required to make contact with the cleaning surface.
  • Each of these dimensions along with the nominal diameter of the scrubbing bristles 616 may be varied to affect bristle stiffness and therefore the resulting scrubbing action.
  • scrubbing brush element 604 can include nylon bristles having a bend dimension of approximately 16-40 mm (0.62-1.6 inches), a bristle diameter of approximately 0.15 mm (0.006 inches), and an interference dimension of approximately 0.75 mm (0.03 inches) to provide scrubbing performance suitable for many household scrubbing applications.
  • an autonomous cleaning robot 11 includes an extension element 230 carried by the robot 11 along a substantially forward portion of the robot 11 .
  • the extension element 230 extends beyond the substantially circular cross-section of the robot 11 .
  • the extension element 230 contacts the surface and is oriented to push debris back toward the robot such that the debris can be collected by other components (e.g., wet vacuuming components) carried by the robot 11 .
  • the extension element 230 can reach into areas (e.g., corners) that are otherwise substantially inaccessible to autonomous cleaning robots with circular cross-sections.
  • a spring (not shown) can support the extension element 230 on the robot 11 such that the spring detents the extension element 230 to an original orientation relative to the robot 11 .
  • the extension element 230 includes a flexible compliant blade.
  • extension element has been described as being carried by the robot along a substantially forward portion of the robot, other implementations are possible.
  • an extension element can be carried by the robot along a substantially rearward portion of the robot.
  • the extension element can be in fluid communication with the vacuum module (e.g., with the squeegee) such that debris is suctioned toward the chassis when the extension element encounters debris on the surface.
  • the extension element mounted along a substantially rearward portion of the robot can be spring mounted to allow flexure in response to contact with an obstacle and to return to an original position when it is disengaged from the obstacle.
  • a vacuum module 1300 includes a fan 112 in fluid communication with the waste collection volume W and the squeegee 208 in contact with the surface.
  • the fan 112 creates a low pressure region along the fluid communication path including the waste collection volume W and the squeegee 208 .
  • the fan 112 creates a pressure differential across the squeegee 208 , resulting in suction of waste from the surface and through the squeegee 208 .
  • the suction force created by the fan 112 can further suction the waste through one or more waste intake conduits 232 (e.g., conduits disposed on either end of the squeegee 208 ) toward a top portion of the waste collection volume W.
  • the top portion of the waste collection volume W defines a plenum 608 between exit apertures 234 of waste inlet conduits 232 and inlet aperture 115 of fan intake conduit 114 . While the fan 112 is in operation, the flow of air and waste through plenum 608 generally moves from exit apertures 234 toward the inlet aperture 115 .
  • plenum 608 has a flow area greater than the combined flow area of the one or more waste intake conduits 232 such that, upon expanding in the top portion of the waste collection volume W, the velocity of the moving waste decreases. At this lower velocity, heavier portions of the moving waste (e.g.
  • the vacuum module 1300 can include a passive anti-spill system and/or an active anti-spill system that substantially prevents waste from exiting waste collection volume W when the robot 10 is not in use (e.g., when a user lifts the robot 10 from the surface).
  • a passive anti-spill system and/or an active anti-spill system that substantially prevents waste from exiting waste collection volume W when the robot 10 is not in use (e.g., when a user lifts the robot 10 from the surface).
  • an active anti-spill system can protect the user from coming into contact with the waste during handling.
  • such anti-spill systems can reduce the likelihood that waste will contact the fan and potentially diminish the performance of the fan over time.
  • Passive anti-spill systems generally orient flow paths of the vacuum module 1300 such that spilling is unlikely under normal handling conditions.
  • the fan 112 can be positioned at a distance from waste in the waste collection volume W to reduce the likelihood that waste from the waste collection volume W will reach the fan 112 during handling.
  • at least a portion of the fan inlet conduit 114 can be arranged at about 90 degrees relative to the direction of flow of the waste liquid into the plenum 608 .
  • passive anti-spill systems can include indirect (e.g., winding) flow paths along the vacuum module 1300 .
  • passive anti-spill systems can include flow paths of substantially uniform cross-sectional area.
  • Active anti-spill systems generally include one or more moving parts that move to seal at least a portion of the flow paths of the vacuum module 1300 .
  • active anti-spill systems can include shorter and straighter flow paths along the vacuum module 1300 (e.g., along the plenum 608 ).
  • passive anti-spill systems and active anti-spill systems can include seals throughout the vacuum module 1300 to reduce the likelihood of spilling during normal handling. Examples of seals that can be used in anti-spill systems include epoxy, ultrasonic welding, plugs, gaskets, and polymeric membranes.
  • the signal channeler 402 can be carried along a top portion of the liquid volume 600 such that a bottom portion of the signal channeler 402 defines a portion of the plenum 608 in a passive anti-spill system. As compared to a configuration with a separate signal channeler and plenum, this configuration can reduce the amount of volume required of internal components of the robot 10 and, thus, increase the volume available for liquid volume 600 .
  • the signal channeler 402 carries at least a portion of the one or more waste intake conduits 232 and at least a portion of the fan intake conduit 114 .
  • the fan 112 can be carried on the chassis 100 , below liquid volume 600 such that the fan 112 is oriented substantially 90 degrees to the flow direction through the plenum 608 . Such an orientation can reduce the likelihood of that waste will cross the plenum 608 , enter the fan inlet conduit 114 , and reach the fan 112 .
  • the one or more waste intake conduits 232 and the fan intake conduit 114 can be oriented relative to one another such each exit aperture 234 of the one or more waste intake conduits 232 is substantially perpendicular to the fan inlet aperture 115 . Such a perpendicular orientation can reduce the likelihood that waste will traverse the plenum 608 and reach the fan 112 at the end of the fan intake conduit 114 .
  • an active anti-spill system 610 can include a linkage 680 extending between a forward seal 682 and one or more rear seals 684 .
  • the forward seal 682 is configured to form a substantially water right seal over a fan intake conduit 118 .
  • the one or more rear seals 684 are configured to form a substantially water tight seal over one or more waste intake conduits 244 .
  • a coupler 686 extends between the wheel module 500 and the linkage 680 such that the coupler can transmit at least a portion of the vertical motion of the wheel module 500 to the linkage 680 .
  • the wheel module 500 is part of a biased-to-drop suspension system such that placement of the wheel 500 on the surface 685 forces at least a portion of the wheel module 500 to move upward in a substantially vertical direction.
  • coupler 686 moves along with the wheel module 500 to push linkage 680 to an open position.
  • linkage 680 holds forward seal 682 and one or more rear seals 684 away from the respective fan intake conduit 118 and one or more waste intake conduits 244 .
  • fan intake conduit 118 and the one or more waste intake conduits 244 are in fluid communication such that waste can be drawn through the one or more waste intake conduits 244 toward plenum 608 , where waste can fall into the waste collection volume W (not shown in FIGS. 15A-B ) and air can flow toward the fan intake conduit 118 .
  • the wheel module 500 moves downward in a substantially vertical direction.
  • coupler 686 moves along with the wheel module 500 to pull linkage 680 to a closed position.
  • linkage 680 holds forward seal 682 and one or more rear seals 684 in position to cover (e.g., forming a substantially water tight seal) the respective fan intake conduit 118 and one or more waste linkage conduits 244 .
  • fan intake conduit 118 and the one or more waste intake conduits 244 are not in fluid communication and, thus, waste is less likely to enter the fan intake conduit 118 and reach the fan 112 .
  • Coupler 686 has been described as extending between wheel module 500 and linkage 680 .
  • an analogous coupler extends between wheel module 501 and linkage 680 to move the linkage 680 and, thus, move seals 682 , 684 between an open and a closed position.
  • anti-spill system 610 has been described as including the coupler 686
  • the coupler 686 can be omitted in certain implementations.
  • the movement of the wheel module 500 can be detected by a switch (e.g., a contact switch) in electrical communication with an actuator configured to move the linkage 680 between the open position and the closed position.
  • the movement of the wheel module 500 can be detected by a hydraulic switch (e.g., using waste liquid in the waste collection volume W as the hydraulic fluid).
  • the fan 112 includes a rotary fan motor 704 , having a fixed housing 706 and a rotating shaft 708 extending therefrom.
  • the fixed motor housing 706 is disposed in a center portion 709 of a fan scroll 710 .
  • a fan seal 711 is configured to engage the fan scroll 710 to substantially cover the fan motor 704 disposed substantially within the center portion 709 of the fan scroll 710 .
  • the fan seal 711 and the fan scroll 710 form a protective housing that can protect the fan motor 704 from moisture and debris.
  • the rotating shaft 708 of the fan motor 704 projects outward through the fan seal 711 to connect to the impeller 712 . In use, the fan motor 704 rotates the rotating shaft 708 to turn the impeller 712 and, thus, move air.
  • the fan impeller 712 includes a plurality of blade elements arranged about a central rotation axis thereof and is configured to draw air axially inward along its rotation axis and expel the air radially outward when the impeller 718 is rotated. Rotation of the impeller 712 creates a negative air pressure zone (e.g., a vacuum) on its input side and a positive air pressure zone at its output side.
  • the fan motor 704 is configured to rotate the impeller 712 at a substantially constant rate of rotational velocity, e.g., 14,000 RPM, which generates a higher air flow rate than conventional fans for vacuum cleaners or wet vacuums. Rates as low as about 1,000 RPM and as high as about 25,000 RPM are contemplated, depending on the configuration of the fan.
  • Scroll 710 can fold back in on itself to allow a 30 percent larger impeller, without any loss in scroll volume while maintaining the same package size.
  • the inducer is the portion of the fan blade dedicated to inlet flow only.
  • a “moat” i.e., a channel or wall
  • the impeller used for air handling moves air through the system at considerable velocity, which can lead to water being pulled out of the dirty tank, through the impeller, and back to the floor.
  • the moat is configured to prevent or limit this occurrence.
  • the air flow rate of the fan may range from about 60-100 CFM in free air and about 60 CFM in the robot.
  • the vacuum module 1300 includes both a wet vacuum subsystem and a dry vacuum subsystem and the air flow rate of the fan can split (e.g., manually adjusted) between the wet and dry vacuum subsystems.
  • a multi-stage fan design can produce a similar air flow rate, but higher static pressure and velocity, which can help to maintain flow. Higher velocity also enables the device to entrain dry particles and lift and pull fluids (e.g., debris mixed with cleaning liquid).
  • the exhaust from the fan 112 moves through a pump exit conduit 242 and exits the baseplate 200 through a fan exhaust port 116 substantially rearward of the wetting element and substantially forward of the transverse axis 24 .
  • a fan exhaust port 116 substantially rearward of the wetting element and substantially forward of the transverse axis 24 .
  • Such positioning of the fan exhaust port 116 can, for example, allow the exhaust air flow to agitate the cleaning liquid deposited on the surface prior to collection by squeegee 208 .
  • exhaust from the fan exhaust port 116 is directed substantially toward the wheel modules 500 , 501 to improve traction of the robot 10 over the surface.
  • the squeegee 208 is configured in slidable contact with the surface while the robot 10 is in motion.
  • the positioning of the squeegee 208 substantially rearward of the wheels 504 , 505 can stabilize the motion of the robot 10 .
  • the squeegee 208 can prevent the robot from substantially rotating about the transverse axis 24 .
  • the squeegee 208 can prevent the wetting element 204 carried on a forward portion of the robot 10 from substantially lifting from the surface.
  • the overall weight of the robot 10 is less than 3.6 kg, for example, such positioning of the squeegee 208 can be particularly useful for providing stabilization.
  • the center of gravity of the robot 10 can be positioned substantially over the transverse axis 24 of the robot such that substantial weight is placed over the wheels 504 , 505 for traction while the squeegee 208 provides stabilization for the forward direction of travel and the wetting element 204 provides stabilization for the reverse direction of travel.
  • the squeegee 208 includes a base 250 extending substantially the entire width of the baseplate 200 .
  • a substantially horizontal lower section 252 extends downwardly from the base 250 toward the surface.
  • Edge guides 253 , 254 are disposed near each transverse end of the base 250 and extend downwardly from the base 250 .
  • a plurality of fastener elements 256 extend upwardly from the base 250 and are configured to fit (e.g., interference fit) within corresponding apertures on baseplate 200 to hold the squeegee 208 securely in place as the robot 10 moves about the surface.
  • the horizontal lower section 252 includes a scraper section 258 extending substantially downwardly from an intake section 260 .
  • the scraper section 258 defines a substantially rearward edge of the horizontal lower section 252 .
  • the scraper section 258 forms a slidable contact edge between the squeegee 208 and the surface.
  • the scraper section 258 is substantially thin and formed of a substantially compliant material to allow the scraper section 258 to flex during slidable contact with the surface.
  • the scraper section 258 is angled slightly forward to improve collection of waste from the surface.
  • the scraper section 258 is angled slightly rearward to reduce the frictional force required to propel the robot 10 in the forward direction.
  • the intake section 260 defines a plurality of suction ports 262 substantially evenly spaced in the direction of the transverse axis 24 to allow, for example, substantially uniform suction in the direction of the transverse axis 24 as the robot 10 performs cleaning operations.
  • the suction ports 262 each extend through the squeegee 208 (e.g., from a lower portion of the horizontal lower section 252 to a top portion of the base 250 ).
  • the suction ports 262 extend through the base such that a lower portion of each suction port 262 is substantially near the forward edge of the scraper section 258 .
  • waste is suctioned from the forward edge of the scraper section 258 , through the section ports 262 , and toward the waste collection volume W (e.g., as described above).
  • Edge guides 253 , 254 are arranged on respective ends of squeegee 208 and extend downwardly from the base 250 to contact the surface during a cleaning operation.
  • the edge guides 253 , 254 can be configured to push waste toward the fore-aft axis 22 of the robot 10 .
  • the edge guides 253 , 254 can improve the efficiency of waste collection at the transverse edges of the robot 10 .
  • the edge guides 253 , 254 can reduce streaks left behind by the robot 10 .
  • Edge guides 253 , 254 include respective fasteners 263 , 264 extending upward from the edge guides 253 , 254 and through the base 250 .
  • the edge guide fasteners 263 , 264 extend further from the base than fastener elements 256 and, in some implementations, fasten into the baseplate 200 to reduce the likelihood that the squeegee 250 will become detached from the robot 10 during a cleaning operation.
  • fasteners 263 , 264 are pressed into the baseplate 200 and held in place through an interference fit.
  • fasteners 263 , 264 are screwed into the chassis 100 . Additionally or alternatively, the edge guide fasteners 263 can be fastened to the chassis 100 .
  • Fastener elements 256 extend upwardly from the base 250 , along the forward and rearward portions of the base 250 .
  • Each fastener element 256 is substantially elongate along the transverse axis 24 and includes a stem portion 265 and a head portion 266 .
  • the squeegee 208 is secured to the baseplate 200 by pushing fastener elements 256 into corresponding apertures on the baseplate 200 .
  • the head portions 266 deform to pass through the apertures.
  • each head portion 266 expands to its substantially original shape and the head portion 266 substantially resists passing through the aperture in the opposite direction. Accordingly, fastener elements 256 substantially secure the squeegee 208 to the baseplate.
  • the squeegee 208 has been described as being fixed relative to the baseplate 200 , other implementations are possible.
  • the squeegee can pivot relative to the baseplate 200 .
  • the squeegee can pivot about the central vertical axis 20 when a lower edge of the squeegee encounters a bump or discontinuity in the cleaning surface.
  • the squeegee can return to its normal operating position.
  • the squeegee is split into a left portion and a right portion.
  • the squeegee can assume a configuration in which one side is bent backward and one side is bent forward.
  • the point at which the bend switches from backward to forward can act as a more or less solid column under the robot, tending to high center it and interfere with mobility.
  • the robot 10 is supported for transport over the surface by a transport system 1600 .
  • the transport system 1600 includes a pair of independent wheel modules 500 , 501 respectively arranged on the right side and the left side of the chassis.
  • the wetting element 204 and the squeegee 208 are in slidable contact with the surface and form part of the transport system 1600 .
  • the transport system 1600 can include a caster positioned substantially forward and/or substantially rearward of the wheel modules 500 , 501 .
  • the wheel modules 500 , 501 are substantially aligned along the transverse axis 24 of the robot 10 .
  • the wheel modules 500 , 501 are independently driven and controlled by the controller 1000 to advance the robot 10 in any direction along the surface.
  • the wheel modules 500 , 501 each include a motor and each is coupled to a gear assembly. Outputs of the respective gear assemblies drive the respective wheel 504 , 505 .
  • the wheel modules 500 , 501 are releasably attached to the chassis 100 and forced into engagement with the surface by respective springs.
  • the wheel modules 500 , 501 are substantially sealed from contact with water using one or more the following: epoxy, ultrasonic welding, potting welds, welded interfaces, plugs, and membranes.
  • the springs are calibrated to apply substantially uniform force to the wheels along the entire distance of travel of the suspension.
  • the wheel modules 500 , 501 can each move independently in a vertical direction to act as a suspension system.
  • the wheel modules 500 , 501 can allow about 4 mm of suspension travel to about 8 mm of suspension travel (e.g., about 5 mm of suspension travel) to allow the robot 10 to navigate over obstacles on the surface, but to prevent the robot 10 from crossing larger thresholds that mark the separation of cleaning areas (e.g., marking the separation between a kitchen floor and a living room floor).
  • the respective suspension systems of wheel modules 500 , 501 drop the wheel modules 500 , 501 to the lowest point of travel of the respective suspension system.
  • the wheel modules 500 , 501 can include a wheel drop sensor that senses when a wheel 504 , 505 of wheel modules 501 , 502 moves down and sends a signal to the controller 1000 . Additionally or alternatively, the controller 1000 can initiate behaviors that can allow the robot 10 to navigate toward a more stable position on the surface.
  • the biased-to-drop suspension system of the robot 10 includes a pivoted wheel assembly including resilience and/or damping, having a ride height designed considering up and down force.
  • the suspension system delivers within 1-5% (e.g., about 2%) of the minimum downward force of the robot 10 (i.e., robot mass or weight minus upward forces from the resilient or compliant contacting members such as brushes/squeegees, etc). That is, the suspension is resting against “hard stops” with only 2% of the available downward force applied (spring stops having the other 98%, optionally 99%-95%), such that almost any obstacle or perturbation capable of generating an upward force will result in the suspension lifting or floating the robot over the obstacle while maintaining maximum available force on the tire contact patch.
  • Wheels 504 , 505 are configured to propel the robot 10 across a wet soapy surface.
  • wheel 504 includes a rim 512 configured to couple to the wheel module 500 .
  • the drive wheel module includes a drive motor and a drive train transmission for driving the wheel for transport.
  • the drive wheel module can also include a sensor for detecting wheel slip with respect to the surface.
  • the annular tire 516 has an internal diameter of approximately 37 mm and is sized to fit appropriately over the outer diameter 514 of rim 512 .
  • the annular tire 516 can be bonded, taped or otherwise interference fit to the outer diameter 514 to prevent slipping between an inside diameter of the annular tire 516 and the outer diameter 514 of the rim 512 .
  • the tire radial thickness can be about 3 mm.
  • the tire material is a chloroprene homopolymer stabilized with thiuram disulfide black with a density of 14-16 pounds per cubic foot, or approximately 15 pounds per cubic foot foamed to a cell size of 0.1 mm plus or minus 0.02 mm.
  • the tire has a post-foamed hardness of about 69 to 75 Shore 00.
  • the tire material is sold by Monmouth Rubber and Plastics Corporation under the trade name DURAFOAM DK5151HD.
  • tire materials are contemplated, depending on the particular application, including, for example, those made of neoprene and chloroprene, and other closed cell rubber sponge materials.
  • Tires made of polyvinyl chloride (PVC) (e.g., injection molded, extruded) and acrylonitrile-butadiene (ABS) (with or without other extractables, hydrocarbons, carbon black, and ash) may also be used.
  • PVC polyvinyl chloride
  • ABS acrylonitrile-butadiene
  • tires of shredded foam construction may provide some squeegee-like functionality, as the tires drive over the wet surface being cleaned.
  • the tire material may contain natural rubber(s) and/or synthetic rubber(s), for example, nitrile rubber (acrylonitrile), styrene-butadiene rubber (SBR), ethylene-propylene rubber (EPDM), silicone rubber, fluorocarbon rubber, latex rubber, silicone rubber, butyl rubber, styrene rubber, polybutadiene rubber, hydrogenated nitrile rubber (HNBR), neoprene (polychloroprene), and mixtures thereof
  • the tire material may contain one or more elastomers, for example, polyacrylics (i.e. polyacrylonitrile and polymethylmethacrylate (PMMA)), polychlorocarbons (i.e.
  • polyfluorocarbons i.e. polytetrafluoromethylene
  • polyolefins i.e. polyethylene, polypropylene, and polybutylene
  • polyesters i.e. polyetheylene terephthalate and polybutylene terephthalate
  • polycarbonates polyamides, polyimides, polysulfones, and mixtures and/or copolymers thereof.
  • the elastomers may include homopolymers, copolymers, polymer blends, interpenetrating networks, chemically modified polymers, grafted polymers, surface-coated polymers, and/or surface-treated polymers.
  • the tire material may contain one or more fillers, for example, reinforcing agents such as carbon black and silica, non-reinforcing fillers, sulfur, cross linking agents, coupling agents, clays, silicates, calcium carbonate, waxes, oils, antioxidants (i.e. para-phenylene diamine antiozonant (PPDA), octylated diphenylamine, and polymeric 1,2-dihydro-2,2,4-trimethylquinoline), and other additives.
  • reinforcing agents such as carbon black and silica
  • non-reinforcing fillers sulfur
  • cross linking agents such as sulfur
  • coupling agents such as calcium carbonate, waxes, oils
  • antioxidants i.e. para-phenylene diamine antiozonant (PPDA), octylated diphenylamine, and polymeric 1,2-dihydro-2,2,4-trimethylquinoline
  • PPDA para-phenylene diamine antiozonant
  • the tire material may be formulated to have advantageous properties, for example, desired traction, stiffness, modulus, hardness, tensile strength, impact strength, density, tear strength, rupture energy, cracking resistance, resilience, dynamic properties, flex life, abrasion resistance, wear resistance, color retention, and/or chemical resistance (i.e. resistance to substances present in the cleaning solution and the surface being cleaned, for example, dilute acids, dilute alkalis, oils and greases, aliphatic hydrocarbons, aromatic hydrocarbons, halogenated hydrocarbons, and/or alcohols).
  • advantageous properties for example, desired traction, stiffness, modulus, hardness, tensile strength, impact strength, density, tear strength, rupture energy, cracking resistance, resilience, dynamic properties, flex life, abrasion resistance, wear resistance, color retention, and/or chemical resistance (i.e. resistance to substances present in the cleaning solution and the surface being cleaned, for example, dilute acids, dilute alkalis, oils and greases, aliphatic hydrocarbons, aromatic hydrocarbon
  • cell size of the closed cell foam tires may impact functionality, in terms of traction, resistance to contaminants, durability, and other factors.
  • Cell sizes ranging from approximately 20 ⁇ m to approximately 400 ⁇ m may provide acceptable performance, depending on the weight of the robot and the condition of the surface being cleaned. Particular ranges include approximately 20 ⁇ m to approximately 120 ⁇ m, with a mean cell size of 60 ⁇ m, and more particularly approximately 20 ⁇ m to approximately 40 ⁇ m, for acceptable traction across a variety of surface and contaminant conditions.
  • the outside diameter of the tire can be siped.
  • Siping generally provides traction by (a) reducing the transport distance for fluid removal from the contact patch by providing a void for the fluid to move into, (b) allowing more of the tire to conform to the floor, thereby increasing tread mobility, and (c) providing a wiping mechanism that aids in fluid removal.
  • the term “siped” refers to slicing the tire material to provide a pattern of thin grooves 1110 in the tire outside diameter. In one embodiment, each groove has a depth of approximately 1.5 mm and a width or approximately 20 to 300 microns.
  • the siping pattern is a diamond-shaped cross hatch at 3.5 mm intervals, which may be cut at alternating 45 degree angles (.+/ ⁇ .10 degrees) from the rotational axis.
  • Substantially circumferential siping, siping that forces away liquid via channels, and other siping patterns are also contemplated.
  • Depth and angle of siping may be modified, depending on particular applications.
  • increased depth or width of siping may increase traction, this benefit should be balanced against impacting the structural integrity of the tire foam.
  • it has been determined that 3 mm-4 mm thick tires with diamond crossed siping at 7 mm intervals provides good tire traction. Larger tires may accommodate a finer pattern, deeper siping, and/or wider siping.
  • siping patterns may be more useful on wet or dry surfaces, or on different types of surfaces, siping that provides consistent traction across a variety of applications may be the most desirable for a general purpose robot cleaner.
  • the tires have been described as including a siped outside diameter, other implementations are possible.
  • the tires can be Natural Rubber tires with an aggressive diagonal V-rib pattern.
  • the various tire materials, sizes, configurations, siping, etc. impact the traction of the robot during use.
  • the robot's wheels roll directly through the spray of cleaning solution, which affects the traction, as do the contaminants encountered during cleaning.
  • a loss of traction of the wheels may cause operating inefficiencies in the form of wheel slippage, which can lead to the robot deviating from its projected path. This deviation can increase cleaning time and reduce battery life.
  • the robot's wheels should be of a configuration that provides good to excellent traction on all surfaces, with the smallest corresponding motor size.
  • Typical contaminants encountered during cleaning include chemicals, either discharged by the robot or otherwise. Whether in a liquid state (e.g., pine oil, hand soap, ammonium chloride, etc.) or a dry state (e.g., laundry powder, talcum powder, etc.), these chemicals may break down the tire material. Additionally, the robot tires may encounter moist or wet food-type contaminants (e.g., soda, milk, honey, mustard, egg, etc.), dry contaminants (e.g., crumbs, rice, flour, sugar, etc.), and oils (e.g., corn oil, butter, mayonnaise, etc.). All of these contaminants may be encountered as residues, pools or slicks, or dried patches.
  • moist or wet food-type contaminants e.g., soda, milk, honey, mustard, egg, etc.
  • dry contaminants e.g., crumbs, rice, flour, sugar, etc.
  • oils e.g., corn oil, butter, mayonnaise, etc.
  • the tire materials described above have proven effective in resisting the material breakdown caused by these various chemicals and oils. Additionally, the cell size and tire siping described has proven beneficial in maintaining traction while encountering both wet and dry contaminants, chemical or otherwise. Dry contaminants at certain concentrations, however, may become lodged within the siping.
  • the chemical cleaner used in the device, described below, also helps emulsify certain of the contaminants, which may reduce the possible damage caused by other chemical contaminants by diluting those chemicals.
  • the robot cleaning device may also benefit by utilizing sheaths or booties that at least partially or fully surround the tires.
  • Absorbent materials such as cotton, linen, paper, silk, porous leather, chamois, etc., may be used in conjunction with the tires to increase traction.
  • these sheaths may replace rubberized wheels entirely, by simply mounting them to the outer diameter 1104 of the cup shaped wheel element 1102 .
  • the materials may be interchangeable by the user or may be removed and replaced via automation at a base or charging station.
  • the robot may be provided to the end user with sets of tires of different material, with instructions to use particular tires on particular floor surfaces.
  • the cleaning solution utilized in the robot cleaner should be able to readily emulsify contaminants and debond dried waste from surfaces, without damaging the robot or surface itself. Given the adverse effects described above with regard to robot tires and certain chemicals, the aggressiveness of the cleaning solution should be balanced against the short and long-term negative impacts on the tires and other robot components. In view of these issues, virtually any cleaning material that meets the particular cleaning requirements may be utilized with the cleaning robot. In general, for example, a solution that includes both a surfactant and a chelating agent may be utilized. Additionally, a pH balancing agent such as citric acid may be added.
  • One such cleaner that has proven effective in cleaning, without causing damage to the robot components includes alkyl polyglucoside (for example, at 1-3% concentration) and tetrapotassium ethylenediamine-tetraacetate (tetrapotassium EDTA) (for example, at 0.5-1.5% concentration).
  • this cleaning solution is diluted with water to produce a cleaning solution having, for example, approximately 3-6% cleaner and approximately 94-97% water. Accordingly, in this case, the cleaning solution actually applied to the floor may be as little as 0.03% to 0.18% surfactant and 0.01 to 0.1% chelating agent.
  • other cleaners and concentrations thereof may be used with the disclosed robot cleaner.
  • the families of surfactants and chelating agents disclosed in U.S. Pat. No. 6,774,098, the disclosure of which is hereby incorporated by reference in its entirety, are also suitable for application in the robot having the tire materials and configurations disclosed.
  • the cleaning agents should (i) include no solvent, or include solvent at a percentage lower than that of the chelating agent of an alcohol solvent, or have the disclosed solvents in 1 ⁇ 2 to 1/100 the concentrations, and/or (ii) be further diluted for deterministic single pass, deterministic repeat passes, or random multipass use in a robot by 20% +/ ⁇ 15% (single pass), 10% +/ ⁇ 8% (repeat pass), and from 5% to 0.1% (random multipass) respectively, of the concentrations disclosed; and/or (iii) be further combined with an anti-foaming agent known to be compatible with the selected surfactant and chelating
  • the cleaning solution utilized in the robot cleaner includes (or is) one or more embodiments of the “hard surface cleaner” described in U.S. Pat. No. 6,774,098, preferably subject to (i), (ii), (iii), and/or (iv) above. Certain embodiments of the “hard surface cleaner” in U.S. Pat. No. 6,774,098, are described in the following paragraphs.
  • the hard surface cleaner comprises: (a) a surfactant system consisting of amine oxides within the general formula (I): or quaternary amine salts within the general formula (II): or combinations of the foregoing amine oxides and quaternary amine salts; and (b) a very slightly water-soluble polar organic compound having a water solubility ranging from about 0.1 to 1.0 weight percent, a weight ratio of the very slightly water-soluble polar organic compound to the surfactant system ranging from about 0.1:1 to about 1:1, wherein R 1 and R 2 are the same or different and are selected from the group consisting of methyl, ethyl, propyl, isopropyl, hydroxyethyl and hydroxypropyl, R 3 is selected from the group consisting of straight chain alkyls, branched chain alkyls, straight chain heretroalkyls, branched chain heteroalkyls and alkyl ethers, each having from about 10 to 20 carbon atom
  • the hard surface cleaner comprises: (a) either (i) a combination of a nonionic surfactant and a quaternary ammonium surfactant or (ii) an amphoteric surfactant, the total amount of the surfactant being present from about 0.001-10%, wherein the nonionic surfactant is selected from the group consisting of an alkoxylated alkylphenol ether, an alkoxylated alcohol, or a semi-polar nonionic surfactant which itself is selected from the group consisting of mono-long-chain alkyl, di-short-chain trialkyl amine oxides, alkylamidodialkyl amine oxides, phosphine oxides and sulfoxides; (b) no more than 50% of at least one water-soluble or dispersible organic solvent having a vapor pressure of at least 0.001 mm Hg at 25.degree. C.; (c) 0.01-25% of tetraammonium ethylenediamine-tetraacetate (
  • the hard surface cleaner comprises (a) a surfactant selected from the group consisting of anionic, nonionic surfactants, and mixtures thereof, with optionally, a quaternary ammonium surfactant, the total amount of surfactant being present from about 0.001-10% by weight; (b) at least one water-soluble or dispersible organic solvent having a vapor pressure of at least 0.001 mm Hg at 25.degree.
  • the at least one organic solvent being selected from the group consisting of alkanols, diols, glycol ethers, and mixtures thereof present in an amount from about 1% to 50% by weight of the cleaner; (c) tetrapotassium ethylenediamine-tetraacetate (potassium EDTA) as a chelating agent, the potassium EDTA present from about 0.01-25% weight—of the cleaner; and (d) water.
  • the at least one organic solvent being selected from the group consisting of alkanols, diols, glycol ethers, and mixtures thereof present in an amount from about 1% to 50% by weight of the cleaner; (c) tetrapotassium ethylenediamine-tetraacetate (potassium EDTA) as a chelating agent, the potassium EDTA present from about 0.01-25% weight—of the cleaner; and (d) water.
  • potassium EDTA tetrapotassium ethylenediamine-tetraacetate
  • the hard surface cleaner comprises (a) a nonionic surfactant with optionally, a quaternary ammonium surfactant, the total amount of the surfactant being present from about 0.001-10%, wherein the nonionic surfactant is selected from the group consisting of an alkoxylated alkylphenol ether, an alkoxylated alcohol, or a semi-polar nonionic surfactant which itself is selected from the group consisting of mono-long-chain alkyl, di-short-chain trialkyl amine oxides, alkylamidodialkyl amine oxides, phosphine oxides and sulfoxides; (b) no more than 50% of at least one water-soluble or dispersible organic solvent having a vapor pressure of at least 0.001 mm Hg at 25.degree. C.; (c) 0.01-25% of tetraammonium ethylenediamine-tetraacetate (tetraammonium EDTA) as a chelating agent;
  • the hard surface cleaner has a viscosity of less than about 100 cps and comprises: (a) at least about 85% water, in which is dissolved (b) at least about 0.45 equivalent per kilogram of an inorganic anion which, when combined with calcium ion, forms a salt which has a solubility of not more than 0.2 g/100 g water at 25.degree.
  • the anion is carbonate, fluoride, or metasilicate ion, or a mixture of such anions
  • a detersive surfactant including an amine oxide of the form RR 1 R 2 N ⁇ O wherein R is C 6 -C 12 alkyl and R 1 and R 2 are independently C 1-4 alkyl or C 1-4 hydroxyalkyl
  • a bleach at least about 0.5 weight percent of a bleach, based upon the weight of the composition, wherein the cleaning composition is alkaline and essentially free of chelating agents, phosphorus-containing salt, and abrasive.
  • the cleaning solution utilized in the robot cleaner includes (or is) one or more embodiments of the hard surface cleaners described in U.S. Pat. Nos. 5,573,710, 5,814,591, 5,972,876, 6,004,916, 6,200,941, and 6,214,784, all of which are incorporated herein by reference.
  • U.S. Pat. No. 5,573,710 discloses an aqueous multiple-surface cleaning composition which can be used for the removal of grease and stains from hard surfaces or hard fibrous substrates such as carpet and upholstery.
  • the composition contains (a) a surfactant system consisting of amine oxides within the general formula (I): or quaternary amine salts within the general formula (II): or combinations of the foregoing amine oxides and quaternary amine salts; and (b) a very slightly water-soluble polar organic compound.
  • the very slightly water-soluble polar organic compound may have a water solubility ranging from about 0.1 to 1.0 weight percent, and the weight ratio of the very slightly water-soluble polar organic compound to the surfactant system may range from about 0.1:1 to about 1:1.
  • R 1 and R 2 may be selected from the group consisting of methyl, ethyl, propyl, isopropyl, hydroxyethyl and hydroxypropyl.
  • R 1 and R 2 may be the same or different.
  • R 3 may be selected from the group consisting of straight chain alkyls, branched chain alkyls, straight chain heretroalkyls, branched chain heteroalkyls and alkyl ethers, each having from about 10 to 20 carbon atoms.
  • R 4 may be selected from the group consisting of alkyl groups having from 1 to about 5 carbon atoms.
  • X is a halogen atom.
  • U.S. Pat. No. 5,814,591 describes an aqueous hard surface cleaner with improved soil removal.
  • the cleaner includes (a) either (i) a nonionic, an amphoteric surfactant, or a combination thereof, or (ii) a quaternary ammonium surfactant, the surfactants being present in a cleaning effective amount; (b) at least one water-soluble or dispersible organic solvent having a vapor pressure of at least 0.001 mm Hg at 25.degree.
  • U.S. Pat. No. 5,972,876 discloses an aqueous hard surface cleaner comprising (a) a surfactant selected from the group consisting of anionic, nonionic surfactants, and mixtures thereof, with optionally, a quaternary ammonium surfactant, the total amount of surfactant being present in a cleaning-effective amount; (b) at least one water-soluble or dispersible organic solvent having a vapor pressure of at least 0.001 mm Hg at 25.degree.
  • ammonium EDTA ammonium ethylenediamine-tetraacetate
  • the surfactant may be a nonionic surfactant with optionally, a quaternary ammonium surfactant.
  • the nonionic surfactant may be selected from the group consisting of an alkoxylated alkylphenol ether, an alkoxylated alcohol, or a semi-polar nonionic surfactant which itself is selected from the group consisting of mono-long-chain alkyl, di-short-chain trialkyl amine oxides, alkylamidodialkyl amine oxides, phosphine oxides and sulfoxides.
  • the total amount of the surfactant may be present from about 0.001-10%.
  • the at least one water-soluble or dispersible organic solvent may be present in an amount of no more than 50% by weight of the cleaner.
  • the ammonium EDTA may be a tetraammonium EDTA which is present in an amount from 0.01-25% by weight of the total cleaner.
  • U.S. Pat. No. 6,200,941 discloses a diluted hard surface cleaning composition.
  • the cleaning composition contains (a) at least about 85% water, in which is dissolved (b) at least about 0.45 equivalent per kilogram of an inorganic anion which, when combined with calcium ion, forms a salt which has a solubility of not more than 0.2 g/100 g water at 25.degree. C.; (c) at least 0.3% by weight, based on the weight of the composition, of a detersive surfactant.
  • the composition preferably has a viscosity of less than about 100 cps.
  • the anion may be carbonate, fluoride, or metasilicate ion, or a mixture of such anions.
  • the detersive surfactant may include an amine oxide of the form RR 1 R 2 N ⁇ O wherein R is C 6 -C 12 alkyl and R 1 and R 2 are independently C 14 alkyl or C 14 hydroxyalkyl.
  • the composition may further contain at least about 0.5 weight percent of a bleach, based upon the weight of the composition.
  • the cleaning composition is alkaline and essentially free of chelating agents, phosphorus-containing salt, and abrasive.
  • U.S. Pat. No. 6,214,784 describes a composition similar to that disclosed in U.S. Pat. No. 5,972,876.
  • the composition may include dipotassium carbonate as a buffer.
  • Control module 1000 is interconnected for two-way communication with each of a plurality of other robot subsystems.
  • the interconnection of the robot subsystems is provided via network of interconnected wires and or conductive elements, e.g. conductive paths formed on an integrated printed circuit board or the like, as is well known.
  • the two-way communication between the control module 1000 one or more of the robot subsystems occurs through a wireless communication path.
  • the control module 1000 at least includes a programmable or preprogrammed digital data processor, e.g. a microprocessor, for performing program steps, algorithms and or mathematical and logical operations as may be required.
  • the control module 1000 also includes a digital data memory in communication with the data processor for storing program steps and other digital data therein.
  • the control module 1000 also includes one or more clock elements for generating timing signals as may be required.
  • the robot 10 can move over cleaning paths in accordance with preprogrammed procedures implemented in hardware, software, firmware, or combinations thereof to implement a variety of modes, such as three basic operational modes, i.e., movement patterns, that can be categorized as: (1) a “spot-coverage” mode; (2) a “wall/obstacle following” mode; and (3) a “bounce” mode.
  • the robot 10 is preprogrammed to initiate actions based upon signals received from sensors incorporated therein, where such actions include, but are not limited to, implementing one of the movement patterns above, an emergency stop of the robot 10 , or issuing an audible alert.
  • These operational modes of the robot are specifically described in U.S. Pat. No. 6,809,490, by Jones et al., entitled, Method and System for Multi-Mode Coverage for an Autonomous Robot, the entire disclosure of which is herein incorporated by reference it its entirety. However, the present disclosure also describes alternative operational modes.
  • the robot 10 also includes the user interface 400 .
  • the user interface 400 provides one or more user input interfaces that generate an electrical signal in response to a user input and communicate the signal to the controller 1000 .
  • a user can input user commands to initiate actions such as power on/off, start, stop or to change a cleaning mode, set a cleaning duration, program cleaning parameters such as start time and duration, and or many other user initiated commands.
  • a user interface 400 has been described as a user interface carried on the robot 10 , other implementations are additionally or alternatively possible.
  • a user interface can include a remote control device (e.g., a hand held device) configured to transmit instructions to the robot 10 .
  • a user interface can include a programmable computer or other programmable device configured to transmit instructions to the robot 10 .
  • the robot can include a voice recognition module and can respond to voice commands provided by the user.
  • User input commands, functions, and components contemplated for use with the present invention are specifically described in U.S. patent application Ser. No. 11/166,891, by Dubrovsky et al., filed on Jun. 24, 2005, entitled Remote Control Scheduler and Method for Autonomous Robotic Device, the entire disclosure of which is herein incorporated by reference it its entirety. Specific modes of user interaction are also described herein.
  • the robot 10 includes a sensor module 1100 .
  • the sensor module 1100 includes a plurality of sensors attached to the chassis and integrated with the robot subsystems for sensing external conditions and for sensing internal conditions. In response to sensing various conditions, the sensor module 1100 can generate electrical signals and communicate the electrical signals to the controller 1100 .
  • Individual sensors can perform any of various different functions including, but not limited to, detecting walls and other obstacles, detecting drop offs in the surface (sometimes referred to as cliffs), detecting debris on the surface, detecting low battery power, detecting an empty cleaning fluid container, detecting a full waste container, measuring or detecting drive wheel velocity distance traveled or slippage, detecting cliff drop off, detecting cleaning system problems such rotating brush stalls or vacuum system clogs or pump malfunctions, detecting inefficient cleaning, cleaning surface type, system status, temperature, and many other conditions.
  • detecting walls and other obstacles sometimes referred to as cliffs
  • detecting debris on the surface sometimes referred to as cliffs
  • detecting low battery power detecting an empty cleaning fluid container
  • detecting a full waste container measuring or detecting drive wheel velocity distance traveled or slippage
  • detecting cliff drop off detecting cleaning system problems such rotating brush stalls or vacuum system clogs or pump malfunctions
  • detecting inefficient cleaning cleaning surface type, system status, temperature, and many other conditions.
  • the robot 10 includes control and sensor components in close proximity to the wet cleaning components. As described above, the robot 10 can be sized to fit within any of various different confined spaces typically encountered in household cleaning applications. Accordingly, much of the volume of robot 10 is occupied by the liquid storage 1500 , liquid applicator 1400 , and vacuum subsystems 1300 , each of which can include the transport of water, solvents, and/or waste throughout the robot 10 . As distinguished from many dry vacuuming robots that do not use wet cleaners and do not generate waste, some of the sensors and control elements of the robot 10 are sealed and/or positioned to minimize exposure to water or more damaging cleaning fluids or solvents. As distinguished from many industrial cleaners, some of the sensors and control elements of the robot 10 are packaged in close proximity to (e.g., within less than about an inch of) cleaning elements, cleaning fluids, and/or waste.
  • the entire main control PCB is fluid sealed, either in a water resistant or waterproof housing having at least JIS grade 3 (mild spray) water/fluid resistance, but grade 5 (strong spray), grade 7 (temporary immersion), and ANSI/IEC 60529-2004 standards for equivalent water ingress protection are also desirable.
  • the main control PCB is sealed in a JIS grade 3-7 housing (1) by a screwed-down and gasketed cover over the main housing; (2) by a welded, caulked, sealed, or glued cover secured to the main housing; (3) by being pre-assembled in a water resistant, water-tight, water-proof, or hermetically sealed compartment or module; or (4) by being positioned in a volume suitable for potting or pre-potted in resin or the like.
  • sensor circuit boards distributed throughout the body of the robot 10 are sealed in a JIS grade 3-7 housing in a similar manner.
  • multiple circuit boards including at least the main circuit board and one remote circuit board (e.g., a user interface circuit board) several centimeters from the main board, may be sealed by a single matching housing or cover.
  • all or some of the circuit boards can be arranged in a single plastic or resin module having extensions which reach to local sensor sites. Additionally or alternatively, a distributed cover can be secured over all of the circuit boards.
  • the wire seal 120 defines one or more apertures 122 extending through the wire seal 120 such that lead wires of an electrical component can be passed from one side of the wire seal 120 to the other, through the one or more apertures 122 .
  • a sealant e.g., potting material
  • the wire seal 120 can be positioned on the robot 10 such that the electrical component is mounted in a substantially dry portion of the robot 10 while the lead wires extend through the wire seal 120 toward a wet portion of the robot 10 .
  • the sealing provided by the wire seal 120 can protect the electrical component from damage due to moisture and/or waste.
  • the omni-directional receiver 410 is positioned on the signal channeler 402 , substantially off-center from (e.g., substantially forward of) the central vertical axis 20 of the robot 10 .
  • the off-center positioning of omni-directional receiver 410 can allow the control module 1000 to be more sensitive in one direction. In some implementations, such sensitivity allows the robot 10 to discern directionality during maneuvers. For example, if the omni-directional receiver 410 receives a signal, the control module 1000 can direct the robot 10 to turn in place until the signal received by the omni-directional receiver 410 weakens and/or disappears.
  • control module 1000 directs the robot 10 to drive in the direction in which a weakened signal and/or no signal is detected (e.g., away from the source of the signal) and, if the robot 10 turns 360 degrees and is still stuck in the beam, the robot 10 will turn 180 degrees and drive forward in a last attempt to get free.
  • a weakened signal and/or no signal e.g., away from the source of the signal
  • the omni-directional receiver 410 can be disposed substantially along a bottom portion 403 of the signal channeler 402 , facing toward the chassis 100 . As compared to a configuration in which an omni-directional receiver extends from a top surface of the signal channeler (e.g., forming the highest point of the robot), disposing the omni-directional receiver 410 along the bottom portion 403 of the signal channeler 402 can lower the overall height profile of the robot 10 . Additionally or alternatively, this configuration can protect the omni-directional receiver 410 from damage as the robot 10 maneuvers through tight spaces and/or bumps into an overhead obstruction.
  • the omni-directional receiver 410 can be configured to receive transmissions of infrared light (IR).
  • a guide e.g. a light pipe
  • a guide can guide emissions reflected off a conical reflector and channel them to an emission receiver.
  • the omni-directional receiver 410 is disposed substantially within a cavity 414 defined by a housing 412 .
  • a cover 416 extends over the cavity 414 and forms a substantially water-tight seal with the housing 412 to enclose the omni-directional receiver 410 .
  • the cover 416 is releasably attached to the housing 412 to allow, for example, replacement and/or repair of the omni-directional receiver 410 .
  • the substantially water-tight seal between the housing 412 and the cover 414 can include any of various different seals. Examples of seals include epoxy, ultrasonic welding, potting wells, welded interfaces, plugs, gaskets, and polymeric membranes.
  • an active external device e.g., a navigation beacon
  • the signal channeler 402 is configured for total internal reflection of the incident signal such that the signal moves substantially unattenuated within the signal channeler 402 (e.g., within the material forming the signal channeler).
  • the signal channeler 402 is a substantially uniform layer of polished polycarbonate resin thermoplastic.
  • the signal moving through the signal channeler 402 is internally reflected through the signal channeler 402 .
  • the omni-directional receiver 410 is arranged to detect signal reflected through the signal channeler.
  • the omni-directional receiver 416 is in communication (e.g., electrical communication) with the control module 1000 . Upon detecting a signal traveling through the signal channeler 402 , the omni-directional receiver 416 sends a signal to the control module 1000 .
  • the control module 1000 responds to the signal from the omni-directional receiver 416 by controlling the wheel modules 500 , 501 to navigate the robot 10 away from the source of the signal. For example, as an initial escape procedure, the control module 1000 can direct the wheel modules 500 , 501 to move the robot 10 in a rearward direction. Such movement in the rearward direction, can position the robot 10 further away from the beam such that robot 10 can determine directionality (e.g., spin out of the beam) by rotating substantially in place. In a subsequent escape procedure, the controller 1000 can direct the robot 10 in a direction away from the signal.
  • directionality e.g., spin out of the beam
  • the robot 10 includes a radio to control the state of the navigation beams through commands transmitted over a packet radio network.
  • the robot 10 can follow walls. Additionally or alternatively, the robot 10 can follow walls as part of a navigation strategy (e.g., a strategy to promote full coverage). Using such a strategy, the robot can be less prone to becoming trapped in small areas. Such entrapments could otherwise cause the robot to neglect other, possibly larger, areas.
  • a navigation strategy e.g., a strategy to promote full coverage
  • the wall follower includes a dual collimination system including an infrared emitter and detector.
  • the field of view of the infrared emitter and detector can be restricted such that there is a limited, selectable volume where the cones of visibility intersect.
  • the sensor can be arranged so that it can detect both diffuse and specular reflection. This arrangement can allow the wall following distance of the robot 10 to be precisely controlled, substantially independently of the reflectivity of the wall. The distance that the robot 10 maintains between the robot and the wall is independent of the reflectivity of the wall.
  • the robot 10 includes a wall follower sensor 310 disposed substantially along the right side of the bumper 300 .
  • the wall follower sensor 310 includes an optical emitter 312 substantially forward of a photon detector 314 .
  • the position of the wall follower sensor 310 and the optical emitter 312 can be reversed such that the wall follower sensor 310 is substantially forward of the optical emitter 312 .
  • the emitter 312 and detector 314 are arranged in respective collimator tubes 316 , 318 , which can be defined by the bumper 300 or defined by a housing mountable to the bumper 300 .
  • the collimator tubes 316 , 318 are spaced closely together in a near-parallel orientation such that the field of emission of the emitter 312 intersects the field of view of the detector 314 at a distance forward of the wall follower sensor (e.g., about 1 cm to about 10 cm).
  • the near-parallel orientation of the emitter 312 and the detector 314 results in an intersection zone that is both farther away and deeper for a given separation between the emitter 312 and the detector 314 .
  • the angle formed between the field of emission of the emitter 312 and the field of view of the detector 314 is between about 10 degrees and 30 degrees (e.g., about 20 degrees). Angles within this range result in a monotonic relationship between the angle to the wall and the signal strength.
  • the respective collimators of the emitter and the detector are angled toward one another. In some implementations, the angles of the respective collimators can change as the forward speed of the robot changes.
  • the near-parallel orientation of the optical emitter 312 and photon detector 314 can allow the robot 10 to follow the wall within a short distance of the wall. As compared to an orientation in which the collimator of an emitter and the collimator of a detector are substantially angled toward each other, the near-parallel orientation of the optical emitter 312 and the photon detector 314 can result in a more linear relationship between the distance from the wall and signal strength.
  • FIG. 23B shows a schematic of the operation of the wall follower sensor 310 .
  • the emitter 312 can emit a signal 320 toward wall 319 .
  • the wall 319 reflects the signal such that a reflected signal 320 ′ scatters from the wall in various different directions. At least a portion of the reflected signal 320 ′ reflects back toward the field of view of the detector 314 .
  • the detection of the reflected signal 320 ′ within the field of view of the detector generates a signal to the controller 1000 .
  • the controller 1000 uses the signal to control the distance between the robot 10 and the wall 319 .
  • the control module 1000 can include logic that controls wheel modules 500 , 501 in response to signals detected by the wall follower sensor 310 to control the movement of the robot 10 at a substantially parallel fixed distance from the wall.
  • the wall follower sensor 310 can modulate 350 signals from the emitter and detect signals from the detector (e.g., as described above) until a reflection is detected 352 .
  • a wall is then next to the robot and the control module 1000 causes the robot to turn away 354 from the wall and then turn back 356 until a reflection (the wall) is again detected 358 .
  • the controller 1000 can steer the robot 10 to maintain a substantially constant analog value of the detected signal which can result in a maintaining the robot at a substantially constant distance from the wall as the robot follows the wall.
  • the photon detector 314 can be used as a receiver for other signals.
  • the photon detector 314 can be used as an infrared port for receiving serial data transmission. Such transfer of data through the photon detector 314 can reduce the need for cable ports that can be difficult to seal and can act as water leak paths when not in use.
  • the control module 1000 can swap the photon detector 314 between a wall following mode and a data transfer mode. For example, when the control module 1000 detects that the robot 10 is not moving (e.g., through voltage and current signals received from the wheel modules 500 , 501 ), the control module 1000 can monitor the photon detector 314 for a data transfer character.
  • the control module 1000 can switch the photon detector 314 to a data transfer mode in which data can be transferred through the photon detector as described above. Additionally or alternatively, upon detecting the data transfer character, the control module 1000 can switch between an internal wireless serial port (e.g., a BLUETOOTH wireless serial port) to an external wall follower serial port without specific commands or requiring a switch button. The control module 1000 can prevent the robot 10 from moving until the data transfer is complete. For example, the control module 1000 can refuse to move the wheel modules 500 , 501 during a state in which the wall follower sensor 310 is enabled as a serial port (e.g., when the robot is powered on but not cleaning). In certain implementations, when the control module 1000 detects that the robot is moving, the control module 1000 will ignore the data transfer character such that the controller 1000 will not receive software updates while the robot 10 is in motion.
  • an internal wireless serial port e.g., a BLUETOOTH wireless serial port
  • the control module 1000 can prevent the robot 10 from moving until the data transfer is
  • Bump sensors can be used to detect if the robot physically encounters an obstacle.
  • Bump sensors can use a physical property such as capacitance or physical displacement within the robot to determine the robot has encountered an obstacle.
  • the chassis 100 carries a right bump sensor 330 and a left bump sensor 332 substantially along a forward portion of the chassis 100 .
  • the bump sensors 330 , 332 are substantially uniformly positioned on either side of the fore-aft axis 22 and are positioned at substantially the same height along the center vertical axis 20 .
  • bumper 300 is attached to chassis 100 by hinges 110 such that the bumper 300 can move a distance rearward along the fore-aft axis 22 if the bumper 300 encounters an obstacle. In the absence of a bump, the bumper 300 is hingedly supported on the chassis 100 at a short distance substantially forward of each bump sensor 330 , 332 . If the bumper 300 is moved rearward (e.g., through an encounter with an obstacle), the bumper 300 can press on one or both bump sensors 330 , 332 to create a bump signal detectable by the control module 1000 .
  • the control module 1000 can navigated away from the bump.
  • the control module 1000 can move the robot 10 backwards.
  • the bumper 300 can move transversely in response to a bump such that the bump sensors 330 , 332 can be used to determine the directionality of the bump. For example, if the bumper 300 encounters an obstacle on the right side, the bumper 300 can move transversely to the left to come into contact with the right bump sensor 330 . If the control module 1000 detects a signal from the right bump sensor 330 but does not detect a signal from the left bump sensor 332 , the control module 1000 can initiate an escape behavior that will move the robot toward the left, away from the sensed bump condition. In an analogous example, the control module 1000 can navigate the robot 10 away from a bump detected on the left side of the robot 10 .
  • the control module 1000 can interrupt a cleaning routine (e.g., stop the application of liquid to the cleaning surface) upon activation of one or both of the bump sensors 330 , 332 and, additionally or alternatively, resume the cleaning routine upon completion of an escape routine.
  • bump sensors can detect the amount of mechanical shock encountered by the bumper such that a control module can stop the cleaning routine if the detected shock is above a threshold value (e.g., a shock indicating that the robot has fallen off of a surface).
  • the right bump sensor 330 is described in detail below.
  • the left bump sensor 332 includes features analogous to the right bump sensor 330 and is identical to the right bump sensor 330 unless otherwise indicated.
  • the bump sensor 330 includes a sensor body 340 , a cone 342 supported on a surface of the sensor body 340 , and a bumper switch PCB 346 held on a surface of the sensor body 340 substantially opposite to the surface supporting the cone 342 .
  • the sensor body 340 includes overlapping regions 347 configured to extend around edge regions of the bumper switch PCB 346 to hold the bumper switch PCB 346 substantially in place.
  • the overlapping regions 347 can include a small amount of adhesive to hold the bumper switch PCB 346 in place.
  • the bumper switch PCB 346 carries an electric circuit and is configured for electrical communication with the controller module 1000 .
  • the cone 342 includes a wide end 341 and a narrow end 343 and defines a frusto-conical cavity therebetween.
  • the wide end 341 is supported away from the sensor body 340 .
  • the bumper 300 contacts the wide end 341 when upon encountering an obstacle.
  • a conductive pill 348 is disposed along the narrow end 343 of the cone 342 .
  • the conductive pill 348 can be carbon and, additionally or alternatively, formed in the shape of a puck.
  • the sensor body 340 includes a resilient region 344 that forms a dome-shaped cavity extending from the sensor body 340 .
  • the resilient region 344 supports the narrow end of a cone 342 , with the wide end of the cone 342 extending away from the resilient region 344 .
  • At least a portion of the conductive pill 348 extends into the dome-shaped cavity formed by the resilient region 344 at a distance (e.g., at least about 2 mm) from the bumper switch PCB.
  • the resilient region 344 is configured to flex toward the sensor body 340 in response to pressure exerted on the wide end 341 of the cone 342 such that conductive pill 348 contacts the bumper switch PCB 346 , acting as a mechanical switch to complete the circuit carried on the bumper switch PCB 346 (e.g., generate a signal to controller module 1000 ).
  • the cone 342 and/or the resilient region 344 absorb some of the mechanical shock generated by contact with the bumper 300 and, thus, reduce the force transmitted from the conductive pill 348 to the bumper switch PCB 346 .
  • Such deformation of the cone 342 can reduce the likelihood that the mechanical shock of encountering an obstacle will damage (e.g., fracture) the bumper switch PCB 346 .
  • the resilient region 344 Upon removal of pressure from the wide end of the cone 342 , the resilient region 344 returns the cone 342 substantially to its initial orientation away from the bumper switch PCB 346 . With the conductive pill 348 positioned away from the bumper switch PCB 346 , the circuit carried by the bumper switch PCB 346 is incomplete and no signal is sent to the control module 1000 .
  • Cliff sensors can be used to detect if a portion (e.g., a forward portion) of the robot has encountered an edge (e.g., a cliff). Cliff sensors can use an optical emitter and photon detector pair to detect the presence of a cliff. In response to a signal from a cliff detector, the robot can initiate any of various different cliff avoidance behaviors.
  • bumper 300 includes a left cliff sensor 360 , a center cliff sensor 362 , and a right cliff sensor 364 , each disposed along a lower portion of the bumper 300 .
  • the cliff sensors 360 , 362 , 364 substantially uniformly spaced from one another and each sensor 360 , 362 , 364 is aimed downward toward the surface.
  • Center cliff sensor 362 is arranged near the center of the bumper 300 , substantially below the fill door 304 .
  • left and right cliff sensors 360 , 364 are arranged near respective right and left ends of the bumper 300 and positioned substantially forward of and substantially aligned with wheels 504 and 505 , respectively. Such positioning of the right and left cliff sensors 360 , 364 can allow the robot 10 to travel at high rates of forward speed (e.g., about 200 mm/s to about 400 mm/s) while allowing the robot 10 sufficient time to detect a cliff event and successfully respond to the detected cliff event (e.g., overcoming the forces of forward momentum to stop before one or more wheels goes over the cliff).
  • high rates of forward speed e.g., about 200 mm/s to about 400 mm/s
  • the robot 10 sufficient time to detect a cliff event and successfully respond to the detected cliff event (e.g., overcoming the forces of forward momentum to stop before one or more wheels goes over the cliff).
  • wheel 504 upon detecting a cliff event at cliff sensor 360 , wheel 504 can remain in contact with the surface and can provide traction and rearward thrust during an escape procedure.
  • the robot weighs less than 2 kg fully loaded with cleaning liquid and travels at a maximum forward rate of about 200 mm/s to about 400 mm/s (e.g., about 300 mm/s)
  • cliff sensors 360 , 364 are positioned between about 50 mm to about 100 mm substantially forward of respective wheels 504 , 505 .
  • the cliff sensors 360 , 362 , 364 each include a housing 366 defining an emitter collimator tube 368 and a detector collimator tube 370 , each angled substantially toward one another.
  • An optical emitter 372 is arranged substantially within the emitter collimator tube 368
  • a photon detector 374 is arranged substantially within the detector collimator tube 370 .
  • Optical emitter 372 generates a signal 376 toward the surface 378 .
  • the signal 376 ′ reflects off of the surface 378 back toward the detector collimator tube 370 and is detected by the photon detector 374 .
  • each cliff sensor 360 , 362 , 364 modulates the emitter at a frequency of several kilohertz and detects 380 any signal from the detector, which is tuned to that frequency.
  • a signal is not output by the detector, 382 , the expected surface is not present and no overlap is detected.
  • an avoidance algorithm is initiated 384 to cause the robot to avoid the cliff.
  • processing continues 380 .
  • cliff sensors 360 , 362 , 364 can be used to detect stasis of the robot 10 .
  • the wetting element 204 of the robot is a passive element and, therefore, does not substantially interfere with the signal processing of the cliff sensors 360 , 362 , 364 .
  • the controller 1000 can move the robot 10 back and forth in a wiggle motion as the robot 10 moves along the surface.
  • each cliff sensor 360 , 362 , 364 can detect small variations in the reflected signal 376 ′, the variations corresponding to variations in the surface as the robot 10 moves across the surface (e.g., in a straight line motion, in a turning motion, in a wiggle motion). Absence of variations in the reflected signal 376 ′ is an indication that the robot 10 is in a stuck condition.
  • a stasis sensor can be used to detect whether or not the robot is in fact moving.
  • a stasis sensor can be used to detect if the robot is jammed against an obstacle or if the drive wheels are disengaged from the floor, as when the robot is tilted or becomes stranded on an object.
  • a stasis sensor can detect whether the wheels are slipping on a cleaning liquid applied to the surface. In such circumstances, the drive wheels may spin when the mobile robot applies power to them, but the robot is not moving.
  • a stasis sensor 540 is carried by the chassis 100 , inward of the right wheel module 500 .
  • the stasis sensor 540 is substantially aligned the transverse axis 500 and is in non-load bearing contact with the surface.
  • FIG. 31 shows the stasis sensor 540 carried on the chassis 100 with the wheel module 500 removed.
  • the stasis sensor 540 rotates about the transverse axis 23 as the robot 10 moves.
  • the stasis sensor 540 includes a stasis wheel 542 defining a center bore 543 and defining a magnet recess 548 offset from the center bore 543 .
  • a hub 544 is substantially aligned with the center bore 543 and configured to secure the stasis wheel 542 rotatably to a wheel housing and allow the stasis wheel 542 to spin freely in response to frictional contact with the surface or floor during robot movement.
  • a magnet 546 is arranged (e.g., press fit) into the magnet recess 548 .
  • the stasis sensor 540 rotates and the magnet 546 activates a reed switch in the robot.
  • the activation of the reed switch creates a signal detectable, for example, by the controller 1000 .
  • the stasis sensor 540 produces one signal pulse per rotation of the stasis wheel.
  • the signal produced by the stasis sensor 540 can be used for stasis detection and/or odometry.
  • each drive wheel includes a stasis sensor.
  • the controller 1000 can determine motion of the robot based on differences in the outputs from each senor. For example, the controller 1000 can determine whether and in which direction the robot is turning.
  • the stasis sensor has been described as including a magnet that activates a reed switch, other implementations are possible.
  • the stasis sensor can include a breakbeam arrangement in which an optical emitter and photo detector pair are positioned substantially across the stasis sensor. As the stasis sensor rotates the emitter/detector pair can detect breaks in the beam caused by the rotating stasis wheel.
  • the stasis wheel can include alternating light sections and dark sections.
  • An optical sensor can be positioned near the stasis wheel to detect transitions from the light section to the dark section (and vice versa) as the bi-colored wheel spins. By monitoring the contrast between the detection of the light and dark sections of the bi-colored wheel, the optical sensor can output a signal to the controller indicating that the bi-colored wheel has become too dirty or obscured to be useful in motion, speed, or stasis detection, for example. In response, the controller can transition to another stasis detection system.
  • stasis can be detected using a wiggle sensor 550 .
  • the wiggle sensor 550 includes a housing 552 having two surfaces 556 , 554 sloped toward each other and define a substantially v-shaped cavity 555 in the housing 552 .
  • the housing 552 includes an optical emitter 558 and a photo detector 560 arranged on either side of the v-shaped cavity.
  • the optical emitter 558 is configured to send a signal toward the photo detector 560
  • the photo detector 560 is configured to sense the signal.
  • the movement of the ball in the v-shaped cavity is detected as an interruption of the signal passing between the optical emitter 558 and the photo detector 560 .
  • Such an interruption is indication that the robot 10 is moving in response to the wiggle motion. If the signal passing between the optical emitter 558 and the photo detector 560 remains uninterrupted during a wiggle motion, the controller 1000 interprets the uninterrupted signal as a stasis condition.
  • the power module 1200 delivers electrical power to all of the major robot subsystems.
  • the power module 1200 includes a self-contained power source releasably attached to the chassis 100 , e.g., a rechargeable battery, such as a nickel metal hydride battery, or the like.
  • the power source is configured to be recharged by any of various different recharging elements and/or recharging modes.
  • the battery can be replaced by a user when the battery becomes discharged or unusable.
  • the controller 1000 can also interface with the power module 1200 to control the distribution of power, to monitor power use and to initiate power conservation modes as required.
  • the robot 10 can include one or more interface modules 1700 .
  • Each interface module 1700 is attached to the chassis 100 and can provide an interconnecting element or port for interconnecting with one or more external devices. Interconnecting elements are ports can be accessible on an external surface of the robot 10 .
  • the controller 1000 can also interface with the interface modules 1700 to control the interaction of the robot 10 with an external device.
  • one interface module element can be provide for charging the rechargeable battery via an external power supply or power source such as a conventional AC or DC power outlet.
  • the interface module for charging the rechargeable battery can include a short-circuit loop that will prevent the rechargeable battery from taking charge if there is water in the charge port of the robot 10 .
  • the rechargeable battery includes a fuse that will trip if there is water in the battery recharging path.
  • Another interface module element can be configured for one or two way communications over a wireless network and further interface module elements can be configured to interface with one or more mechanical devices to exchange liquids and loose particles therewith, e.g., for filling a cleaning fluid reservoir.
  • Active external devices for interfacing with the robot 10 can include, but are not limited to, a floor standing docking station, a hand held remote control device, a local or remote computer, a modem, a portable memory device for exchanging code and/or date with the robot 10 and a network interface for interfacing the robot 10 with any device connected to the network.
  • the interface modules 1700 can include passive elements such as hooks or latching mechanisms for attaching the robot 100 to a wall for storage or for attaching the robot to a carrying case or the like.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Power Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Suction Cleaners (AREA)
  • Manipulator (AREA)
  • Filters For Electric Vacuum Cleaners (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)
US12/118,250 2007-05-09 2008-05-09 Autonomous coverage robot sensing Abandoned US20080281470A1 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
US12/118,250 US20080281470A1 (en) 2007-05-09 2008-05-09 Autonomous coverage robot sensing
US13/314,398 US8438695B2 (en) 2007-05-09 2011-12-08 Autonomous coverage robot sensing
US13/537,401 US20120265346A1 (en) 2007-05-09 2012-06-29 Autonomous coverage robot sensing
US15/841,739 US11072250B2 (en) 2007-05-09 2017-12-14 Autonomous coverage robot sensing
US17/384,587 US20220009363A1 (en) 2007-05-09 2021-07-23 Autonomous coverage robot sensing

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US91706507P 2007-05-09 2007-05-09
US93869907P 2007-05-17 2007-05-17
US12/118,250 US20080281470A1 (en) 2007-05-09 2008-05-09 Autonomous coverage robot sensing

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US13/314,398 Continuation US8438695B2 (en) 2007-05-09 2011-12-08 Autonomous coverage robot sensing

Publications (1)

Publication Number Publication Date
US20080281470A1 true US20080281470A1 (en) 2008-11-13

Family

ID=39720746

Family Applications (15)

Application Number Title Priority Date Filing Date
US12/118,117 Active 2031-03-31 US8239992B2 (en) 2007-05-09 2008-05-09 Compact autonomous coverage robot
US12/118,250 Abandoned US20080281470A1 (en) 2007-05-09 2008-05-09 Autonomous coverage robot sensing
US12/118,219 Active 2031-04-26 US8726454B2 (en) 2007-05-09 2008-05-09 Autonomous coverage robot
US13/245,118 Active US8370985B2 (en) 2007-05-09 2011-09-26 Compact autonomous coverage robot
US13/245,095 Active US8347444B2 (en) 2007-05-09 2011-09-26 Compact autonomous coverage robot
US13/314,398 Active US8438695B2 (en) 2007-05-09 2011-12-08 Autonomous coverage robot sensing
US13/537,401 Abandoned US20120265346A1 (en) 2007-05-09 2012-06-29 Autonomous coverage robot sensing
US13/719,784 Active US8839477B2 (en) 2007-05-09 2012-12-19 Compact autonomous coverage robot
US14/219,625 Active 2030-01-01 US10299652B2 (en) 2007-05-09 2014-03-19 Autonomous coverage robot
US14/456,293 Active US9480381B2 (en) 2007-05-09 2014-08-11 Compact autonomous coverage robot
US15/331,965 Active US10070764B2 (en) 2007-05-09 2016-10-24 Compact autonomous coverage robot
US15/841,739 Active 2028-10-08 US11072250B2 (en) 2007-05-09 2017-12-14 Autonomous coverage robot sensing
US16/120,903 Active 2029-03-18 US11014460B2 (en) 2007-05-09 2018-09-04 Compact autonomous coverage robot
US16/392,065 Active 2030-07-13 US11498438B2 (en) 2007-05-09 2019-04-23 Autonomous coverage robot
US17/384,587 Pending US20220009363A1 (en) 2007-05-09 2021-07-23 Autonomous coverage robot sensing

Family Applications Before (1)

Application Number Title Priority Date Filing Date
US12/118,117 Active 2031-03-31 US8239992B2 (en) 2007-05-09 2008-05-09 Compact autonomous coverage robot

Family Applications After (13)

Application Number Title Priority Date Filing Date
US12/118,219 Active 2031-04-26 US8726454B2 (en) 2007-05-09 2008-05-09 Autonomous coverage robot
US13/245,118 Active US8370985B2 (en) 2007-05-09 2011-09-26 Compact autonomous coverage robot
US13/245,095 Active US8347444B2 (en) 2007-05-09 2011-09-26 Compact autonomous coverage robot
US13/314,398 Active US8438695B2 (en) 2007-05-09 2011-12-08 Autonomous coverage robot sensing
US13/537,401 Abandoned US20120265346A1 (en) 2007-05-09 2012-06-29 Autonomous coverage robot sensing
US13/719,784 Active US8839477B2 (en) 2007-05-09 2012-12-19 Compact autonomous coverage robot
US14/219,625 Active 2030-01-01 US10299652B2 (en) 2007-05-09 2014-03-19 Autonomous coverage robot
US14/456,293 Active US9480381B2 (en) 2007-05-09 2014-08-11 Compact autonomous coverage robot
US15/331,965 Active US10070764B2 (en) 2007-05-09 2016-10-24 Compact autonomous coverage robot
US15/841,739 Active 2028-10-08 US11072250B2 (en) 2007-05-09 2017-12-14 Autonomous coverage robot sensing
US16/120,903 Active 2029-03-18 US11014460B2 (en) 2007-05-09 2018-09-04 Compact autonomous coverage robot
US16/392,065 Active 2030-07-13 US11498438B2 (en) 2007-05-09 2019-04-23 Autonomous coverage robot
US17/384,587 Pending US20220009363A1 (en) 2007-05-09 2021-07-23 Autonomous coverage robot sensing

Country Status (6)

Country Link
US (15) US8239992B2 (ja)
EP (10) EP2995236B1 (ja)
JP (12) JP5144752B2 (ja)
KR (15) KR101301834B1 (ja)
ES (3) ES2571739T3 (ja)
WO (2) WO2008141186A2 (ja)

Cited By (100)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100131098A1 (en) * 2008-11-21 2010-05-27 Rooney Iii James H Hull robot with rotatable turret
US20100168916A1 (en) * 2008-12-31 2010-07-01 Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. Touch sensitive robot with touch sensor belt
US20100219003A1 (en) * 2008-11-21 2010-09-02 Rooney Iii James H Hull robot steering system
US20100228395A1 (en) * 2009-03-03 2010-09-09 Hong Fu Jin Precision Industry(Shenzhen)Co., Ltd. Touch sensitive robot
US7837958B2 (en) 2004-11-23 2010-11-23 S.C. Johnson & Son, Inc. Device and methods of providing air purification in combination with superficial floor cleaning
WO2011034558A1 (en) * 2009-09-18 2011-03-24 Raytheon Company Hull robot garage
US20110083599A1 (en) * 2009-10-14 2011-04-14 Kornstein Howard R Hull robot drive system
US20110167574A1 (en) * 2009-11-06 2011-07-14 Evolution Robotics, Inc. Methods and systems for complete coverage of a surface by an autonomous robot
US20120084935A1 (en) * 2010-10-11 2012-04-12 Ting-Yin Chiu Mobile robotic vacuum cleaner with a detachable electrical fan
US8239992B2 (en) 2007-05-09 2012-08-14 Irobot Corporation Compact autonomous coverage robot
US8253368B2 (en) 2004-01-28 2012-08-28 Irobot Corporation Debris sensor for cleaning apparatus
US8368339B2 (en) 2001-01-24 2013-02-05 Irobot Corporation Robot confinement
US8374721B2 (en) 2005-12-02 2013-02-12 Irobot Corporation Robot system
US8380350B2 (en) 2005-12-02 2013-02-19 Irobot Corporation Autonomous coverage robot navigation system
US8386112B2 (en) 2010-05-17 2013-02-26 Raytheon Company Vessel hull robot navigation subsystem
US8386081B2 (en) 2002-09-13 2013-02-26 Irobot Corporation Navigational control system for a robotic device
US8382906B2 (en) 2005-02-18 2013-02-26 Irobot Corporation Autonomous surface cleaning robot for wet cleaning
US8390251B2 (en) 2004-01-21 2013-03-05 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
US8387193B2 (en) 2005-02-18 2013-03-05 Irobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US8396592B2 (en) 2001-06-12 2013-03-12 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US8412377B2 (en) 2000-01-24 2013-04-02 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8417383B2 (en) 2006-05-31 2013-04-09 Irobot Corporation Detecting robot stasis
US8418303B2 (en) 2006-05-19 2013-04-16 Irobot Corporation Cleaning robot roller processing
US8428778B2 (en) 2002-09-13 2013-04-23 Irobot Corporation Navigational control system for a robotic device
US8463438B2 (en) 2001-06-12 2013-06-11 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US8474090B2 (en) 2002-01-03 2013-07-02 Irobot Corporation Autonomous floor-cleaning robot
US8515578B2 (en) 2002-09-13 2013-08-20 Irobot Corporation Navigational control system for a robotic device
US8584305B2 (en) 2005-12-02 2013-11-19 Irobot Corporation Modular robot
US8594840B1 (en) 2004-07-07 2013-11-26 Irobot Corporation Celestial navigation system for an autonomous robot
US8600553B2 (en) 2005-12-02 2013-12-03 Irobot Corporation Coverage robot mobility
US20140081504A1 (en) * 2012-09-14 2014-03-20 Raytheon Company Autonomous Hull Navigation
US8739355B2 (en) 2005-02-18 2014-06-03 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
US20140188325A1 (en) * 2012-12-28 2014-07-03 Irobot Corporation Autonomous Coverage Robot
US8774970B2 (en) 2009-06-11 2014-07-08 S.C. Johnson & Son, Inc. Trainable multi-mode floor cleaning device
US8788092B2 (en) 2000-01-24 2014-07-22 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8800107B2 (en) 2010-02-16 2014-08-12 Irobot Corporation Vacuum brush
US8930023B2 (en) 2009-11-06 2015-01-06 Irobot Corporation Localization by learning of wave-signal distributions
US8965623B2 (en) 2012-05-11 2015-02-24 International Business Machines Corporation Automated cleaning in a sensor network
US8972052B2 (en) 2004-07-07 2015-03-03 Irobot Corporation Celestial navigation system for an autonomous vehicle
US9008835B2 (en) 2004-06-24 2015-04-14 Irobot Corporation Remote control scheduler and method for autonomous robotic device
US9075416B2 (en) * 2010-09-21 2015-07-07 Toyota Jidosha Kabushiki Kaisha Mobile body
US9146560B2 (en) 2012-03-30 2015-09-29 Irobot Corporation System and method for implementing force field deterrent for robot
US9278690B2 (en) 2013-12-18 2016-03-08 Irobot Corporation Autonomous mobile robot
US9320398B2 (en) 2005-12-02 2016-04-26 Irobot Corporation Autonomous coverage robots
US9440717B2 (en) 2008-11-21 2016-09-13 Raytheon Company Hull robot
AU2015230722B2 (en) * 2012-12-28 2017-06-29 Irobot Corporation Autonomous coverage robot
US9811089B2 (en) 2013-12-19 2017-11-07 Aktiebolaget Electrolux Robotic cleaning device with perimeter recording function
US20170332868A1 (en) * 2016-05-20 2017-11-23 Lg Electronics Inc. Autonomous cleaner
US9939529B2 (en) 2012-08-27 2018-04-10 Aktiebolaget Electrolux Robot positioning system
US9946263B2 (en) 2013-12-19 2018-04-17 Aktiebolaget Electrolux Prioritizing cleaning areas
US10045675B2 (en) 2013-12-19 2018-08-14 Aktiebolaget Electrolux Robotic vacuum cleaner with side brush moving in spiral pattern
US10149589B2 (en) 2013-12-19 2018-12-11 Aktiebolaget Electrolux Sensing climb of obstacle of a robotic cleaning device
US10209080B2 (en) 2013-12-19 2019-02-19 Aktiebolaget Electrolux Robotic cleaning device
US10219665B2 (en) 2013-04-15 2019-03-05 Aktiebolaget Electrolux Robotic vacuum cleaner with protruding sidebrush
US10231591B2 (en) 2013-12-20 2019-03-19 Aktiebolaget Electrolux Dust container
US10342400B2 (en) 2016-05-20 2019-07-09 Lg Electronics Inc. Autonomous cleaner
US10342405B2 (en) 2016-05-20 2019-07-09 Lg Electronics Inc. Autonomous cleaner
US10345819B2 (en) * 2017-08-14 2019-07-09 UBTECH Robotics Corp. Recharging robot system
US10368711B1 (en) * 2016-03-03 2019-08-06 AI Incorporated Method for developing navigation plan in a robotic floor-cleaning device
US10398276B2 (en) 2016-05-20 2019-09-03 Lg Electronics Inc. Autonomous cleaner
US10420448B2 (en) 2016-05-20 2019-09-24 Lg Electronics Inc. Autonomous cleaner
US10433697B2 (en) 2013-12-19 2019-10-08 Aktiebolaget Electrolux Adaptive speed control of rotating side brush
US10441128B2 (en) 2016-05-20 2019-10-15 Lg Electronics Inc. Autonomous cleaner
US10448794B2 (en) 2013-04-15 2019-10-22 Aktiebolaget Electrolux Robotic vacuum cleaner
US10463221B2 (en) 2016-05-20 2019-11-05 Lg Electronics Inc. Autonomous cleaner
US10463212B2 (en) 2016-05-20 2019-11-05 Lg Electronics Inc. Autonomous cleaner
US10463219B2 (en) 2014-10-03 2019-11-05 Makita Corporation Self-propelled, dust-collecting robot
US10481611B2 (en) 2016-05-20 2019-11-19 Lg Electronics Inc. Autonomous cleaner
US10499778B2 (en) 2014-09-08 2019-12-10 Aktiebolaget Electrolux Robotic vacuum cleaner
US10518416B2 (en) 2014-07-10 2019-12-31 Aktiebolaget Electrolux Method for detecting a measurement error in a robotic cleaning device
US10524628B2 (en) 2016-05-20 2020-01-07 Lg Electronics Inc. Autonomous cleaner
US10534367B2 (en) 2014-12-16 2020-01-14 Aktiebolaget Electrolux Experience-based roadmap for a robotic cleaning device
WO2020028696A1 (en) * 2018-08-01 2020-02-06 Sharkninja Operating Llc Robotic vacuum cleaner
US10617271B2 (en) 2013-12-19 2020-04-14 Aktiebolaget Electrolux Robotic cleaning device and method for landmark recognition
US10678251B2 (en) 2014-12-16 2020-06-09 Aktiebolaget Electrolux Cleaning method for a robotic cleaning device
US10729297B2 (en) 2014-09-08 2020-08-04 Aktiebolaget Electrolux Robotic vacuum cleaner
US10874274B2 (en) 2015-09-03 2020-12-29 Aktiebolaget Electrolux System of robotic cleaning devices
US10874275B2 (en) 2017-09-07 2020-12-29 Sharkninja Operating Llc Robotic cleaner
US10874271B2 (en) 2014-12-12 2020-12-29 Aktiebolaget Electrolux Side brush and robotic cleaner
US10877484B2 (en) 2014-12-10 2020-12-29 Aktiebolaget Electrolux Using laser sensor for floor type detection
US10898042B2 (en) 2017-08-16 2021-01-26 Sharkninja Operating Llc Robotic vacuum
US20210251444A1 (en) * 2020-02-19 2021-08-19 Bissell Inc. Surface cleaning apparatus with damp cleaning
US11099554B2 (en) 2015-04-17 2021-08-24 Aktiebolaget Electrolux Robotic cleaning device and a method of controlling the robotic cleaning device
US11096535B2 (en) 2018-05-23 2021-08-24 Makita Corporation Robotic vacuum
US11122953B2 (en) 2016-05-11 2021-09-21 Aktiebolaget Electrolux Robotic cleaning device
US11169533B2 (en) 2016-03-15 2021-11-09 Aktiebolaget Electrolux Robotic cleaning device and a method at the robotic cleaning device of performing cliff detection
US11191405B2 (en) 2019-02-06 2021-12-07 Makita Corporation Vacuum cleaner
US20210378476A1 (en) * 2013-11-12 2021-12-09 Irobot Corporation Autonomous surface cleaning robot
CN114983270A (zh) * 2018-09-05 2022-09-02 艾罗伯特公司 机器人清洁器抽空界面
US11474533B2 (en) 2017-06-02 2022-10-18 Aktiebolaget Electrolux Method of detecting a difference in level of a surface in front of a robotic cleaning device
US11517167B2 (en) 2019-06-28 2022-12-06 Makita Corporation Autonomous cleaning device having an optical sensor
US20230009583A1 (en) * 2021-07-07 2023-01-12 Nilfisk A/S Edge cleaning by robotic cleaning machine
US11614744B2 (en) * 2017-11-14 2023-03-28 Positec Power Tools (Suzhou) Co., Ltd. Self-moving apparatus and method for controlling same
WO2023062620A1 (en) * 2021-10-11 2023-04-20 Ben Zeev Nir Water-efficient surface cleaning method and system
US11707176B2 (en) 2019-03-05 2023-07-25 Makita Corporation Upright vacuum cleaner
US11846937B2 (en) 2016-05-20 2023-12-19 Lg Electronics Inc. Autonomous cleaner
US11884223B2 (en) 2021-12-01 2024-01-30 Google Llc Ground vehicle bumper system
US20240041285A1 (en) * 2022-08-02 2024-02-08 Irobot Corp Mobile cleaning robot suspension
US11921517B2 (en) 2017-09-26 2024-03-05 Aktiebolaget Electrolux Controlling movement of a robotic cleaning device
US11974813B1 (en) * 2019-08-26 2024-05-07 Verily Life Sciences Llc Efficiency of robotic surgeries via surgical procedure data analysis

Families Citing this family (506)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040162637A1 (en) 2002-07-25 2004-08-19 Yulun Wang Medical tele-robotic system with a master remote station with an arbitrator
KR101812021B1 (ko) * 2011-09-30 2017-12-27 삼성전자주식회사 로봇청소기
US7813836B2 (en) 2003-12-09 2010-10-12 Intouch Technologies, Inc. Protocol for a remotely controlled videoconferencing robot
DE112005000738T5 (de) 2004-03-29 2007-04-26 Evolution Robotics, Inc., Pasadena Verfahren und Vorrichtung zur Positionsbestimmung unter Verwendung von reflektierten Lichtquellen
US8077963B2 (en) 2004-07-13 2011-12-13 Yulun Wang Mobile robot with a head-based movement mapping scheme
US9198728B2 (en) 2005-09-30 2015-12-01 Intouch Technologies, Inc. Multi-camera mobile teleconferencing platform
US8849679B2 (en) 2006-06-15 2014-09-30 Intouch Technologies, Inc. Remote controlled robot system that provides medical images
US9160783B2 (en) 2007-05-09 2015-10-13 Intouch Technologies, Inc. Robot system that operates through a network firewall
US10875182B2 (en) 2008-03-20 2020-12-29 Teladoc Health, Inc. Remote presence system mounted to operating room hardware
US8179418B2 (en) 2008-04-14 2012-05-15 Intouch Technologies, Inc. Robotic based health care system
US8170241B2 (en) 2008-04-17 2012-05-01 Intouch Technologies, Inc. Mobile tele-presence system with a microphone system
US8961695B2 (en) * 2008-04-24 2015-02-24 Irobot Corporation Mobile robot for cleaning
US9193065B2 (en) 2008-07-10 2015-11-24 Intouch Technologies, Inc. Docking system for a tele-presence robot
US9842192B2 (en) 2008-07-11 2017-12-12 Intouch Technologies, Inc. Tele-presence robot system with multi-cast features
US8340819B2 (en) 2008-09-18 2012-12-25 Intouch Technologies, Inc. Mobile videoconferencing robot system with network adaptive driving
US8996165B2 (en) 2008-10-21 2015-03-31 Intouch Technologies, Inc. Telepresence robot with a camera boom
US9138891B2 (en) * 2008-11-25 2015-09-22 Intouch Technologies, Inc. Server connectivity control for tele-presence robot
US8463435B2 (en) 2008-11-25 2013-06-11 Intouch Technologies, Inc. Server connectivity control for tele-presence robot
US8849680B2 (en) 2009-01-29 2014-09-30 Intouch Technologies, Inc. Documentation through a remote presence robot
NL1036587C2 (nl) * 2009-02-17 2010-08-18 Lely Patent Nv Inrichting voor het verplaatsen van materiaal liggend op een vloer.
NL1036581C2 (nl) 2009-02-17 2010-08-18 Lely Patent Nv Inrichting voor het verwijderen van mest van in het bijzonder een dichte vloer.
US8897920B2 (en) 2009-04-17 2014-11-25 Intouch Technologies, Inc. Tele-presence robot system with software modularity, projector and laser pointer
JP5543137B2 (ja) * 2009-06-03 2014-07-09 株式会社ダイフク 洗車機の音声制御装置
EP2260750A3 (en) * 2009-06-12 2014-04-23 Samsung Electronics Co., Ltd. Robot cleaner and method of controlling traveling thereof
TWI419671B (zh) * 2009-08-25 2013-12-21 Ind Tech Res Inst 具有掃地與吸塵功能的清潔裝置
US8384755B2 (en) 2009-08-26 2013-02-26 Intouch Technologies, Inc. Portable remote presence robot
US11399153B2 (en) 2009-08-26 2022-07-26 Teladoc Health, Inc. Portable telepresence apparatus
CN102039595B (zh) * 2009-10-09 2013-02-27 泰怡凯电器(苏州)有限公司 自移动地面处理机器人及其贴边地面处理的控制方法
KR20110054472A (ko) * 2009-11-17 2011-05-25 엘지전자 주식회사 로봇 청소기 및 그의 제어 방법
USD625477S1 (en) * 2010-01-06 2010-10-12 Evolution Robotics Robotic cleaner
US8316499B2 (en) 2010-01-06 2012-11-27 Evolution Robotics, Inc. Apparatus for holding a cleaning sheet in a cleaning implement
USD625059S1 (en) * 2010-01-06 2010-10-05 Evolution Robotics Robotic cleaner
US9310806B2 (en) * 2010-01-06 2016-04-12 Irobot Corporation System for localization and obstacle detection using a common receiver
USD625060S1 (en) * 2010-01-06 2010-10-05 Evolution Robotics Robotic cleaner
US8715586B2 (en) * 2010-01-11 2014-05-06 The Boeing Company Methods and systems for dispersing decontamination products
US11154981B2 (en) 2010-02-04 2021-10-26 Teladoc Health, Inc. Robot user interface for telepresence robot system
US8670017B2 (en) 2010-03-04 2014-03-11 Intouch Technologies, Inc. Remote presence system including a cart that supports a robot face and an overhead camera
NL1037957C2 (nl) * 2010-05-12 2011-11-15 Lely Patent Nv Voertuig voor het verplaatsen van voer.
US10343283B2 (en) 2010-05-24 2019-07-09 Intouch Technologies, Inc. Telepresence robot system that can be accessed by a cellular phone
US10808882B2 (en) 2010-05-26 2020-10-20 Intouch Technologies, Inc. Tele-robotic system with a robot face placed on a chair
EP2588277B1 (en) * 2010-07-02 2020-08-19 Husqvarna AB Battery powered tool
JP6010722B2 (ja) * 2010-08-01 2016-10-19 ライフラボ株式会社 ロボット掃除機、塵埃排出ステーション及び多段サイクロン掃除機
CN201993643U (zh) * 2010-10-11 2011-09-28 洋通工业股份有限公司 使自走吸尘器向充电座移动的导引装置
KR101527417B1 (ko) * 2010-10-27 2015-06-17 삼성전자 주식회사 로봇 청소기의 범퍼 구조
DE102010060347B4 (de) 2010-11-04 2024-05-16 Vorwerk & Co. Interholding Gmbh Selbsttätig verfahrbares Gerät sowie Verfahren zur Durchführung einer Überprüfung einer Abstandsmessgenauigkeit
AU2011101768A4 (en) * 2010-11-12 2016-02-04 Jason James Mordey Material clearing machine
US9264664B2 (en) 2010-12-03 2016-02-16 Intouch Technologies, Inc. Systems and methods for dynamic bandwidth allocation
US8903548B2 (en) * 2010-12-16 2014-12-02 Pepperl + Fuchs Gmbh Position finding system
CN102608612B (zh) * 2010-12-20 2015-07-15 美泰有限公司 用于游戏设备的近程传感器装置
DE102011003064A1 (de) * 2010-12-29 2012-07-05 Robert Bosch Gmbh Verfahren zur Bearbeitung einer Fläche mittels eines Roboter-Fahrzeugs
AU2011254078B2 (en) 2010-12-29 2014-05-22 Bissell Inc. Suction nozzle with obstacle sensor
JP5832553B2 (ja) * 2010-12-30 2015-12-16 アイロボット コーポレイション カバレッジロボットナビゲーション
US20120167917A1 (en) * 2011-01-03 2012-07-05 Gilbert Jr Duane L Autonomous coverage robot
US12093036B2 (en) 2011-01-21 2024-09-17 Teladoc Health, Inc. Telerobotic system with a dual application screen presentation
TWI423779B (zh) * 2011-01-28 2014-01-21 Micro Star Int Co Ltd 清潔機器人及其控制方法
CN104898652B (zh) 2011-01-28 2018-03-13 英塔茨科技公司 与一个可移动的远程机器人相互交流
US9323250B2 (en) 2011-01-28 2016-04-26 Intouch Technologies, Inc. Time-dependent navigation of telepresence robots
PL394570A1 (pl) 2011-04-15 2012-10-22 Robotics Inventions Spólka Z Ograniczona Odpowiedzialnoscia Robot do podlóg podniesionych i sposób serwisowania podlóg podniesionych
US10769739B2 (en) 2011-04-25 2020-09-08 Intouch Technologies, Inc. Systems and methods for management of information among medical providers and facilities
AU2015202827B2 (en) * 2011-04-29 2016-05-12 Irobot Corporation An autonomous mobile robot for cleaning with a front roller in a first horizontal plane positioned above a second horizontal plane of a rear roller
ES2732069T3 (es) * 2011-04-29 2019-11-20 Irobot Corp Rodillo elástico y compresible y robot de cobertura autónomo
US11471020B2 (en) 2011-04-29 2022-10-18 Irobot Corporation Robotic vacuum cleaning system
KR101760950B1 (ko) * 2011-05-17 2017-07-24 엘지전자 주식회사 네트워크 시스템의 제어방법
US9098611B2 (en) 2012-11-26 2015-08-04 Intouch Technologies, Inc. Enhanced video interaction for a user interface of a telepresence network
US20140139616A1 (en) 2012-01-27 2014-05-22 Intouch Technologies, Inc. Enhanced Diagnostics for a Telepresence Robot
TWI436179B (zh) * 2011-07-22 2014-05-01 Ememe Robot Co Ltd 自走式電子裝置及其控制自走式電子裝置行為之方法
US8800101B2 (en) * 2011-07-25 2014-08-12 Lg Electronics Inc. Robot cleaner and self testing method of the same
WO2013027164A1 (en) * 2011-08-23 2013-02-28 Koninklijke Philips Electronics N.V. Cleaning device for cleaning a surface comprising a brush and a squeegee element
WO2013036284A1 (en) * 2011-09-07 2013-03-14 Irobot Corporation Sonar system for remote vehicle
KR101287474B1 (ko) * 2011-09-07 2013-07-18 엘지전자 주식회사 이동 로봇, 및 이동 로봇의 원격 제어 시스템 및 방법
GB2494447B (en) * 2011-09-09 2014-02-26 Dyson Technology Ltd Autonomous surface treating appliance
GB2494442B (en) * 2011-09-09 2013-12-25 Dyson Technology Ltd Autonomous vacuum cleaner
CN103874445B (zh) * 2011-10-03 2017-03-29 皇家飞利浦有限公司 用于真空清洁器的地板吸嘴
KR101907161B1 (ko) 2011-10-06 2018-10-15 삼성전자주식회사 로봇청소기
US8836751B2 (en) 2011-11-08 2014-09-16 Intouch Technologies, Inc. Tele-presence system with a user interface that displays different communication links
US20140031980A1 (en) * 2011-11-11 2014-01-30 Jens-Steffen Gutmann Systems and methods for extending slam to multiple regions
TW201330609A (zh) * 2012-01-06 2013-07-16 Hon Hai Prec Ind Co Ltd 智慧追蹤裝置
JP2013146302A (ja) * 2012-01-17 2013-08-01 Sharp Corp 自走式電子機器
KR101984214B1 (ko) * 2012-02-09 2019-05-30 삼성전자주식회사 로봇 청소기의 청소 작업을 제어하기 위한 장치 및 방법
CN103284653B (zh) * 2012-03-02 2017-07-14 恩斯迈电子(深圳)有限公司 清洁机器人及其控制方法
CN103356122A (zh) * 2012-04-05 2013-10-23 科沃斯机器人科技(苏州)有限公司 擦玻璃装置
TWM435906U (ja) * 2012-04-06 2012-08-21 Uni Ring Tech Co Ltd
US8902278B2 (en) 2012-04-11 2014-12-02 Intouch Technologies, Inc. Systems and methods for visualizing and managing telepresence devices in healthcare networks
US9251313B2 (en) 2012-04-11 2016-02-02 Intouch Technologies, Inc. Systems and methods for visualizing and managing telepresence devices in healthcare networks
GB2502132B (en) 2012-05-17 2014-11-05 Dyson Technology Ltd Autonomous vacuum cleaner
WO2013176758A1 (en) 2012-05-22 2013-11-28 Intouch Technologies, Inc. Clinical workflows utilizing autonomous and semi-autonomous telemedicine devices
US9361021B2 (en) 2012-05-22 2016-06-07 Irobot Corporation Graphical user interfaces including touchpad driving interfaces for telemedicine devices
US9020641B2 (en) * 2012-06-07 2015-04-28 Samsung Electronics Co., Ltd. Obstacle sensing module and cleaning robot including the same
KR101402477B1 (ko) * 2012-06-20 2014-06-03 (주)마미로봇 바닥소독 기능을 갖는 로봇청소기
CN103505140B (zh) * 2012-06-28 2016-12-21 科沃斯机器人股份有限公司 擦玻璃装置
CN102715867B (zh) * 2012-07-10 2014-06-25 深圳市银星智能科技股份有限公司 智能吸尘器
CN103565344B (zh) * 2012-08-08 2017-04-19 科沃斯机器人股份有限公司 自移动机器人及其行走方法
CN103622643A (zh) * 2012-08-29 2014-03-12 科沃斯机器人科技(苏州)有限公司 自移动清洁装置
US8855914B1 (en) * 2012-08-31 2014-10-07 Neato Robotics, Inc. Method and apparatus for traversing corners of a floored area with a robotic surface treatment apparatus
CN105404298B (zh) * 2012-09-21 2018-10-16 艾罗伯特公司 移动机器人上的接近度感测
AU349618S (en) 2012-09-24 2013-07-04 Dyson Technology Ltd A vacuum cleaner
TWM451103U (zh) * 2012-10-30 2013-04-21 Agait Technology Corp 行走裝置
US8972061B2 (en) 2012-11-02 2015-03-03 Irobot Corporation Autonomous coverage robot
US9615714B2 (en) * 2012-11-09 2017-04-11 Samsung Electronics Co., Ltd. Autonomous cleaning device
EP2730204B1 (en) * 2012-11-09 2016-12-28 Samsung Electronics Co., Ltd. Robot cleaner
CN102910269B (zh) * 2012-11-16 2015-04-29 张家港同宇智能机电科技有限公司 一种船体清刷机器人
KR101428877B1 (ko) * 2012-12-05 2014-08-14 엘지전자 주식회사 로봇 청소기
PL401996A1 (pl) * 2012-12-11 2014-06-23 Robotics Inventions Spółka Z Ograniczoną Odpowiedzialnością Układ kontroli kolizji robota z przeszkodą, robot wyposażony w taki układ oraz sposób kontroli kolizji robota z przeszkodą
US9428897B2 (en) * 2012-12-17 2016-08-30 Fluidmaster, Inc. Touchless activation of a toilet
US9903130B2 (en) * 2012-12-22 2018-02-27 Maytronics Ltd. Autonomous pool cleaning robot with an external docking station
US9282867B2 (en) * 2012-12-28 2016-03-15 Irobot Corporation Autonomous coverage robot
US9178370B2 (en) * 2012-12-28 2015-11-03 Irobot Corporation Coverage robot docking station
CN103065540B (zh) * 2012-12-31 2014-08-20 黑龙江大学 智能清障车
US9233472B2 (en) 2013-01-18 2016-01-12 Irobot Corporation Mobile robot providing environmental mapping for household environmental control
CN104769962B (zh) * 2013-01-18 2019-03-12 艾罗伯特公司 包括移动机器人的环境管理系统以及其使用方法
US9375847B2 (en) 2013-01-18 2016-06-28 Irobot Corporation Environmental management systems including mobile robots and methods using same
GB201301578D0 (en) * 2013-01-29 2013-03-13 Dyson Technology Ltd Mobile robot
TWI508692B (zh) * 2013-02-08 2015-11-21 Self-propelled trailing machine
US9326654B2 (en) * 2013-03-15 2016-05-03 Irobot Corporation Roller brush for surface cleaning robots
KR102020215B1 (ko) * 2013-03-23 2019-09-10 삼성전자주식회사 로봇 청소기 및 로봇 청소기의 제어방법
JP5892098B2 (ja) * 2013-03-25 2016-03-23 三菱電機株式会社 自走式掃除機
JP2014212846A (ja) * 2013-04-23 2014-11-17 日立アプライアンス株式会社 電気掃除機および吸込具
CN104216404B (zh) * 2013-05-31 2017-02-15 科沃斯机器人股份有限公司 一种自移动装置及其控制方法
US9314924B1 (en) * 2013-06-14 2016-04-19 Brain Corporation Predictive robotic controller apparatus and methods
DE102013106294B4 (de) 2013-06-18 2024-02-08 Vorwerk & Co. Interholding Gmbh Selbsttätig verfahrbares Gerät
KR20150006996A (ko) * 2013-07-10 2015-01-20 엘에스산전 주식회사 전기 자동차용 충전기
KR101520043B1 (ko) * 2013-07-24 2015-05-14 에브리봇 주식회사 물걸레 로봇청소기 및 청소제어방법
KR101410519B1 (ko) * 2013-07-24 2014-07-04 주식회사 모뉴엘 로봇청소기용 바퀴
KR102083188B1 (ko) * 2013-07-29 2020-03-02 삼성전자주식회사 청소 로봇 및 그 제어 방법
CN104414573B (zh) * 2013-08-23 2017-12-22 科沃斯机器人股份有限公司 擦窗装置
US9073501B2 (en) * 2013-09-05 2015-07-07 Harvest Automation, Inc. Roller assembly for autonomous mobile robots
USD744181S1 (en) * 2013-09-26 2015-11-24 Samsung Electronics Co., Ltd. Robot cleaner
USD744709S1 (en) * 2013-09-26 2015-12-01 Samsung Electronics Co., Ltd. Robot cleaner body
USD744708S1 (en) * 2013-09-26 2015-12-01 Samsung Electronics Co., Ltd. Cleaner brush
USD744178S1 (en) * 2013-09-26 2015-11-24 Samsung Electronics Co., Ltd. Cleaner
USD746005S1 (en) * 2013-09-26 2015-12-22 Samsung Electronics Co., Ltd. Robot cleaner
USD745757S1 (en) * 2013-09-26 2015-12-15 Samsung Electronics Co., Ltd. Robot cleaner
USD745233S1 (en) * 2013-09-26 2015-12-08 Samsung Electronics Co., Ltd. Robot cleaner
JP6141162B2 (ja) * 2013-09-27 2017-06-07 株式会社Ｌｉｘｉｌ 水回り部材用抗菌処理剤、抗菌処理方法及び水回り部材
JP6154275B2 (ja) 2013-09-27 2017-06-28 株式会社Ｌｉｘｉｌ 抗菌・抗ウィルス性塗料及び抗菌・抗ウィルス性塗膜の形成方法
US9300430B2 (en) 2013-10-24 2016-03-29 Harris Corporation Latency smoothing for teleoperation systems
US9144907B2 (en) * 2013-10-24 2015-09-29 Harris Corporation Control synchronization for high-latency teleoperation
CN108514386A (zh) * 2013-11-12 2018-09-11 美国iRobot公司 清洁垫
US11272822B2 (en) 2013-11-12 2022-03-15 Irobot Corporation Mobile floor cleaning robot with pad holder
US9615712B2 (en) 2013-11-12 2017-04-11 Irobot Corporation Mobile floor cleaning robot
CN103750788B (zh) * 2013-11-28 2016-03-02 余姚市精诚高新技术有限公司 一种具横向设置驱动蜗杆的自动抹地机
EP3367051B1 (en) 2013-12-02 2020-07-22 Austin Star Detonator Company Methods for wireless blasting
EP3084543B1 (en) 2013-12-19 2021-05-19 Husqvarna AB Obstacle detection for a robotic lawnmower
ES2669595T3 (es) * 2013-12-20 2018-05-28 Aktiebolaget Electrolux Limpiador autónomo
JP6207388B2 (ja) * 2013-12-27 2017-10-04 シャープ株式会社 自走式電気掃除機
JP6218610B2 (ja) * 2014-01-06 2017-10-25 三菱重工工作機械株式会社 切屑清掃用ロボット
JP6309637B2 (ja) * 2014-01-10 2018-04-11 アイロボット コーポレイション 自律式移動ロボット
KR102137524B1 (ko) * 2014-02-13 2020-07-24 삼성전자주식회사 로봇청소기
US9510717B2 (en) * 2014-02-18 2016-12-06 Joseph Y. Ko Self-moving dust suction apparatus to facalitate cleaning
EP2912981B1 (en) 2014-02-28 2019-09-04 Samsung Electronics Co., Ltd. Autonomous cleaner
US9215962B2 (en) * 2014-03-13 2015-12-22 Ecovacs Robotics, Inc. Autonomous planar surface cleaning robot
EP3128827A1 (en) * 2014-04-11 2017-02-15 Husqvarna AB Improved robotic working tool
US10391637B2 (en) * 2014-06-25 2019-08-27 Miraikikai, Inc. Self-propelled robot
JP6167316B2 (ja) * 2014-06-30 2017-07-26 パナソニックＩｐマネジメント株式会社 自律走行型掃除機
US10750918B2 (en) * 2014-07-01 2020-08-25 Samsung Electronics Co., Ltd. Cleaning robot and controlling method thereof
KR102272187B1 (ko) * 2014-07-01 2021-07-06 삼성전자주식회사 청소 로봇 및 그 제어 방법
KR102138724B1 (ko) * 2014-07-01 2020-07-28 삼성전자주식회사 청소 로봇 및 그 제어 방법
US10022030B2 (en) * 2014-07-07 2018-07-17 Carl Freudenberg Kg Movable device
US11576543B2 (en) 2014-07-18 2023-02-14 Ali Ebrahimi Afrouzi Robotic vacuum with rotating cleaning apparatus
US9901234B1 (en) * 2014-10-24 2018-02-27 Bobsweep Inc. Robotic vacuum with rotating cleaning apparatus
DE102014111217A1 (de) * 2014-08-06 2016-02-11 Vorwerk & Co. Interholding Gmbh Bodenreinigungsgerät zur Trocken- und Feuchtreinigung sowie Verfahren zum Betrieb eines selbstfahrenden Bodenreinigungsgerätes
JP6453583B2 (ja) * 2014-08-20 2019-01-16 東芝ライフスタイル株式会社 電気掃除機
AU360807S (en) 2014-08-28 2015-03-26 Dyson Technology Ltd Vacuum cleaner
JP2016047220A (ja) * 2014-08-28 2016-04-07 株式会社東芝 電気掃除機
AU360825S (en) 2014-08-28 2015-03-30 Dyson Technology Ltd Vacuum cleaner
AU360829S (en) 2014-08-28 2015-03-30 Dyson Technology Ltd Vacuum cleaner
AU360824S (en) 2014-08-28 2015-03-30 Dyson Technology Ltd Vacuum cleaner
AU360831S (en) 2014-08-28 2015-03-30 Dyson Technology Ltd Vacuum cleaner
JP6621129B2 (ja) * 2014-08-28 2019-12-18 東芝ライフスタイル株式会社 電気掃除機
AU360827S (en) 2014-08-28 2015-03-30 Dyson Technology Ltd Vacuum cleaner
AU360979S (en) 2014-08-28 2015-04-08 Dyson Technology Ltd Vacuum cleaner
GB2529846B (en) 2014-09-03 2019-02-20 Dyson Technology Ltd Illumination Control of a Vision System for a Mobile Robot
GB2529847B (en) * 2014-09-03 2018-12-19 Dyson Technology Ltd A mobile Robot with Independently Adjustable Light Sources
US9651458B2 (en) * 2014-09-19 2017-05-16 Swisslog Logistics Inc. Method and system for auto safety verification of AGV sensors
USD748878S1 (en) 2014-09-25 2016-02-02 Irobot Corporation Robot
USD738585S1 (en) 2014-09-25 2015-09-08 Irobot Corporation Robot
USD782139S1 (en) 2014-09-25 2017-03-21 Irobot Corporation Cleaning pad
USD734576S1 (en) 2014-09-25 2015-07-14 Irobot Corporation Robot
USD734907S1 (en) 2014-09-25 2015-07-21 Irobot Corporation Robot
US10579066B1 (en) * 2015-03-30 2020-03-03 AI Incorporated System and method for establishing virtual boundaries for robotic devices
US11347239B1 (en) 2014-10-01 2022-05-31 AI Incorporated System and method for establishing virtual boundaries for robotic devices
JP2016073396A (ja) * 2014-10-03 2016-05-12 株式会社マキタ 自走式集塵ロボット
JP2017213009A (ja) 2014-10-10 2017-12-07 パナソニックＩｐマネジメント株式会社 自律走行型掃除機
US9798328B2 (en) * 2014-10-10 2017-10-24 Irobot Corporation Mobile robot area cleaning
CN106413500B (zh) * 2014-10-10 2019-06-28 松下知识产权经营株式会社 自主行走型吸尘器
DE102014115463A1 (de) * 2014-10-23 2016-04-28 Miele & Cie. Kg Stoßschutzvorrichtung, Korpus und Gehäuse für einen Staubsaugerroboter, Staubsaugerroboter, Verfahren zum Herstellen eines Gehäuses für einen Staubsaugerroboter und Verfahren zum Schützen und Einhausen eines Korpus eines Staubsaugerroboters
CN105629972B (zh) * 2014-11-07 2018-05-18 科沃斯机器人股份有限公司 引导式虚拟墙系统
EP3222391B1 (en) 2014-11-19 2020-04-22 Positec Technology (China) Co., Ltd. Self-moving robot
US9751210B2 (en) 2014-11-26 2017-09-05 Irobot Corporation Systems and methods for performing occlusion detection
US9519289B2 (en) * 2014-11-26 2016-12-13 Irobot Corporation Systems and methods for performing simultaneous localization and mapping using machine vision systems
US9788698B2 (en) 2014-12-10 2017-10-17 Irobot Corporation Debris evacuation for cleaning robots
US10568483B2 (en) 2014-12-12 2020-02-25 Irobot Corporation Cleaning system for autonomous robot
CN107405031B (zh) 2014-12-24 2020-10-02 美国 iRobot 公司 排空站
KR102312095B1 (ko) * 2014-12-26 2021-10-13 엘지전자 주식회사 자율 이동 청소기 및 이의 제어 방법
JP2016077855A (ja) * 2015-01-06 2016-05-16 パナソニックＩｐマネジメント株式会社 自律走行型掃除機
JP6706882B2 (ja) * 2015-01-20 2020-06-10 シャープ株式会社 自走式掃除機
KR102324204B1 (ko) * 2015-01-23 2021-11-10 삼성전자주식회사 로봇 청소기 및 그 제어방법
US20170173485A1 (en) * 2015-02-12 2017-06-22 Geeknet, Inc. Reconfigurable brick building system and structure
US9757004B2 (en) 2015-02-12 2017-09-12 Irobot Corporation Liquid management for floor-traversing robots
KR101659037B1 (ko) * 2015-02-16 2016-09-23 엘지전자 주식회사 로봇 청소기, 이를 포함하는 원격 제어 시스템 및 이의 제어 방법
USD774263S1 (en) 2015-03-03 2016-12-13 Irobot Corporation Floor cleaning roller core
JP6735066B2 (ja) * 2015-03-17 2020-08-05 シャープ株式会社 自走式電子機器
US9682483B1 (en) 2015-03-19 2017-06-20 Amazon Technologies, Inc. Systems and methods for removing debris from warehouse floors
US9665095B1 (en) 2015-03-19 2017-05-30 Amazon Technologies, Inc. Systems and methods for removing debris from warehouse floors
US9918605B2 (en) 2015-04-09 2018-03-20 Irobot Corporation Wall following robot
US9868211B2 (en) 2015-04-09 2018-01-16 Irobot Corporation Restricting movement of a mobile robot
KR101649665B1 (ko) * 2015-04-29 2016-08-30 엘지전자 주식회사 이동 로봇 및 그 제어방법
EP3294101B1 (en) * 2015-05-12 2020-06-17 Samsung Electronics Co., Ltd. Robot and controlling method thereof
AU2016267570B2 (en) 2015-05-27 2019-01-03 Mtd Products Inc. Self-cleaning mower blade assembly
US9505140B1 (en) * 2015-06-02 2016-11-29 Irobot Corporation Contact sensors for a mobile robot
DE102015108823A1 (de) 2015-06-03 2016-12-08 Miele & Cie. Kg Reinigungseinrichtung für ein selbstfahrendes Bodenbearbeitungsgerät
USD797530S1 (en) 2015-06-05 2017-09-19 Mtd Products Inc Blade
USD794089S1 (en) 2015-06-05 2017-08-08 Mtd Products Inc Wheel
USD758455S1 (en) 2015-06-05 2016-06-07 Mtd Products Inc Robotic mower body
USD760806S1 (en) 2015-06-05 2016-07-05 Mtd Products Inc Robotic mower
DE102015109775B3 (de) * 2015-06-18 2016-09-22 RobArt GmbH Optischer Triangulationssensor zur Entfernungsmessung
JP6603495B2 (ja) 2015-07-01 2019-11-06 株式会社Ｌｉｘｉｌ 抗菌・抗ウィルス性コーティング剤
KR101666905B1 (ko) * 2015-07-03 2016-10-17 엘지전자 주식회사 청소기 및 그 제어 방법
TWI617907B (zh) * 2015-07-30 2018-03-11 Yan cheng xiang Robot for automatically adjusting moving path and method thereof
JP6428535B2 (ja) * 2015-08-28 2018-11-28 トヨタ自動車株式会社 移動ロボット、及びその校正方法
KR101784074B1 (ko) * 2015-09-03 2017-11-06 엘지전자 주식회사 센싱 장치
DE102015114883A1 (de) 2015-09-04 2017-03-09 RobArt GmbH Identifizierung und Lokalisierung einer Basisstation eines autonomen mobilen Roboters
WO2017047291A1 (ja) * 2015-09-14 2017-03-23 東芝ライフスタイル株式会社 電気掃除装置
KR101692737B1 (ko) * 2015-09-23 2017-01-04 엘지전자 주식회사 로봇 청소기
KR101678443B1 (ko) * 2015-09-23 2016-12-06 엘지전자 주식회사 로봇 청소기
US10496262B1 (en) 2015-09-30 2019-12-03 AI Incorporated Robotic floor-cleaning system manager
US10330732B2 (en) * 2015-10-01 2019-06-25 California Institute Of Technology Systems and methods for monitoring characteristics of energy units
USD792198S1 (en) 2015-10-29 2017-07-18 Mtd Products Inc Caster wheel
DE102015119501A1 (de) 2015-11-11 2017-05-11 RobArt GmbH Unterteilung von Karten für die Roboternavigation
DE102015119865B4 (de) 2015-11-17 2023-12-21 RobArt GmbH Robotergestützte Bearbeitung einer Oberfläche mittels eines Roboters
US10081106B2 (en) * 2015-11-24 2018-09-25 X Development Llc Safety system for integrated human/robotic environments
DE102015121666B3 (de) 2015-12-11 2017-05-24 RobArt GmbH Fernsteuerung eines mobilen, autonomen Roboters
FR3046191B1 (fr) * 2015-12-23 2018-02-09 Maxime Puech Robot de nettoyage de piscine et methode de detection d'une immobilisation d'un tel robot
CN105467881A (zh) * 2015-12-25 2016-04-06 河池学院 太极机器人控制系统
WO2017123690A1 (en) * 2016-01-16 2017-07-20 Diversey, Inc. Floor cleaning device
EP3410912B1 (en) 2016-02-02 2023-04-05 Tennant Company Surface maintenance machine
US10444757B2 (en) 2016-02-03 2019-10-15 Positec Power Tools (Suzhou) Co., Ltd. Self-moving device and control method therefor
DE102016102644A1 (de) 2016-02-15 2017-08-17 RobArt GmbH Verfahren zur Steuerung eines autonomen mobilen Roboters
USD781349S1 (en) 2016-02-16 2017-03-14 Mtd Products Inc Robotic mower housing
USD795299S1 (en) 2016-02-16 2017-08-22 Mtd Products Inc Blade
US11399995B2 (en) 2016-02-23 2022-08-02 Deka Products Limited Partnership Mobility device
US10908045B2 (en) 2016-02-23 2021-02-02 Deka Products Limited Partnership Mobility device
US10926756B2 (en) 2016-02-23 2021-02-23 Deka Products Limited Partnership Mobility device
CN108324196B (zh) * 2016-03-01 2020-10-13 常州信息职业技术学院 扫地机器人的工作方法
USD833096S1 (en) 2016-03-14 2018-11-06 Irobot Corporation Cleaning pad
TWM526228U (zh) * 2016-03-15 2016-07-21 Lumiplus Technology Suzhou Co Ltd 充電站與充電系統
US10793291B2 (en) * 2016-03-31 2020-10-06 The Boeing Company Systems and methods for cleaning interior portions of a vehicle
GB2549192B (en) * 2016-03-31 2020-06-24 Boeing Co Systems for cleaning interior portions of a vehicle
FR3050053B1 (fr) * 2016-04-06 2018-05-04 L'air Liquide, Societe Anonyme Pour L'etude Et L'exploitation Des Procedes Georges Claude Procede de calcul de l'autonomie d'un ensemble de distribution de gaz
CN105982611A (zh) * 2016-04-14 2016-10-05 北京小米移动软件有限公司 自主清洁设备
EP4350456A1 (en) * 2016-04-14 2024-04-10 DEKA Products Limited Partnership User control device for a transporter
AU2017252287B2 (en) 2016-04-20 2019-10-24 Mtd Products Inc Low-energy blade system having a quick-attach mechanism
CN107346107A (zh) * 2016-05-04 2017-11-14 深圳光启合众科技有限公司 多样化运动控制方法和系统及具有该系统的机器人
CA3023107A1 (en) 2016-05-06 2017-11-09 Mtd Products Inc Autonomous mower navigation system and method
KR102478280B1 (ko) * 2016-05-25 2022-12-15 엘지전자 주식회사 음향출력장치
CN105867386A (zh) * 2016-05-30 2016-08-17 深圳乐行天下科技有限公司 机器人导航系统及方法
KR102549125B1 (ko) * 2016-06-10 2023-06-30 삼성전자주식회사 로봇청소기
DE102016110817A1 (de) 2016-06-13 2017-12-14 Wessel-Werk Gmbh Saugroboter mit seitlichen Saugrüsseln
JP6774790B2 (ja) * 2016-06-17 2020-10-28 シャープ株式会社 自走式掃除機のワイヤレス充電システム
KR101654014B1 (ko) * 2016-06-21 2016-09-06 주식회사 파인로보틱스 걸레 로봇 청소기
CN107544485A (zh) * 2016-06-24 2018-01-05 苏州宝时得电动工具有限公司 智能移动工具及其控制方法
WO2017223568A1 (en) 2016-06-24 2017-12-28 Mtd Products Inc High-efficiency cutting system
CN105962858B (zh) * 2016-06-28 2018-10-12 佛山科学技术学院 一种用于清洁建筑外墙的越障式机器人
CN109416543B (zh) 2016-06-30 2022-11-08 创科（澳门离岸商业服务）有限公司 一种自主式割草机及其导航系统
US11172608B2 (en) 2016-06-30 2021-11-16 Tti (Macao Commercial Offshore) Limited Autonomous lawn mower and a system for navigating thereof
KR101994691B1 (ko) 2016-07-14 2019-07-01 엘지전자 주식회사 로봇 청소기
JP2018007849A (ja) * 2016-07-14 2018-01-18 日立アプライアンス株式会社 電気掃除機
CN106125736B (zh) * 2016-08-01 2020-08-11 京东方科技集团股份有限公司 一种机器人的回航方法、机器人及系统
USD848488S1 (en) 2016-08-23 2019-05-14 Mtd Products Inc Robotic mower housing
USD795300S1 (en) 2016-08-23 2017-08-22 Mtd Products Inc Blade
WO2018039890A1 (zh) 2016-08-30 2018-03-08 深圳市智意科技有限公司 污水箱密封结构
WO2018047117A1 (en) 2016-09-09 2018-03-15 Dematic Corp. Free ranging automated guided vehicle and operational system
AU2017101247A6 (en) 2016-09-16 2017-11-02 Bissell Inc. Autonomous vacuum cleaner
US10722775B2 (en) * 2016-09-27 2020-07-28 Adidas Ag Robotic training systems and methods
CN107865612A (zh) * 2016-09-27 2018-04-03 杭州匠龙机器人科技有限公司 智能吸尘器
CN106383516A (zh) * 2016-09-27 2017-02-08 成都普诺思博科技有限公司 移动机器人底层控制系统
CN106214055A (zh) * 2016-09-29 2016-12-14 深圳市宇辰智能科技有限公司 一种壁面清洁机器人
CN106214056A (zh) * 2016-09-29 2016-12-14 深圳市宇辰智能科技有限公司 一种多功能擦拭机器人
JP7063534B2 (ja) * 2016-10-13 2022-05-09 日立グローバルライフソリューションズ株式会社 自走式電気掃除機
US10732127B2 (en) * 2016-10-26 2020-08-04 Pixart Imaging Inc. Dirtiness level determining system and surface cleaning machine
US10292554B2 (en) * 2016-10-28 2019-05-21 Irobot Corporation Mobile cleaning robot with a bin
JP2018068825A (ja) * 2016-11-01 2018-05-10 三菱電機株式会社 自走式掃除機
JP7071798B2 (ja) * 2016-11-18 2022-05-19 日立グローバルライフソリューションズ株式会社 電気掃除機
CN106618399A (zh) * 2016-11-23 2017-05-10 安徽南博机器人有限公司 一种智能洗地机器人
CN106774319B (zh) * 2016-12-14 2020-07-31 智易行科技(武汉)有限公司 多传感器自行走通用型智能底盘
US10456002B2 (en) 2016-12-22 2019-10-29 Irobot Corporation Cleaning bin for cleaning robot
US10653282B2 (en) 2016-12-23 2020-05-19 Lg Electronics Inc. Cleaning robot
KR101939752B1 (ko) 2016-12-30 2019-01-17 (유)광일산업 도로변 식물성장 억제장치
US10375880B2 (en) 2016-12-30 2019-08-13 Irobot Corporation Robot lawn mower bumper system
KR101918994B1 (ko) * 2017-01-02 2019-02-08 엘지전자 주식회사 잔디깎기 로봇
CN208598297U (zh) 2017-01-26 2019-03-15 深圳洛克时代科技有限公司 智能清洁设备
US10159181B2 (en) * 2017-02-02 2018-12-25 Robin Technologies, Inc. Automated secure door for robotic mower
CN106864422A (zh) * 2017-02-21 2017-06-20 华中农业大学 智能家用汽车清洗机器人
CN106873592A (zh) * 2017-02-25 2017-06-20 彭曙光 一种可避障车辆底盘检查机器人
EP3974934A1 (de) 2017-03-02 2022-03-30 Robart GmbH Verfahren zur steuerung eines autonomen, mobilen roboters
CN114403741B (zh) 2017-03-10 2024-02-27 尚科宁家运营有限公司 具有清除器和去除毛发的搅拌器
CN206953993U (zh) * 2017-04-14 2018-02-02 深圳市中驱电机有限公司 轮毂电机
SE541866C2 (en) * 2017-04-18 2020-01-02 Husqvarna Ab Method for detecting lifting of a self-propelled robotic tool and a self-propelled robotic tool
US11862302B2 (en) 2017-04-24 2024-01-02 Teladoc Health, Inc. Automated transcription and documentation of tele-health encounters
CN107041720B (zh) * 2017-04-27 2019-11-29 台州云造智能科技有限公司 一种基于餐厅清扫的多功能机器人
US10905298B2 (en) * 2017-05-03 2021-02-02 Shenzhen Silver Star Intelligent Technology Co., Ltd. Cleaning equipment
US11284702B2 (en) 2017-05-15 2022-03-29 Sharkninja Operating Llc Side brush with bristles at different lengths and/or angles for use in a robot cleaner and side brush deflectors
US11103113B2 (en) * 2017-05-25 2021-08-31 Irobot Corporation Brush for autonomous cleaning robot
US11202542B2 (en) 2017-05-25 2021-12-21 Sharkninja Operating Llc Robotic cleaner with dual cleaning rollers
US10595698B2 (en) 2017-06-02 2020-03-24 Irobot Corporation Cleaning pad for cleaning robot
JP6335372B2 (ja) * 2017-06-22 2018-05-30 シャープ株式会社 自走式電子機器
KR102085338B1 (ko) * 2017-07-14 2020-03-05 에브리봇 주식회사 로봇 청소기 및 그의 주행 제어 방법
CN107440612A (zh) * 2017-07-19 2017-12-08 深圳市晓控通信科技有限公司 一种能够清理死角和自动倒垃圾的扫地机器人
US10483007B2 (en) 2017-07-25 2019-11-19 Intouch Technologies, Inc. Modular telehealth cart with thermal imaging and touch screen user interface
CN107397509A (zh) * 2017-07-27 2017-11-28 无锡昊瑜节能环保设备有限公司 一种自动除尘的节能型扫地机器人
KR102000068B1 (ko) 2017-08-07 2019-07-15 엘지전자 주식회사 청소기
KR102014141B1 (ko) 2017-08-07 2019-10-21 엘지전자 주식회사 로봇청소기
KR102011827B1 (ko) 2017-08-07 2019-08-19 엘지전자 주식회사 로봇청소기 및 그 제어방법
KR102033936B1 (ko) 2017-08-07 2019-10-18 엘지전자 주식회사 로봇청소기
KR102021828B1 (ko) 2017-08-07 2019-09-17 엘지전자 주식회사 청소기
KR102014140B1 (ko) 2017-08-07 2019-08-26 엘지전자 주식회사 청소기
KR102024089B1 (ko) 2017-08-07 2019-09-23 엘지전자 주식회사 로봇 청소기
KR102014142B1 (ko) 2017-08-07 2019-08-26 엘지전자 주식회사 로봇 청소기
USD860560S1 (en) * 2017-08-08 2019-09-17 Samsung Electronics Co., Ltd. Robot cleaner
USD860558S1 (en) * 2017-08-08 2019-09-17 Samsung Electronics Co., Ltd. Robot cleaner
USD860561S1 (en) * 2017-08-08 2019-09-17 Samsung Electronics Co., Ltd. Robot cleaner
DE102017118402A1 (de) * 2017-08-11 2019-02-14 Vorwerk & Co. Interholding Gmbh Sich selbsttätig fortbewegendes Bodenbearbeitungsgerät
US11636944B2 (en) 2017-08-25 2023-04-25 Teladoc Health, Inc. Connectivity infrastructure for a telehealth platform
DE102017120218A1 (de) * 2017-09-01 2019-03-07 RobArt GmbH Bewegungsplanung für autonome mobile roboter
US11426038B2 (en) 2017-09-11 2022-08-30 Sharkninja Operating Llc Cleaning device
AU2018329748A1 (en) 2017-09-11 2020-04-30 Sharkninja Operating Llc Cleaning device
USD868408S1 (en) * 2017-09-15 2019-11-26 Beijing Rockrobo Technology Co., Ltd. Tank
US10806076B2 (en) 2017-10-06 2020-10-20 Mtd Products Inc High-efficiency lawn maintenance tool and high-efficiency cutting blade
US11274929B1 (en) * 2017-10-17 2022-03-15 AI Incorporated Method for constructing a map while performing work
DE102017218852A1 (de) * 2017-10-23 2019-04-25 Robert Bosch Gmbh Absauganschlussadapter
AU2018356126B2 (en) * 2017-10-25 2021-07-29 Lg Electronics Inc. Artificial intelligence moving robot which learns obstacles, and control method therefor
CN108013838B (zh) * 2017-10-31 2020-12-11 北京视觉世界科技有限公司 清洁设备的监测方法、装置、设备和存储介质
JP1610339S (ja) * 2017-11-02 2018-08-06
KR20190054517A (ko) * 2017-11-13 2019-05-22 삼성전자주식회사 청소기
CN107899976B (zh) * 2017-11-15 2019-12-03 合肥京东方光电科技有限公司 一种清洁装置
USD848691S1 (en) * 2017-11-15 2019-05-14 Steven M Antler Bristles of a brush
USD848694S1 (en) * 2017-11-15 2019-05-14 Steven M Antler Bristles of a brush
US20190142233A1 (en) * 2017-11-16 2019-05-16 Irobot Corporation Washable bin for a robot vacuum cleaner
CN109808789A (zh) * 2017-11-21 2019-05-28 富泰华工业（深圳）有限公司 轮式移动机器人的防走偏装置
CN109835171A (zh) * 2017-11-24 2019-06-04 富泰华工业（深圳）有限公司 轮式移动机器人的驱动轮固定装置
USD896858S1 (en) * 2017-12-14 2020-09-22 The Hi-Tech Robotic Systemz Ltd Mobile robot
USD906390S1 (en) * 2017-12-14 2020-12-29 The Hi-Tech Robotic Systemz Ltd Mobile robot
USD907084S1 (en) * 2017-12-14 2021-01-05 The Hi-Tech Robotic Systemz Ltd Mobile robot
US11395571B2 (en) * 2017-12-18 2022-07-26 Techtronic Floor Care Technology Limited Surface cleaning device with triggerless fluid distribution mechanism
US11382477B2 (en) 2017-12-18 2022-07-12 Techtronic Floor Care Technology Limited Surface cleaning device with automated control
AU2018102050A4 (en) 2017-12-22 2019-01-17 Bissell Inc. Robotic cleaner with sweeper and rotating dusting pads
US11219347B2 (en) 2017-12-22 2022-01-11 Bissell Inc. Robotic cleaner
USD879851S1 (en) * 2017-12-29 2020-03-31 Beijing Geekplus Technology Co., Ltd. Robot
EP3505959A1 (en) 2017-12-29 2019-07-03 Acconeer AB An autonomous mobile cleaning robot
US10795377B2 (en) 2018-01-03 2020-10-06 AI Incorporated Method for autonomously controlling speed of components and functions of a robot
US10878294B2 (en) * 2018-01-05 2020-12-29 Irobot Corporation Mobile cleaning robot artificial intelligence for situational awareness
US10905297B2 (en) 2018-01-05 2021-02-02 Irobot Corporation Cleaning head including cleaning rollers for cleaning robots
KR102045003B1 (ko) 2018-01-25 2019-11-14 엘지전자 주식회사 로봇청소기의 제어방법
US11568236B2 (en) 2018-01-25 2023-01-31 The Research Foundation For The State University Of New York Framework and methods of diverse exploration for fast and safe policy improvement
DE102018201615B4 (de) * 2018-02-02 2023-05-17 BSH Hausgeräte GmbH Haushaltsroboter und Verfahren zur Bestimmung des Abstands eines Haushaltsroboters zu einem Untergrund
US11154170B2 (en) * 2018-02-07 2021-10-26 Techtronic Floor Care Technology Limited Autonomous vacuum operation in response to dirt detection
CN110215153B (zh) * 2018-03-02 2024-03-26 科沃斯机器人股份有限公司 清洁机器人及其运行控制方法
USD879852S1 (en) * 2018-03-15 2020-03-31 Beijing Geekplus Technology Co., Ltd. Mobile robot
JP2019163001A (ja) * 2018-03-20 2019-09-26 シャープ株式会社 移動体
USD855080S1 (en) * 2018-03-23 2019-07-30 Amazon Technologies, Inc. Mobile drive unit
JP2018122136A (ja) * 2018-04-09 2018-08-09 パナソニックＩｐマネジメント株式会社 自律走行型掃除機
CN110393476A (zh) * 2018-04-25 2019-11-01 科沃斯机器人股份有限公司 清洁机器人及其贴边行走方法、可读介质
US10617299B2 (en) 2018-04-27 2020-04-14 Intouch Technologies, Inc. Telehealth cart that supports a removable tablet with seamless audio/video switching
WO2019213269A1 (en) 2018-05-01 2019-11-07 Sharkninja Operating Llc Docking station for robotic cleaner
CN108443465B (zh) * 2018-05-09 2023-12-12 广东顺德奥为德科技有限公司 一种边刷的防缠绕结构
US10706563B2 (en) * 2018-05-15 2020-07-07 Qualcomm Incorporated State and position prediction of observed vehicles using optical tracking of wheel rotation
CN108685528B (zh) * 2018-05-18 2020-07-28 江苏昊科汽车空调有限公司 一种扫地机器人的清理装置
JP7047594B2 (ja) 2018-05-23 2022-04-05 トヨタ自動車株式会社 自律移動体、その衝突位置検出方法、及びプログラム
JP2019207463A (ja) * 2018-05-28 2019-12-05 株式会社日立製作所 ロボット、行動検知サーバ、および行動検知システム
MX2020013312A (es) 2018-06-07 2021-06-08 Deka Products Lp Sistema y método para la ejecución de servicios públicos distribuidos.
USD907677S1 (en) * 2018-06-15 2021-01-12 Mobile Industrial Robots A/S Mobile robot
USD929478S1 (en) 2018-06-15 2021-08-31 Mobile Industrial Robots A/S Mobile robot having an illuminated region
US11666933B2 (en) * 2018-06-21 2023-06-06 Revolutionice Inc. Automated painting system with zero-turn radius robotic base
PT3875013T (pt) * 2018-06-22 2022-04-04 Bissell Inc Aparelho de limpeza de superfícies e bandeja
CN109349964B (zh) * 2018-07-04 2021-04-02 安徽省徽腾智能交通科技有限公司泗县分公司 一种室内地板清洁方法
US10952578B2 (en) 2018-07-20 2021-03-23 Sharkninja Operating Llc Robotic cleaner debris removal docking station
CN108968799A (zh) * 2018-08-09 2018-12-11 苏州海力电器有限公司 带有双滚刷的吸尘器
USD911406S1 (en) * 2018-08-17 2021-02-23 Grey Orange Pte. Ltd Robot for moving articles within a facility
USD888346S1 (en) * 2018-08-23 2020-06-23 Chengdu Saiguo Iot Technology Co., Ltd. Pet feeder
US10921819B2 (en) 2018-08-28 2021-02-16 Asi Technologies, Inc. Automated guided vehicle system and automated guided vehicle for use therein
KR102168363B1 (ko) * 2018-08-29 2020-10-22 엘지전자 주식회사 안내 로봇
US10824159B2 (en) 2018-09-07 2020-11-03 Irobot Corporation Autonomous floor-cleaning robot having obstacle detection force sensors thereon and related methods
CN112741539B8 (zh) * 2018-10-10 2022-07-01 乌兰察布世基环境科技有限公司 一种防损坏吸尘系统及方法
AU2019362917B2 (en) * 2018-10-19 2024-03-28 Bissell Inc. Surface cleaning apparatus with proximity-triggered user interface
WO2020086610A1 (en) * 2018-10-22 2020-04-30 Piaggio Fast Forward, Inc. Mobile carrier with interchangeable payloads
CN116530880A (zh) * 2018-10-24 2023-08-04 高启嘉 擦地机
USD917591S1 (en) * 2018-10-31 2021-04-27 Hangzhou Hikrobot Technology Co., Ltd Automatic guided transport vehicle
CN109367653A (zh) * 2018-11-01 2019-02-22 华南智能机器人创新研究院 一种室内浮动式避障的四驱机器人底盘
US11759071B2 (en) 2018-11-01 2023-09-19 Sharkninja Operating Llc Cleaning device
KR102673293B1 (ko) * 2018-11-08 2024-06-11 현대자동차주식회사 서비스 로봇 및 그의 운용 방법
KR102556375B1 (ko) * 2018-11-09 2023-07-18 광둥 미디어 화이트 홈 어플라이언스 테크놀로지 이노베이션 센터 컴퍼니 리미티드 청소 로봇
CN109483192B (zh) * 2018-11-26 2019-11-12 北京卫星制造厂有限公司 一种基于机器人的空间桁架单元快速装配系统及方法
USD892187S1 (en) 2018-11-30 2020-08-04 Mtd Products Inc Robotic mower
CH715633A2 (de) * 2018-12-12 2020-06-15 Kemaro Ag Gerät und Verfahren zur selbsttätigen Ausführung einer Tätigkeit, insbesondere zur Reinigung verschmutzter Oberflächen.
CN212853334U (zh) 2018-12-18 2021-04-02 尚科宁家运营有限公司 清洁头及清洁设备
US11426044B1 (en) 2018-12-18 2022-08-30 Sharkninja Operating Llc Cleaning device
CN114587198A (zh) * 2018-12-21 2022-06-07 苏州宝时得电动工具有限公司 一种清洁机器人及控制方法
KR102611848B1 (ko) * 2018-12-21 2023-12-08 포시텍 파워 툴스(소주) 컴퍼니. 리미티드. 로봇청소기 및 제어방법
CN109508020A (zh) * 2018-12-28 2019-03-22 南京香宁国际人工智能和智能制造研究院有限公司 机器人行走路线自动避障方法、系统及机器人
KR102679014B1 (ko) 2019-01-02 2024-06-28 엘지전자 주식회사 이동 로봇
KR102335633B1 (ko) * 2019-01-02 2021-12-07 엘지전자 주식회사 이동 로봇
CN109512344A (zh) * 2019-01-04 2019-03-26 云鲸智能科技（东莞）有限公司 一种移动机器人
TWI698211B (zh) * 2019-01-15 2020-07-11 燕成祥 清潔機器人之全浮動式接觸變向裝置
USD909440S1 (en) * 2019-01-28 2021-02-02 Tata Consultancy Services Limited Cobot mounting platform
USD889517S1 (en) 2019-01-31 2020-07-07 Mtd Products Inc Robotic mower body
CN111493743B (zh) * 2019-01-31 2022-03-08 好样科技有限公司 清洁机及清洁机的路径规划方法
SE544283C2 (en) * 2019-02-20 2022-03-22 Husqvarna Ab Robotic work tool and method for collision handling
USD936719S1 (en) * 2019-02-20 2021-11-23 Lg Electronics Inc. Home hub robot
US11109727B2 (en) 2019-02-28 2021-09-07 Irobot Corporation Cleaning rollers for cleaning robots
JP7280719B2 (ja) * 2019-03-05 2023-05-24 東芝ライフスタイル株式会社 自律型掃除機
UA41383S (uk) * 2019-03-18 2020-04-27 Бейцзін Сяомі Мо Прибиральний пристрій
JP7460328B2 (ja) 2019-03-20 2024-04-02 Thk株式会社 移動ロボット、移動ロボットの制御システム、移動ロボットの制御方法
JP7231469B2 (ja) * 2019-04-19 2023-03-01 東芝ライフスタイル株式会社 自律型掃除機
US11559182B2 (en) 2019-04-25 2023-01-24 Bissell Inc. Autonomous floor cleaner with drive wheel assembly
CN109997704B (zh) * 2019-05-13 2023-10-20 哈尔滨天河自动化设备有限公司 一种猪舍内清粪机器人
CN214231225U (zh) * 2019-06-05 2021-09-21 尚科宁家运营有限公司 机器人清洁器及用于机器人清洁器的清洁垫
US11552488B2 (en) 2019-06-07 2023-01-10 Te Connectivity Solutions Gmbh Charging system for a mobile device
CA3082300C (en) 2019-06-10 2022-04-19 Bissell Inc. Autonomous floor cleaner with carry handle
KR20190087355A (ko) * 2019-07-05 2019-07-24 엘지전자 주식회사 영역별 인체 활동 데이터를 이용하여 주행하는 청소로봇 및 청소로봇을 주행시키는 방법
KR102305206B1 (ko) * 2019-07-11 2021-09-28 엘지전자 주식회사 인공 지능을 통해 바닥 상황을 고려하여 청소하는 로봇 청소기 및 그 방법
CN110250987B (zh) * 2019-07-24 2021-01-29 郑州邦浩电子科技有限公司 具有到边检测功能的擦窗机器人
US11612287B2 (en) 2019-07-26 2023-03-28 Sharkninja Operating Llc Side brushes for a robotic vacuum cleaner
US11547262B2 (en) * 2019-07-31 2023-01-10 Lg Electronics Inc. Cleaner
KR102293657B1 (ko) * 2019-07-31 2021-08-24 엘지전자 주식회사 이동 로봇
KR102314535B1 (ko) * 2019-07-31 2021-10-18 엘지전자 주식회사 이동로봇
CN110448230A (zh) * 2019-08-09 2019-11-15 湛江维尔科技服务有限公司 一种智能家用自动清理扫地机器人
USD940771S1 (en) * 2019-08-15 2022-01-11 Beijing Xiaomi Mobile Software Co., Ltd. Robot vacuum cleaner
DE102019213539A1 (de) 2019-09-05 2021-03-11 Henkel Ag & Co. Kgaa Reinigungsroboter umfassend ein Reinigungstuch und ein Reinigungsmittel
CN210931170U (zh) * 2019-09-09 2020-07-07 宁波博瑞德凯国际贸易有限公司 一种改进型电动清洁器
CN110623592A (zh) * 2019-09-17 2019-12-31 奇鋐科技股份有限公司 多功能清洁装置
KR20210036736A (ko) * 2019-09-26 2021-04-05 엘지전자 주식회사 로봇청소기 및 로봇청소기의 제어방법
KR20210037802A (ko) * 2019-09-27 2021-04-07 엘지전자 주식회사 로봇 청소기
US11395568B2 (en) 2019-10-14 2022-07-26 Asia Vital Components Co., Ltd. Multifunctional cleaning device
JP7369592B2 (ja) * 2019-10-30 2023-10-26 株式会社マキタ 検出装置及びロボット集塵機
CN110802637A (zh) * 2019-10-30 2020-02-18 深圳市优必选科技股份有限公司 机器人及其壳体结构
US11452414B2 (en) 2019-10-31 2022-09-27 Sharkninja Operating Llc Replacement head for a vacuum
US11266283B2 (en) 2019-10-31 2022-03-08 Sharkninja Operating Llc Replacement head for a vacuum
US11219345B2 (en) 2019-10-31 2022-01-11 Sharkninja Operating Llc Replacement head for a vacuum
WO2021108496A1 (en) * 2019-11-25 2021-06-03 Sharkninja Operating Llc Cleaning device
USD930300S1 (en) * 2019-11-28 2021-09-07 Samsung Electronics Co., Ltd. Robot vacuum cleaner
USD930299S1 (en) * 2019-11-28 2021-09-07 Samsung Electronics Co., Ltd. Robot vacuum cleaner
USD930298S1 (en) * 2019-11-28 2021-09-07 Samsung Electronics Co., Ltd. Robot vacuum cleaner
CN113261877A (zh) * 2020-02-17 2021-08-17 苏州宝时得电动工具有限公司 清洁机器人
US11179014B2 (en) 2020-02-19 2021-11-23 Sharkninja Operating Llc Cleaning device system and method for use
KR20210117810A (ko) * 2020-03-20 2021-09-29 엘지전자 주식회사 로봇 청소기
US20210323156A1 (en) * 2020-04-17 2021-10-21 Brain Corporation Systems and methods for quantitatively measuring wheel slippage in differential drive robots
DE102020111411B4 (de) * 2020-04-27 2024-08-01 Arcus Elektrotechnik Alois Schiffmann Gmbh Kapazitiver spannungsprüfer
CN111358378B (zh) * 2020-04-29 2024-07-09 美智纵横科技有限责任公司 扫地机器人
CN111496813A (zh) * 2020-05-03 2020-08-07 广西信铠智泉科技有限公司 一种餐厅自助式出料服务智能机器人
US20210349462A1 (en) 2020-05-08 2021-11-11 Robust Al, Inc. Ultraviolet end effector
CN111759241B (zh) * 2020-06-24 2021-10-15 湖南格兰博智能科技有限责任公司 一种扫地机器人清扫路径规划及导航控制方法
CN111685669A (zh) * 2020-07-22 2020-09-22 西北工业大学 一种带有防碰撞功能且便于拆卸维修的扫地机器人
KR102473746B1 (ko) * 2020-07-22 2022-12-02 삼성전자주식회사 청소 로봇 및 그 제어 방법
CN111774859B (zh) * 2020-07-29 2022-06-28 四川极速智能科技有限公司 一种机器人前端视觉组件的组装装置及机器人
USD943222S1 (en) * 2020-09-10 2022-02-08 Shenzhen Leben Technology Co., Ltd. Pet feeder
ES2899453A1 (es) * 2020-09-10 2022-03-11 Cecotec Res And Development Sl Procedimiento de operacion para robot de limpieza y/o desinfeccion con generacion de ozono
US11794993B2 (en) 2020-10-19 2023-10-24 Jamison F. Gavin Autonomously propelled waste receptacle and associated methods
CN112428846B (zh) * 2020-10-22 2022-04-19 浙江晨泰科技股份有限公司 一种防充电头脱落的充电桩
CN112304035A (zh) * 2020-10-30 2021-02-02 皖江工学院 智能地面除湿机器及其工作方法
DE102020132205A1 (de) 2020-12-03 2022-06-09 Vorwerk & Co. Interholding Gesellschaft mit beschränkter Haftung Sich selbsttätig fortbewegendes Bodenbearbeitungsgerät mit mindestens einem Absturzsensor
DE102020132203A1 (de) 2020-12-03 2022-06-09 Vorwerk & Co. Interholding Gesellschaft mit beschränkter Haftung Sich selbsttätig fortbewegendes Bodenbearbeitungsgerät mit einer Mehrzahl von Absturzsensoren
CN112549078A (zh) * 2020-12-03 2021-03-26 诸暨市创新弹簧有限公司 一种精准全面的工业机器人维修检测装置
CN112596527B (zh) * 2020-12-17 2023-10-24 珠海一微半导体股份有限公司 基于斜坡结构的机器人卡住检测方法、芯片及清洁机器人
US11486071B2 (en) * 2020-12-21 2022-11-01 Brian A. WALKER Spray device and method for use thereof
USD967883S1 (en) * 2021-01-06 2022-10-25 Grey Orange International Inc. Robot for handling goods in a facility
IT202100002459A1 (it) * 2021-02-04 2022-08-04 Ing Ferretti S R L Dispositivo per la pulitura di un corpo, preferibilmente una forma di un prodotto caseario.
CN115089056A (zh) * 2021-02-10 2022-09-23 北京石头创新科技有限公司 自动清洁设备控制方法及装置、介质及电子设备
JP1747939S (ja) 2021-02-10 2023-07-04 ロボット掃除機用掃除用パッド用支持板
US11486152B2 (en) * 2021-03-04 2022-11-01 American Mammoth Tool Co. Pressure device for adjoining dovetailed flooring material
WO2022194387A1 (de) 2021-03-19 2022-09-22 Alfred Kärcher SE & Co. KG Selbstfahrendes und selbstlenkendes bodenreinigungsgerät und bodenreinigungssystem mit einem derartigen bodenreinigungsgerät
CN113100669B (zh) * 2021-04-08 2023-02-21 云鲸智能(深圳)有限公司 清洁机器人及其控制方法、计算机可读存储介质
CN113110531B (zh) * 2021-04-19 2021-11-12 飞马滨(青岛)智能科技有限公司 一种水下机器人与待洗船只的自动贴壁方法
US20220378264A1 (en) * 2021-05-26 2022-12-01 Joshua G. Bardell Industrial Robotic Vacuum System
USD971272S1 (en) 2021-06-25 2022-11-29 Mtd Products Inc Robotic mower body
USD971271S1 (en) 2021-06-25 2022-11-29 Mtd Products Inc Robotic mower
CN113585141B (zh) * 2021-06-28 2023-04-21 苏州爱之爱清洁电器科技有限公司 清洗机可拆卸污水管路用旋拧自锁的连接装置及实施方法
CN113499002B (zh) * 2021-07-05 2023-03-31 广州科语机器人有限公司 清洁系统及清洁基站的控制方法
CN113477592A (zh) * 2021-07-13 2021-10-08 苏州热工研究院有限公司 一种蒸汽发生器二次侧硬质泥渣清洗装置及方法
USD980873S1 (en) 2021-07-23 2023-03-14 Mtd Products Inc Robotic mower
USD980874S1 (en) 2021-07-23 2023-03-14 Mtd Products Inc Robotic mower body
US12075963B2 (en) 2021-07-29 2024-09-03 Irobot Corporation Mobile cleaning robot with skids
CN113854908B (zh) * 2021-09-30 2022-12-23 易宝软件有限公司 洗地机的自清洁方法、洗地机、电子设备及计算机存储介质
DE102021130801A1 (de) 2021-11-24 2023-05-25 Audi Aktiengesellschaft Laderoboter und Verfahren zum Betreiben eines Laderoboters
CN114371696B (zh) * 2021-12-06 2024-02-27 深圳市普渡科技有限公司 移动设备、控制方法、机器人及存储介质
US12059117B2 (en) 2022-02-03 2024-08-13 Black & Decker, Inc. Vacuum cleaner and cleaning accessory for a vacuum cleaner
US11937760B2 (en) 2022-02-03 2024-03-26 Black & Decker, Inc. Vacuum cleaner and cleaning accessory for a vacuum cleaner
US11678781B1 (en) * 2022-02-03 2023-06-20 Black & Decker, Inc. Vacuum cleaner and cleaning accessory for a vacuum cleaner
US11950748B2 (en) * 2022-02-03 2024-04-09 Black & Decker, Inc. Vacuum cleaner and cleaning accessory for a vacuum cleaner
DE202022101312U1 (de) 2022-02-08 2022-06-20 Alfred Kärcher SE & Co. KG Bodenreinigungsgerät mit Kassette
DE102022102918A1 (de) 2022-02-08 2023-08-10 Alfred Kärcher SE & Co. KG Bodenreinigungsgerät mit Kassette
DE102022102937A1 (de) 2022-02-08 2023-08-10 Alfred Kärcher SE & Co. KG Bodenreinigungsgerät mit Schmutzfluid-Tank
WO2023151833A1 (de) 2022-02-08 2023-08-17 Alfred Kärcher SE & Co. KG Bodenreinigungsgerät mit kehreinrichtung und verfahren zum betreiben eines bodenreinigungsgeräts
DE102022102924A1 (de) 2022-02-08 2023-08-10 Alfred Kärcher SE & Co. KG Bodenreinigungsgerät mit beweglichem Abstreifelement
DE102022133009A1 (de) 2022-02-08 2023-08-10 Alfred Kärcher SE & Co. KG Bodenreinigungsgerät mit Drehlagereinrichtung mit Widerlager
DE202022101313U1 (de) 2022-02-08 2022-06-20 Alfred Kärcher SE & Co. KG Bodenreinigungsgerät mit beweglichem Abstreifelement
WO2023152163A1 (de) 2022-02-08 2023-08-17 Alfred Kärcher SE & Co. KG Bodenreinigungsgerät mit drehlagereinrichtung mit widerlager
DE202022101314U1 (de) 2022-02-08 2022-06-20 Alfred Kärcher SE & Co. KG Bodenreinigungsgerät mit Schmutzfluid-Tank
TWI831237B (zh) * 2022-06-08 2024-02-01 旺玖科技股份有限公司 執行馬達識別與保護的裝置以及使用該裝置的吸塵器
WO2024002287A1 (zh) * 2022-07-01 2024-01-04 深圳尼宝科技有限公司 一种清洁装置
CN115336937B (zh) * 2022-08-17 2023-12-29 深圳朝晖兴科技有限公司 一种实验室自动清洁机器人避障导航装置
DE102022124120A1 (de) 2022-09-20 2024-03-21 Alfred Kärcher SE & Co. KG Bodenreinigungsgerät mit Becken und Verfahren zum Betreiben eines Bodenreinigungsgeräts
DE102022133004A1 (de) 2022-12-12 2024-06-13 Alfred Kärcher SE & Co. KG Bodenreinigungsgerät mit Bodenkopf mit Wandung
DE102022133006A1 (de) 2022-12-12 2024-06-13 Alfred Kärcher SE & Co. KG Bodenreinigungsgerät mit Schmutzfluid-Tank mit zwei Bereichen
WO2024170089A1 (de) 2023-02-16 2024-08-22 Alfred Kärcher SE & Co. KG Bodenreinigungsmaschine mit basismodul und reinigungsmodul
DE102023201679B3 (de) 2023-02-23 2024-08-22 BSH Hausgeräte GmbH Verfahren zu einer kollisionsfreien Wand- und/oder Kantenreinigung
DE102023104615A1 (de) 2023-02-24 2024-08-29 Alfred Kärcher SE & Co. KG Flächenreinigungsmaschine mit Heißfluiderzeugungseinrichtung und Verfahren zum Betreiben einer Flächenreinigungsmaschine

Citations (96)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US724605A (en) * 1901-10-07 1903-04-07 William F Norman Valve for bucket-bottoms.
US2930055A (en) * 1957-12-16 1960-03-29 Burke R Fallen Floor wax dispensing and spreading unit
US3649981A (en) * 1970-02-25 1972-03-21 Wayne Manufacturing Co Curb travelling sweeper vehicle
US3937174A (en) * 1972-12-21 1976-02-10 Hermann Haaga Sweeper having at least one side brush
US4012681A (en) * 1975-01-03 1977-03-15 Curtis Instruments, Inc. Battery control system for battery operated vehicles
US4369543A (en) * 1980-04-14 1983-01-25 Jen Chen Remote-control radio vacuum cleaner
US4513469A (en) * 1983-06-13 1985-04-30 Godfrey James O Radio controlled vacuum cleaner
US4716621A (en) * 1985-07-26 1988-01-05 Dulevo S.P.A. Floor and bounded surface sweeper machine
US4733430A (en) * 1986-12-09 1988-03-29 Whirlpool Corporation Vacuum cleaner with operating condition indicator system
US4733431A (en) * 1986-12-09 1988-03-29 Whirlpool Corporation Vacuum cleaner with performance monitoring system
US4811228A (en) * 1985-09-17 1989-03-07 Inik Instrument Och Elektronik Method of navigating an automated guided vehicle
US4815157A (en) * 1986-10-28 1989-03-28 Kabushiki Kaisha Hoky Floor cleaner
US4901394A (en) * 1988-04-20 1990-02-20 Matsushita Electric Industrial Co., Ltd. Floor nozzle for electric cleaner
US4909972A (en) * 1985-12-02 1990-03-20 Britz Johannes H Method and apparatus for making a solid foamed tire core
US4912643A (en) * 1986-10-30 1990-03-27 Institute For Industrial Research And Standards Position sensing apparatus
US4918441A (en) * 1988-12-22 1990-04-17 Ford New Holland, Inc. Non-contact sensing unit for row crop harvester guidance system
US4919224A (en) * 1988-05-16 1990-04-24 Industrial Technology Research Institute Automatic working vehicular system
US4967862A (en) * 1989-03-13 1990-11-06 Transitions Research Corporation Tether-guided vehicle and method of controlling same
US5084934A (en) * 1990-01-24 1992-02-04 Black & Decker Inc. Vacuum cleaners
US5086535A (en) * 1990-10-22 1992-02-11 Racine Industries, Inc. Machine and method using graphic data for treating a surface
US5093955A (en) * 1990-08-29 1992-03-10 Tennant Company Combined sweeper and scrubber
US5098262A (en) * 1990-12-28 1992-03-24 Abbott Laboratories Solution pumping system with compressible pump cassette
US5105502A (en) * 1988-12-06 1992-04-21 Matsushita Electric Industrial Co., Ltd. Vacuum cleaner with function to adjust sensitivity of dust sensor
US5182833A (en) * 1989-05-11 1993-02-02 Matsushita Electric Industrial Co., Ltd. Vacuum cleaner
US5204814A (en) * 1990-11-13 1993-04-20 Mobot, Inc. Autonomous lawn mower
US5293955A (en) * 1991-12-30 1994-03-15 Goldstar Co., Ltd. Obstacle sensing apparatus for a self-propelled cleaning robot
US5303448A (en) * 1992-07-08 1994-04-19 Tennant Company Hopper and filter chamber for direct forward throw sweeper
US5386862A (en) * 1992-10-02 1995-02-07 The Goodyear Tire & Rubber Company Pneumatic tire having improved wet traction
US5410479A (en) * 1992-08-17 1995-04-25 Coker; William B. Ultrasonic furrow or crop row following sensor
US5497529A (en) * 1993-07-20 1996-03-12 Boesi; Anna M. Electrical apparatus for cleaning surfaces by suction in dwelling premises
US5498948A (en) * 1994-10-14 1996-03-12 Delco Electornics Self-aligning inductive charger
US5608944A (en) * 1995-06-05 1997-03-11 The Hoover Company Vacuum cleaner with dirt detection
US5611108A (en) * 1994-04-25 1997-03-18 Windsor Industries, Inc. Floor cleaning apparatus with slidable flap
US5611106A (en) * 1996-01-19 1997-03-18 Castex Incorporated Carpet maintainer
US5613261A (en) * 1994-04-14 1997-03-25 Minolta Co., Ltd. Cleaner
US5709007A (en) * 1996-06-10 1998-01-20 Chiang; Wayne Remote control vacuum cleaner
US5714119A (en) * 1994-03-24 1998-02-03 Minolta Co., Ltd. Sterilizer
US5717484A (en) * 1994-03-22 1998-02-10 Minolta Co., Ltd. Position detecting system
US5720077A (en) * 1994-05-30 1998-02-24 Minolta Co., Ltd. Running robot carrying out prescribed work using working member and method of working using the same
US5867800A (en) * 1994-03-29 1999-02-02 Aktiebolaget Electrolux Method and device for sensing of obstacles for an autonomous device
US5869910A (en) * 1994-02-11 1999-02-09 Colens; Andre Power supply system for self-contained mobile robots
US6012618A (en) * 1996-06-03 2000-01-11 Minolta Co., Ltd. Tank for autonomous running and working vehicle
US6025687A (en) * 1997-09-26 2000-02-15 Minolta Co., Ltd. Mobile unit and controller for mobile unit
US6023814A (en) * 1997-09-15 2000-02-15 Imamura; Nobuo Vacuum cleaner
US6023813A (en) * 1998-04-07 2000-02-15 Spectrum Industrial Products, Inc. Powered floor scrubber and buffer
US6030465A (en) * 1996-06-26 2000-02-29 Matsushita Electric Corporation Of America Extractor with twin, counterrotating agitators
US6032327A (en) * 1998-01-27 2000-03-07 Sharp Kabushiki Kaisha Electric vacuum cleaner
US6038501A (en) * 1997-02-27 2000-03-14 Minolta Co., Ltd. Autonomous vehicle capable of traveling/stopping in parallel to wall and controlling method thereof
US6041472A (en) * 1995-11-06 2000-03-28 Bissell Homecare, Inc. Upright water extraction cleaning machine
US6041471A (en) * 1998-04-09 2000-03-28 Madvac International Inc. Mobile walk-behind sweeper
US6167587B1 (en) * 1997-07-09 2001-01-02 Bissell Homecare, Inc. Upright extraction cleaning machine
US6202243B1 (en) * 1999-05-26 2001-03-20 Tennant Company Surface cleaning machine with multiple control positions
US6339735B1 (en) * 1998-12-29 2002-01-15 Friendly Robotics Ltd. Method for operating a robot
US20020011813A1 (en) * 2000-05-02 2002-01-31 Harvey Koselka Autonomous floor mopping apparatus
US20020016649A1 (en) * 2000-01-24 2002-02-07 Jones Joseph L. Robot obstacle detection system
US20020021219A1 (en) * 2000-08-08 2002-02-21 Marlena Edwards Animal collar including tracking and location device
US6502657B2 (en) * 2000-09-22 2003-01-07 The Charles Stark Draper Laboratory, Inc. Transformable vehicle
US6507773B2 (en) * 2001-06-14 2003-01-14 Sharper Image Corporation Multi-functional robot with remote and video system
US20030015232A1 (en) * 2001-07-23 2003-01-23 Thomas Nguyen Portable car port
US20030019071A1 (en) * 2001-07-30 2003-01-30 Field Bruce F Cleaner cartridge
US20030023356A1 (en) * 2000-02-02 2003-01-30 Keable Stephen J. Autonomous mobile apparatus for performing work within a predefined area
US20030025472A1 (en) * 2001-06-12 2003-02-06 Jones Joseph L. Method and system for multi-mode coverage for an autonomous robot
USD471243S1 (en) * 2001-02-09 2003-03-04 Irobot Corporation Robot
US20030060928A1 (en) * 2001-09-26 2003-03-27 Friendly Robotics Ltd. Robotic vacuum cleaner
US20040016077A1 (en) * 2002-07-26 2004-01-29 Samsung Gwangju Electronics Co., Ltd. Robot cleaner, robot cleaning system and method of controlling same
US20040020000A1 (en) * 2000-01-24 2004-02-05 Jones Joseph L. Robot obstacle detection system
US20040030570A1 (en) * 2002-04-22 2004-02-12 Neal Solomon System, methods and apparatus for leader-follower model of mobile robotic system aggregation
US20040030449A1 (en) * 2002-04-22 2004-02-12 Neal Solomon Methods and apparatus for multi robotic system involving coordination of weaponized unmanned underwater vehicles
US20040030571A1 (en) * 2002-04-22 2004-02-12 Neal Solomon System, method and apparatus for automated collective mobile robotic vehicles used in remote sensing surveillance
US20040030448A1 (en) * 2002-04-22 2004-02-12 Neal Solomon System, methods and apparatus for managing external computation and sensor resources applied to mobile robotic network
US20040031113A1 (en) * 2002-08-14 2004-02-19 Wosewick Robert T. Robotic surface treating device with non-circular housing
US20040049877A1 (en) * 2002-01-03 2004-03-18 Jones Joseph L. Autonomous floor-cleaning robot
US20040055163A1 (en) * 2000-12-14 2004-03-25 Wahl Clipper Corporation Hair clipping device with rotating bladeset having multiple cutting edges
US20050000543A1 (en) * 2003-03-14 2005-01-06 Taylor Charles E. Robot vacuum with internal mapping system
US20050010331A1 (en) * 2003-03-14 2005-01-13 Taylor Charles E. Robot vacuum with floor type modes
US20050028316A1 (en) * 1999-06-08 2005-02-10 Thomas Victor W. Floor cleaning apparatus with control circuitry
US20050053912A1 (en) * 2001-06-11 2005-03-10 Roth Mark B. Methods for inducing reversible stasis
US20050055796A1 (en) * 1998-01-09 2005-03-17 Royal Appliance Mfg. Co. Upright vacuum cleaner with cyclonic airflow
US20050229340A1 (en) * 2004-02-04 2005-10-20 Sawalski Michael M Surface treating device with cartridge-based cleaning system
US20060000050A1 (en) * 2004-07-01 2006-01-05 Royal Appliance Mfg. Co. Hard floor cleaner
US20060009879A1 (en) * 2004-06-24 2006-01-12 Lynch James K Programming and diagnostic tool for a mobile robot
US20060020369A1 (en) * 2004-03-11 2006-01-26 Taylor Charles E Robot vacuum cleaner
US20060020370A1 (en) * 2004-07-22 2006-01-26 Shai Abramson System and method for confining a robot
US20060060216A1 (en) * 2004-09-23 2006-03-23 Lg Electronics Inc. System for automatically exchanging cleaning tools of robot cleaner, and method therefor
US20060061657A1 (en) * 2004-09-23 2006-03-23 Lg Electronics Inc. Remote observation system and method thereof
US20070016328A1 (en) * 2005-02-18 2007-01-18 Andrew Ziegler Autonomous surface cleaning robot for wet and dry cleaning
US20070017061A1 (en) * 2005-07-20 2007-01-25 Jason Yan Steering control sensor for an automatic vacuum cleaner
US20070028574A1 (en) * 2005-08-02 2007-02-08 Jason Yan Dust collector for autonomous floor-cleaning device
US20070032904A1 (en) * 2003-10-08 2007-02-08 Nobukazu Kawagoe Self-propelled working robot
US20070156286A1 (en) * 2005-12-30 2007-07-05 Irobot Corporation Autonomous Mobile Robot
US7318248B1 (en) * 2006-11-13 2008-01-15 Jason Yan Cleaner having structures for jumping obstacles
US7324870B2 (en) * 2004-01-06 2008-01-29 Samsung Electronics Co., Ltd. Cleaning robot and control method thereof
US20080039974A1 (en) * 2006-03-17 2008-02-14 Irobot Corporation Robot Confinement
US7647144B2 (en) * 2001-02-28 2010-01-12 Aktiebolaget Electrolux Obstacle sensing system for an autonomous cleaning apparatus
US20100006028A1 (en) * 2003-09-05 2010-01-14 Buckley George W Apparatus and Method for Conditioning a Bowling Lane Using Precision Delivery Injectors
US7650666B2 (en) * 2005-12-22 2010-01-26 Kyungmin Mechatronics Co., Ltd. Robot cleaner

Family Cites Families (1290)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US462995A (en) * 1891-11-10 Ratchet-wrench
US1480662A (en) * 1922-09-11 1924-01-15 Ansel M Caine Fountain scrubbing machine
US1546071A (en) * 1923-12-14 1925-07-14 Springfield Motor Sweeper Comp Gutter brush for street sweepers
NL28010C (ja) 1928-01-03
US1780221A (en) 1930-05-08 1930-11-04 Buchmann John Brush
FR722755A (fr) 1930-09-09 1932-03-25 Machine pour le dépoussiérage, le détachage et le nettoyage des planchers et des tapis posés
GB381622A (en) 1931-07-16 1932-10-13 Frederick Aubrey Norris Improvements in or connected with vacuum cleaner installations
US1970302A (en) 1932-09-13 1934-08-14 Charles C Gerhardt Brush
US2136324A (en) * 1934-09-05 1938-11-08 Simon Louis John Apparatus for cleansing floors and like surfaces
GB449815A (en) 1935-02-21 1936-07-06 Richard Norman Booth Improvements in and relating to vacuum cleaning installations
US2302111A (en) 1940-11-26 1942-11-17 Air Way Electric Appl Corp Vacuum cleaner
US2353621A (en) 1941-10-13 1944-07-11 Ohio Citizens Trust Company Dust indicator for air-method cleaning systems
US2770825A (en) * 1951-09-10 1956-11-20 Bissell Carpet Sweeper Co Carpet sweeper and brush cleaning combs therefor
GB702426A (en) 1951-12-28 1954-01-13 Bissell Carpet Sweeper Co Improvements in or relating to carpet sweepers
US3888181A (en) * 1959-09-10 1975-06-10 Us Army Munition control system
US3119369A (en) * 1960-12-28 1964-01-28 Ametek Inc Device for indicating fluid flow
US3166138A (en) 1961-10-26 1965-01-19 Jr Edward D Dunn Stair climbing conveyance
US3208094A (en) * 1964-01-10 1965-09-28 Frank L Pilkington Liquid spreading device
US3550714A (en) 1964-10-20 1970-12-29 Mowbot Inc Lawn mower
US3375375A (en) * 1965-01-08 1968-03-26 Honeywell Inc Orientation sensing means comprising photodetectors and projected fans of light
US3381652A (en) 1965-10-21 1968-05-07 Nat Union Electric Corp Visual-audible alarm for a vacuum cleaner
DE1503746B1 (de) * 1965-12-23 1970-01-22 Bissell Gmbh Teppichkehrmaschine
US3333564A (en) * 1966-06-28 1967-08-01 Sunbeam Corp Vacuum bag indicator
US3569727A (en) * 1968-09-30 1971-03-09 Bendix Corp Control means for pulse generating apparatus
SE320779B (ja) 1968-11-08 1970-02-16 Electrolux Ab
JPS5046239Y1 (ja) 1969-08-12 1975-12-27
JPS5023269B1 (ja) 1969-12-16 1975-08-06
US3674316A (en) 1970-05-14 1972-07-04 Robert J De Brey Particle monitor
US3989311A (en) * 1970-05-14 1976-11-02 Debrey Robert J Particle monitoring apparatus
CA916867A (en) * 1970-06-03 1972-12-19 Horst Elias Sweeper
US3845831A (en) * 1970-08-11 1974-11-05 Martin C Vehicle for rough and muddy terrain
US3690559A (en) 1970-09-16 1972-09-12 Robert H Rudloff Tractor mounted pavement washer
DE2049136A1 (de) * 1970-10-07 1972-04-13 Bosch Gmbh Robert Fahrzeug
CA908697A (en) 1971-01-21 1972-08-29 Bombardier Jerome Suspension for tracked vehicles
ES403465A1 (es) 1971-05-26 1975-05-01 Tecneco Spa Perfeccionamientos en dispositivos medidores de la opacidadde fluidos, particularmente de humos.
US3678882A (en) 1971-05-28 1972-07-25 Nat Union Electric Corp Combination alarm and filter bypass device for a suction cleaner
DE2128842C3 (de) 1971-06-11 1980-12-18 Robert Bosch Gmbh, 7000 Stuttgart Brennstoffelektrode für elektrochemische Brennstoffelemente
SE362784B (ja) 1972-02-11 1973-12-27 Electrolux Ab
JPS5257527Y2 (ja) 1972-04-03 1977-12-27
US4175892A (en) 1972-05-10 1979-11-27 Brey Robert J De Particle monitor
DE2228778A1 (de) 1972-06-13 1974-01-03 Schoppe Fritz Verfahren und vorrichtung zum selbsttaetigen bearbeiten einer begrenzten flaeche
US3809004A (en) 1972-09-18 1974-05-07 W Leonheart All terrain vehicle
US3863285A (en) * 1973-07-05 1975-02-04 Hiroshi Hukuba Carpet sweeper
JPS5042076U (ja) 1973-08-16 1975-04-28
JPS5046246U (ja) 1973-08-28 1975-05-09
JPS5230606Y2 (ja) 1973-09-13 1977-07-13
US3851349A (en) 1973-09-26 1974-12-03 Clarke Gravely Corp Floor scrubber flow divider
GB1473109A (ja) * 1973-10-05 1977-05-11
US4119900A (en) 1973-12-21 1978-10-10 Ito Patent-Ag Method and system for the automatic orientation and control of a robot
IT1021244B (it) 1974-09-10 1978-01-30 Ceccato & Co Spazzolone rotante ad albero ver ticale per impianti di lavaggio di veicoli in genere
JPS5040519Y1 (ja) 1974-10-17 1975-11-19
JPS5321869Y2 (ja) 1974-11-08 1978-06-07
US3989931A (en) * 1975-05-19 1976-11-02 Rockwell International Corporation Pulse count generator for wide range digital phase detector
SE394077B (sv) 1975-08-20 1977-06-06 Electrolux Ab Anordning vid dammbehallare.
JPS5933511B2 (ja) 1976-02-19 1984-08-16 増田 将翁 円筒状工作物の内面研削盤
US4099284A (en) 1976-02-20 1978-07-11 Tanita Corporation Hand sweeper for carpets
JPS5714726Y2 (ja) 1976-07-10 1982-03-26
JPS5316183A (en) 1976-07-28 1978-02-14 Hitachi Ltd Fluid pressure driving device
JPS5321869U (ja) 1976-07-31 1978-02-23
JPS5321869A (en) * 1976-08-13 1978-02-28 Sharp Corp Simplified cleaner with dust removing means
JPS53110257U (ja) 1977-02-07 1978-09-04
JPS53110257A (en) 1977-03-08 1978-09-26 Matsushita Electric Ind Co Ltd Automatic vacuum cleaner
US4618213A (en) 1977-03-17 1986-10-21 Applied Elastomerics, Incorporated Gelatinous elastomeric optical lens, light pipe, comprising a specific block copolymer and an oil plasticizer
JPS6038912B2 (ja) 1977-05-24 1985-09-03 ソニー株式会社 信号処理方式
JPS6026312B2 (ja) 1977-06-23 1985-06-22 三菱電機株式会社 横方向励起気体循環形レ−ザ発振装置
SE401890B (sv) 1977-09-15 1978-06-05 Electrolux Ab Indikatoranordning for dammsugare
US4198727A (en) 1978-01-19 1980-04-22 Farmer Gary L Baseboard dusters for vacuum cleaners
FR2416480A1 (fr) * 1978-02-03 1979-08-31 Thomson Csf Dispositif de localisation de source rayonnante et systeme de reperage de direction comportant un tel dispositif
JPS54119306A (en) 1978-03-09 1979-09-17 Kawasaki Steel Co Method and apparatus for spraying water to blast furnace top
US4196727A (en) * 1978-05-19 1980-04-08 Becton, Dickinson And Company See-through anesthesia mask
EP0007790A1 (en) * 1978-08-01 1980-02-06 Imperial Chemical Industries Plc Driverless vehicle carrying non-directional detectors auto-guided by light signals
DE2966785D1 (en) 1978-08-01 1984-04-19 Ici Plc Driverless vehicle carrying directional detectors auto-guided by light signals
USD258901S (en) 1978-10-16 1981-04-14 Douglas Keyworth Wheeled figure toy
JPS595315B2 (ja) 1978-10-31 1984-02-03 東和精工株式会社 下札装着装置
JPS6110585Y2 (ja) 1978-12-13 1986-04-04
JPS5588749A (en) 1978-12-26 1980-07-04 Sumitomo Electric Industries Percutaneous* simultaneous measuring sensor of concentration of oxygen in blood and quantity of blood flow that circulate in affected part
GB2038615B (en) 1978-12-31 1983-04-13 Nintendo Co Ltd Self-moving type vacuum cleaner
US4373804A (en) 1979-04-30 1983-02-15 Diffracto Ltd. Method and apparatus for electro-optically determining the dimension, location and attitude of objects
US5164579A (en) 1979-04-30 1992-11-17 Diffracto Ltd. Method and apparatus for electro-optically determining the dimension, location and attitude of objects including light spot centroid determination
US4297578A (en) 1980-01-09 1981-10-27 Carter William R Airborne dust monitor
US4367403A (en) 1980-01-21 1983-01-04 Rca Corporation Array positioning system with out-of-focus solar cells
US4305234A (en) 1980-02-04 1981-12-15 Flo-Pac Corporation Composite brush
US4492058A (en) 1980-02-14 1985-01-08 Adolph E. Goldfarb Ultracompact miniature toy vehicle with four-wheel drive and unusual climbing capability
US4328546A (en) * 1980-04-15 1982-05-04 Sun Electric Corporation Apparatus for evaluating the performance of an internal combustion engine using exhaust gas emission data
US4309578A (en) * 1980-06-09 1982-01-05 Porta Systems Corp. Telephone ringer load simulator
JPS5714726A (en) * 1980-07-01 1982-01-26 Minolta Camera Co Ltd Measuring device for quantity of light
JPS5715853A (en) 1980-07-01 1982-01-27 Shinko Electric Co Ltd Linear motor type nonmagnetic metal selector
JPS595315Y2 (ja) 1980-09-13 1984-02-17 講三 鈴木 友釣用鼻環
JPS5764217A (en) 1980-10-07 1982-04-19 Canon Inc Automatic focusing camera
JPS5933511Y2 (ja) 1980-10-14 1984-09-18 日本鋼管株式会社 ヘリカルスカムスキマ
JPS5771968A (en) 1980-10-21 1982-05-06 Nagasawa Seisakusho Button lock
JPS603251Y2 (ja) 1980-12-24 1985-01-29 株式会社岡村製作所 回転扉付きキヤビネツト
US4401909A (en) 1981-04-03 1983-08-30 Dickey-John Corporation Grain sensor using a piezoelectric element
US4769700A (en) 1981-11-20 1988-09-06 Diffracto Ltd. Robot tractors
US4482960A (en) * 1981-11-20 1984-11-13 Diffracto Ltd. Robot tractors
JPS57196155A (en) 1981-05-27 1982-12-02 Hitachi Koki Co Ltd Distributor
JPS5814730A (ja) 1981-07-20 1983-01-27 Shin Etsu Polymer Co Ltd シリコ−ンゴム系成形体
USD278733S (en) 1981-08-25 1985-05-07 Tomy Kogyo Company, Incorporated Animal-like figure toy
US4416033A (en) * 1981-10-08 1983-11-22 The Hoover Company Full bag indicator
US4652917A (en) 1981-10-28 1987-03-24 Honeywell Inc. Remote attitude sensor using single camera and spiral patterns
JPS58100840A (ja) * 1981-12-12 1983-06-15 Canon Inc カメラのフアインダ
US4818213A (en) * 1982-04-12 1989-04-04 Roy Siegfried S Injection blow molding
JPS58213586A (ja) 1982-06-04 1983-12-12 Toshiba Corp 位相合成装置
JPS595315A (ja) 1982-07-02 1984-01-12 Hitachi Ltd 移動型自動監視点検作業装置
CH656665A5 (de) * 1982-07-05 1986-07-15 Sommer Schenk Ag Verfahren und reinigungsgeraet zum reinigen eines wasserbeckens.
JPS5914711A (ja) 1982-07-13 1984-01-25 株式会社クボタ 無人走行作業車
GB2128842B (en) 1982-08-06 1986-04-16 Univ London Method of presenting visual information
JPS5933511A (ja) 1982-08-19 1984-02-23 Fanuc Ltd 加減速装置
US4445245A (en) 1982-08-23 1984-05-01 Lu Ning K Surface sweeper
JPS5933511U (ja) 1982-08-24 1984-03-01 三菱電機株式会社 自動走行台車の安全装置
US4624026A (en) 1982-09-10 1986-11-25 Tennant Company Surface maintenance machine with rotary lip
US4556313A (en) 1982-10-18 1985-12-03 United States Of America As Represented By The Secretary Of The Army Short range optical rangefinder
JPS5994005A (ja) 1982-11-22 1984-05-30 Mitsubishi Electric Corp 無人自走車の位置検出装置
JPS5999308A (ja) 1982-11-30 1984-06-08 Komatsu Ltd 測距センサ
JPS5994005U (ja) 1982-12-16 1984-06-26 株式会社古川製作所 複数の吸盤で袋を操る装置
JPS59112311A (ja) 1982-12-20 1984-06-28 Komatsu Ltd 無人移動体の誘導方式
JPS5999308U (ja) 1982-12-23 1984-07-05 三菱電機株式会社 照明器具カバ−用留め具
JPS59120124A (ja) * 1982-12-28 1984-07-11 松下電器産業株式会社 電気掃除機
JPS59131668A (ja) 1983-01-17 1984-07-28 Takeda Chem Ind Ltd 塩化ビニル樹脂系プラスチゾル組成物
JPS59112311U (ja) 1983-01-17 1984-07-28 九州日立マクセル株式会社 磁気ヘツド用カセツト式クリ−ニング装置
CH646044A5 (de) 1983-01-26 1984-11-15 Gottfried Gremminger Flaechen-reinigungsgeraet.
JPS59120124U (ja) 1983-02-02 1984-08-13 三菱鉛筆株式会社 射出成形用金型
JPS59131668U (ja) 1983-02-24 1984-09-04 日本原子力研究所 圧電素子弁
JPS59164973A (ja) 1983-03-10 1984-09-18 Nippon Tsushin Gijutsu Kk ロボツト用ペア形計測ヘツド
US4481692A (en) * 1983-03-29 1984-11-13 Gerhard Kurz Operating-condition indicator for vacuum cleaners
JPS59184917A (ja) 1983-04-05 1984-10-20 Tsubakimoto Chain Co 無人搬送車の誘導方法
US4575211A (en) 1983-04-18 1986-03-11 Canon Kabushiki Kaisha Distance measuring device
JPS59164973U (ja) 1983-04-20 1984-11-05 株式会社　ミタチ音響製作所 リニアトラツキングア−ムの駆動機構
DE3317376A1 (de) 1983-05-13 1984-11-15 Diehl GmbH & Co, 8500 Nürnberg Sicherheitsschaltung fuer projektil-zuenderschaltung
JPS59212924A (ja) 1983-05-17 1984-12-01 Mitsubishi Electric Corp 移動体の位置検出装置
US4477998A (en) * 1983-05-31 1984-10-23 You Yun Long Fantastic wall-climbing toy
JPS59226909A (ja) 1983-06-07 1984-12-20 Kobe Steel Ltd 自走式ロボツトの位置決め方法
JPS603251U (ja) 1983-06-21 1985-01-11 スズキ株式会社 シリンダヘツドの冷却装置
JPS6026312U (ja) 1983-07-29 1985-02-22 キヤノン株式会社 止め輪
JPS6089213A (ja) 1983-10-19 1985-05-20 Komatsu Ltd 無人走行車の位置および方向の検出方法
EP0142594B1 (en) 1983-10-26 1989-06-28 Automax Kabushiki Kaisha Control system for mobile robot
US4700301A (en) 1983-11-02 1987-10-13 Dyke Howard L Method of automatically steering agricultural type vehicles
JPS6089213U (ja) 1983-11-26 1985-06-19 小畑　邦夫 薄膜手袋
JPS60118912U (ja) * 1984-01-18 1985-08-12 アルプス電気株式会社 反射型光学式ロ−タリエンコ−ダのコ−ドホイ−ル
DE3404202A1 (de) 1984-02-07 1987-05-14 Wegmann & Co Einrichtung zur ferngesteuerten fuehrung von kampfpanzern
DE3431175C2 (de) * 1984-02-08 1986-01-09 Gerhard 7262 Althengstett Kurz Schutzvorrichtung für Staubsammeleinrichtungen
DE3431164A1 (de) * 1984-02-08 1985-08-14 Gerhard 7262 Althengstett Kurz Staubsauger
US4712740A (en) 1984-03-02 1987-12-15 The Regina Co., Inc. Venturi spray nozzle for a cleaning device
HU191301B (en) 1984-03-23 1987-02-27 Richter Gedeon Vegyeszeti Gyar Rt,Hu Process for preparing 1-/hydroxy-methyl/-1,6,7,11b-tetrahydro-2h,4h-/1,3/-oxazino- or -thiazino/4,3-a/isoquinoline -derivatives
US4626995A (en) 1984-03-26 1986-12-02 Ndc Technologies, Inc. Apparatus and method for optical guidance system for automatic guided vehicle
JPS60162832U (ja) 1984-04-04 1985-10-29 楯　節男 排気ダクト
JPS60211510A (ja) 1984-04-05 1985-10-23 Komatsu Ltd 移動体の位置検出方法
DE3413793A1 (de) * 1984-04-12 1985-10-24 Brown, Boveri & Cie Ag, 6800 Mannheim Antrieb fuer einen schalter
JPS60217576A (ja) 1984-04-12 1985-10-31 Nippon Gakki Seizo Kk デイスクケ−ス
US4832098A (en) 1984-04-16 1989-05-23 The Uniroyal Goodrich Tire Company Non-pneumatic tire with supporting and cushioning members
JPS60171252U (ja) * 1984-04-20 1985-11-13 三洋電機株式会社 電気掃除機
US4620285A (en) 1984-04-24 1986-10-28 Heath Company Sonar ranging/light detection system for use in a robot
US4649504A (en) * 1984-05-22 1987-03-10 Cae Electronics, Ltd. Optical position and orientation measurement techniques
ZA853615B (en) 1984-05-31 1986-02-26 Ici Plc Vehicle guidance means
JPS60259895A (ja) 1984-06-04 1985-12-21 Toshiba Corp 多管式蒸気過熱戻し器
US4638445A (en) * 1984-06-08 1987-01-20 Mattaboni Paul J Autonomous mobile robot
JPS6123221A (ja) 1984-07-11 1986-01-31 Oki Electric Ind Co Ltd 移動車の誘導方式
JPS6170407A (ja) 1984-08-08 1986-04-11 Canon Inc 距離測定装置
JPS6190697A (ja) 1984-10-09 1986-05-08 松下電器産業株式会社 衣類乾燥機
JPS6197711A (ja) 1984-10-18 1986-05-16 Casio Comput Co Ltd 赤外線追尾ロボツトシステム
JPS6197712A (ja) 1984-10-18 1986-05-16 Casio Comput Co Ltd 赤外線追尾ロボツトの目標物
IT8423851V0 (it) 1984-11-21 1984-11-21 Cavalli Alfredo Apparecchio elettrodomestico polifunzionale particolarmente per la pulitura di pavimenti, tappeti e moquettes in opera e simili.
JPS61160366A (ja) 1984-12-30 1986-07-21 Shinwa Seisakusho:Kk 運搬車の荷台調節装置
GB8502506D0 (en) 1985-01-31 1985-03-06 Emi Ltd Smoke detector
JPS61190607A (ja) 1985-02-18 1986-08-25 Toyoda Mach Works Ltd 異常停止機能を備えた数値制御工作機械
US4679152A (en) 1985-02-20 1987-07-07 Heath Company Navigation system and method for a mobile robot
EP0200553B1 (en) 1985-05-01 1990-12-19 Nippondenso Co., Ltd. Optical dust detector assembly
USD292223S (en) 1985-05-17 1987-10-06 Showscan Film Corporation Toy robot or the like
FR2583701B1 (fr) 1985-06-21 1990-03-23 Commissariat Energie Atomique Vehicule a chenilles a geometrie variable
JPS6215336A (ja) 1985-06-21 1987-01-23 Murata Mach Ltd 自動集綿排出システム
US4860653A (en) 1985-06-28 1989-08-29 D. J. Moorhouse Detonator actuator
US4662854A (en) 1985-07-12 1987-05-05 Union Electric Corp. Self-propellable toy and arrangement for and method of controlling the movement thereof
JPH026312Y2 (ja) 1985-08-30 1990-02-15
WO1987001404A1 (en) * 1985-08-31 1987-03-12 Morningfield Limited Cleaning vehicles
JPS6255760A (ja) 1985-09-04 1987-03-11 Fujitsu Ltd 為替打溜デ−タのリエンタ送信取引方式
JPH0752104B2 (ja) 1985-09-25 1995-06-05 松下電工株式会社 反射型光電スイッチ
JPS6274018A (ja) 1985-09-27 1987-04-04 Kawasaki Heavy Ind Ltd 転炉排ガス処理装置の運転方法
DE3534621A1 (de) 1985-09-28 1987-04-02 Interlava Ag Staubsauger
JPH0421069Y2 (ja) 1985-09-30 1992-05-14
US4700427A (en) 1985-10-17 1987-10-20 Knepper Hans Reinhard Method of automatically steering self-propelled floor-cleaning machines and floor-cleaning machine for practicing the method
JPH0319408Y2 (ja) 1985-10-19 1991-04-24
JPS6270709U (ja) 1985-10-22 1987-05-06
JPS62120510A (ja) 1985-11-21 1987-06-01 Hitachi Ltd 自動掃除機の制御方法
DE3642051A1 (de) 1985-12-10 1987-06-11 Canon Kk Verfahren zur dreidimensionalen informationsverarbeitung und vorrichtung zum erhalten einer dreidimensionalen information ueber ein objekt
JPS62154008A (ja) 1985-12-27 1987-07-09 Hitachi Ltd 自走ロボツトの走行制御方法
US4654924A (en) 1985-12-31 1987-04-07 Whirlpool Corporation Microcomputer control system for a canister vacuum cleaner
US4698591A (en) 1986-01-03 1987-10-06 General Electric Company Method for magnetic field gradient eddy current compensation
JPH0724640B2 (ja) * 1986-01-16 1995-03-22 三洋電機株式会社 電気掃除機
JPS62120510U (ja) 1986-01-24 1987-07-31
EP0231419A1 (de) 1986-02-05 1987-08-12 Interlava AG Optische Anzeige- und Funktionskontrolleinheit für Staubsauger
US4817000A (en) 1986-03-10 1989-03-28 Si Handling Systems, Inc. Automatic guided vehicle system
JPS62154008U (ja) 1986-03-19 1987-09-30
GB8607365D0 (en) 1986-03-25 1986-04-30 Roneo Alcatel Ltd Electromechanical drives
JPS62164431U (ja) 1986-04-08 1987-10-19
USD298766S (en) 1986-04-11 1988-11-29 Playtime Products, Inc. Toy robot
JPH0782385B2 (ja) 1986-05-12 1995-09-06 三洋電機株式会社 移動体の誘導装置
JPS62263508A (ja) 1986-05-12 1987-11-16 Sanyo Electric Co Ltd 自立型作業車
US4829442A (en) 1986-05-16 1989-05-09 Denning Mobile Robotics, Inc. Beacon navigation system and method for guiding a vehicle
US4710020A (en) 1986-05-16 1987-12-01 Denning Mobil Robotics, Inc. Beacon proximity detection system for a vehicle
US4777416A (en) 1986-05-16 1988-10-11 Denning Mobile Robotics, Inc. Recharge docking system for mobile robot
JPS62189057U (ja) 1986-05-22 1987-12-01
US4955714A (en) 1986-06-26 1990-09-11 Stotler James G System for simulating the appearance of the night sky inside a room
JPH0351023Y2 (ja) 1986-07-02 1991-10-31
US4752799A (en) 1986-07-07 1988-06-21 Honeywell Inc. Optical proximity sensing optics
FR2601443B1 (fr) 1986-07-10 1991-11-29 Centre Nat Etd Spatiales Capteur de position et son application a la telemetrie, notamment pour la robotique spatiale
JPH07102204B2 (ja) 1986-09-25 1995-11-08 株式会社マキタ ブラシクリ−ナ
FI74829C (fi) 1986-10-01 1988-03-10 Allaway Oy Foerfarande foer styrning av en anlaeggning saosom dammsugare, centraldammsugare, maskinellt luftkonditioneringssystem eller motsvarande.
KR940002923B1 (ko) 1986-10-08 1994-04-07 가부시키가이샤 히타치세이사쿠쇼 전기청소기의 운전방법 및 그 장치
US4920060A (en) 1986-10-14 1990-04-24 Hercules Incorporated Device and process for mixing a sample and a diluent
US4796198A (en) 1986-10-17 1989-01-03 The United States Of America As Represented By The United States Department Of Energy Method for laser-based two-dimensional navigation system in a structured environment
EP0265542A1 (en) 1986-10-28 1988-05-04 Richard R. Rathbone Optical navigation system
JPH0732742B2 (ja) * 1986-11-07 1995-04-12 松下電器産業株式会社 自走式掃除機
JPH07120196B2 (ja) * 1986-11-18 1995-12-20 三洋電機株式会社 移動車の進行方向制御方式
FR2620070A2 (fr) 1986-12-11 1989-03-10 Jonas Andre Unite mobile autoguidee et appareil de nettoyage tel qu'un aspirateur comportant une telle unite
JPS63158032A (ja) * 1986-12-22 1988-07-01 三洋電機株式会社 コ−ドリ−ル付き移動作業車
US4735136A (en) 1986-12-23 1988-04-05 Whirlpool Corporation Full receptacle indicator for compactor
CA1311852C (en) 1987-01-09 1992-12-22 James R. Allard Knowledge acquisition tool for automated knowledge extraction
JPS63183032A (ja) 1987-01-26 1988-07-28 松下電器産業株式会社 掃除ロボツト
JPS63203483A (ja) 1987-02-18 1988-08-23 Res Dev Corp Of Japan 能動適応型クロ−ラ走行車
US4855915A (en) 1987-03-13 1989-08-08 Dallaire Rodney J Autoguided vehicle using reflective materials
JPH0786767B2 (ja) 1987-03-30 1995-09-20 株式会社日立製作所 自走ロボツトの走行制御方法
US4818875A (en) 1987-03-30 1989-04-04 The Foxboro Company Portable battery-operated ambient air analyzer
KR900003080B1 (ko) 1987-03-30 1990-05-07 마쓰시다덴기산교 가부시기가이샤 전기소제기의 바닥노즐
JPS63158032U (ja) 1987-04-03 1988-10-17
DK172087A (da) 1987-04-03 1988-10-04 Rotowash Scandinavia Apparat til vaadrensning af gulv- eller vaegflader
JPS63183032U (ja) 1987-05-15 1988-11-25
JP2606842B2 (ja) 1987-05-30 1997-05-07 株式会社東芝 電気掃除機
IL82731A (en) 1987-06-01 1991-04-15 El Op Electro Optic Ind Limite System for measuring the angular displacement of an object
SE464837B (sv) 1987-06-22 1991-06-17 Arnex Hb Foerfarande och anordning foer laseroptisk navigering
JPH0816241B2 (ja) 1987-07-07 1996-02-21 三菱マテリアル株式会社 ボスとフランジとを有する成形品の粉末圧縮成形方法
JPH0759702B2 (ja) 1987-09-07 1995-06-28 三菱電機株式会社 ゲスト・ホスト液晶組成物
US4858132A (en) 1987-09-11 1989-08-15 Ndc Technologies, Inc. Optical navigation system for an automatic guided vehicle, and method
KR910009450B1 (ko) 1987-10-16 1991-11-16 문수정 초전도 코일 및 그 제조법
JPH01118752A (ja) 1987-10-31 1989-05-11 Shimadzu Corp Ｉｃｐ発光分析における試料導入方法
GB8728508D0 (en) 1987-12-05 1988-01-13 Brougham Pickard J G Accessory unit for vacuum cleaner
DE3779649D1 (de) 1987-12-16 1992-07-09 Hako Gmbh & Co Handgefuehrte kehrmaschine.
JPH01162454A (ja) 1987-12-18 1989-06-26 Fujitsu Ltd サブレート交換方式
JPH01180010A (ja) 1988-01-08 1989-07-18 Sanyo Electric Co Ltd 移動車
US5024529A (en) 1988-01-29 1991-06-18 Synthetic Vision Systems, Inc. Method and system for high-speed, high-resolution, 3-D imaging of an object at a vision station
US5002145A (en) 1988-01-29 1991-03-26 Nec Corporation Method and apparatus for controlling automated guided vehicle
DE3803824A1 (de) 1988-02-09 1989-08-17 Gerhard Kurz Einbauvorrichtung fuer sensoren und geber
US4891762A (en) 1988-02-09 1990-01-02 Chotiros Nicholas P Method and apparatus for tracking, mapping and recognition of spatial patterns
US4782550A (en) 1988-02-12 1988-11-08 Von Schrader Company Automatic surface-treating apparatus
US4851661A (en) 1988-02-26 1989-07-25 The United States Of America As Represented By The Secretary Of The Navy Programmable near-infrared ranging system
US4905151A (en) 1988-03-07 1990-02-27 Transitions Research Corporation One dimensional image visual system for a moving vehicle
JPH026312A (ja) 1988-03-12 1990-01-10 Kao Corp 金属硫化物炭素複合材料及びその製造方法
DE3812633A1 (de) 1988-04-15 1989-10-26 Daimler Benz Ag Verfahren zur kontaktlosen widerstandsmessung
US4919489A (en) 1988-04-20 1990-04-24 Grumman Aerospace Corporation Cog-augmented wheel for obstacle negotiation
US4977618A (en) 1988-04-21 1990-12-11 Photonics Corporation Infrared data communications
JPH01175669U (ja) 1988-05-23 1989-12-14
US4887415A (en) 1988-06-10 1989-12-19 Martin Robert L Automated lawn mower or floor polisher
KR910006887B1 (ko) 1988-06-15 1991-09-10 마쯔시다덴기산교 가부시기가이샤 전기소제기의 쓰레기 검지장치
JPH026312U (ja) 1988-06-27 1990-01-17
JP2627776B2 (ja) 1988-07-12 1997-07-09 油谷重工株式会社 軸受部のグリース圧管理用表示装置
JPH0540519Y2 (ja) 1988-07-15 1993-10-14
GB8817039D0 (en) 1988-07-18 1988-08-24 Martecon Uk Ltd Improvements in/relating to polymer filled tyres
US4857912A (en) 1988-07-27 1989-08-15 The United States Of America As Represented By The Secretary Of The Navy Intelligent security assessment system
USD318500S (en) 1988-08-08 1991-07-23 Monster Robots Inc. Monster toy robot
JPH0226312U (ja) 1988-08-09 1990-02-21
KR910006885B1 (ko) 1988-08-15 1991-09-10 미쯔비시 덴끼 가부시기가이샤 전기소제기의 파워브러시
US5040116A (en) 1988-09-06 1991-08-13 Transitions Research Corporation Visual navigation and obstacle avoidance structured light system
US4954962A (en) 1988-09-06 1990-09-04 Transitions Research Corporation Visual navigation and obstacle avoidance structured light system
US4932831A (en) 1988-09-26 1990-06-12 Remotec, Inc. All terrain mobile robot
US4933864A (en) 1988-10-04 1990-06-12 Transitions Research Corporation Mobile robot navigation employing ceiling light fixtures
US5155684A (en) 1988-10-25 1992-10-13 Tennant Company Guiding an unmanned vehicle by reference to overhead features
JPH02188414A (ja) 1988-10-25 1990-07-24 Mitsui Toatsu Chem Inc 三弗化窒素ガスの精製方法
JPH0546239Y2 (ja) 1988-10-31 1993-12-02
US4962453A (en) 1989-02-07 1990-10-09 Transitions Research Corporation Autonomous vehicle for working on a surface and method of controlling same
JPH0779791B2 (ja) 1988-11-07 1995-08-30 松下電器産業株式会社 電気掃除機
GB2225221A (en) 1988-11-16 1990-05-30 Unilever Plc Nozzle arrangement on robot vacuum cleaning machine
JPH063251Y2 (ja) 1988-12-13 1994-01-26 極東工業株式会社 配管支持具
DE3914306A1 (de) 1988-12-16 1990-06-28 Interlava Ag Vorrichtung zur regelung und/oder anzeige des betriebs von staubsaugern
IT1228112B (it) 1988-12-21 1991-05-28 Cavi Pirelli S P A M Soc Metodo e sensore ottico per la determinazione della posizione di un corpo mobile
US4893025A (en) 1988-12-30 1990-01-09 Us Administrat Distributed proximity sensor system having embedded light emitters and detectors
JPH06105781B2 (ja) 1989-04-25 1994-12-21 住友電気工業株式会社 集積回路の製造方法
JP2815606B2 (ja) 1989-04-25 1998-10-27 株式会社トキメック コンクリート床仕上ロボットの制御方式
JP2520732B2 (ja) 1989-04-25 1996-07-31 株式会社テック 電気掃除機の吸込口体
US4971591A (en) 1989-04-25 1990-11-20 Roni Raviv Vehicle with vacuum traction
US5154617A (en) 1989-05-09 1992-10-13 Prince Corporation Modular vehicle electronic system
JPH0313611A (ja) 1989-06-07 1991-01-22 Toshiba Corp 自動清掃装置
FR2648071B1 (fr) * 1989-06-07 1995-05-19 Onet Procede et appareil autonomes de nettoyage automatique de sol par execution de missions programmees
US5051906A (en) 1989-06-07 1991-09-24 Transitions Research Corporation Mobile robot navigation employing retroreflective ceiling features
JPH03129328A (ja) 1989-06-27 1991-06-03 Victor Co Of Japan Ltd 電磁放射線束走査装置及び表示装置
US4961303A (en) 1989-07-10 1990-10-09 Ford New Holland, Inc. Apparatus for opening conditioning rolls
JPH0351023A (ja) 1989-07-20 1991-03-05 Matsushita Electric Ind Co Ltd 自走式掃除機
US5127128A (en) 1989-07-27 1992-07-07 Goldstar Co., Ltd. Cleaner head
US5144715A (en) 1989-08-18 1992-09-08 Matsushita Electric Industrial Co., Ltd. Vacuum cleaner and method of determining type of floor surface being cleaned thereby
US4961304A (en) 1989-10-20 1990-10-09 J. I. Case Company Cotton flow monitoring system for a cotton harvester
US5045769A (en) 1989-11-14 1991-09-03 The United States Of America As Represented By The Secretary Of The Navy Intelligent battery charging system
US5033291A (en) 1989-12-11 1991-07-23 Tekscan, Inc. Flexible tactile sensor for measuring foot pressure distributions and for gaskets
JP2714588B2 (ja) 1989-12-13 1998-02-16 株式会社ブリヂストン タイヤ点検装置
IL92720A (en) 1989-12-15 1993-02-21 Neta Holland Toothbrush
JPH03186243A (ja) 1989-12-15 1991-08-14 Matsushita Electric Ind Co Ltd アップライト型電気掃除機
US5063846A (en) 1989-12-21 1991-11-12 Hughes Aircraft Company Modular, electronic safe-arm device
JPH03197758A (ja) 1989-12-25 1991-08-29 Yokohama Rubber Co Ltd:The 二重床防音方法
JPH03201903A (ja) 1989-12-28 1991-09-03 Seibutsukei Tokutei Sangyo Gijutsu Kenkyu Suishin Kiko 圃場作業車両の自律走行システム
US5093956A (en) 1990-01-12 1992-03-10 Royal Appliance Mfg. Co. Snap-together housing
US5647554A (en) 1990-01-23 1997-07-15 Sanyo Electric Co., Ltd. Electric working apparatus supplied with electric power through power supply cord
US5020186A (en) 1990-01-24 1991-06-04 Black & Decker Inc. Vacuum cleaners
US5187662A (en) 1990-01-24 1993-02-16 Honda Giken Kogyo Kabushiki Kaisha Steering control system for moving vehicle
US5115538A (en) 1990-01-24 1992-05-26 Black & Decker Inc. Vacuum cleaners
US4956891A (en) 1990-02-21 1990-09-18 Castex Industries, Inc. Floor cleaner
JP3149430B2 (ja) 1990-02-22 2001-03-26 松下電器産業株式会社 アップライト型掃除機
US5049802A (en) 1990-03-01 1991-09-17 Caterpillar Industrial Inc. Charging system for a vehicle
AU630550B2 (en) 1990-04-10 1992-10-29 Matsushita Electric Industrial Co., Ltd. Vacuum cleaner with fuzzy control
FI911633A (fi) 1990-04-27 1991-10-28 Fujisawa Pharmaceutical Co Foerfarande foer framstaellning av alkansulfonanilidderivat.
US5018240A (en) 1990-04-27 1991-05-28 Cimex Limited Carpet cleaner
US5170352A (en) 1990-05-07 1992-12-08 Fmc Corporation Multi-purpose autonomous vehicle with path plotting
JP2886617B2 (ja) 1990-05-14 1999-04-26 松下電工株式会社 移動体の位置方位認識方法
US5111401A (en) 1990-05-19 1992-05-05 The United States Of America As Represented By The Secretary Of The Navy Navigational control system for an autonomous vehicle
JPH08393Y2 (ja) 1990-06-01 1996-01-10 株式会社豊田自動織機製作所 ジェットルームにおけるエア供給装置
US5142985A (en) 1990-06-04 1992-09-01 Motorola, Inc. Optical detection device
US5109566A (en) 1990-06-28 1992-05-05 Matsushita Electric Industrial Co., Ltd. Self-running cleaning apparatus
JPH04227507A (ja) 1990-07-02 1992-08-17 Nec Corp 移動ロボット用のマップを作成し保持する方法
JPH0474285A (ja) 1990-07-17 1992-03-09 Medama Kikaku:Kk 特定人又は物の位置検出表示装置
JPH0484921A (ja) 1990-07-27 1992-03-18 Mitsubishi Electric Corp 電気掃除機
US5307273A (en) 1990-08-29 1994-04-26 Goldstar Co., Ltd. Apparatus and method for recognizing carpets and stairs by cleaning robot
DK0550473T3 (da) 1990-09-24 1997-05-12 Andre Colens Kontinuerlig selvkørende plæneklipper (soldreven robotplæneklipper)
US5202742A (en) 1990-10-03 1993-04-13 Aisin Seiki Kabushiki Kaisha Laser radar for a vehicle lateral guidance system
KR930001457B1 (ko) 1990-11-16 1993-02-27 삼성전자 주식회사 진동 감지센서를 이용한 진공청소기의 출력 조절장치
JPH0824655B2 (ja) 1990-11-26 1996-03-13 松下電器産業株式会社 電気掃除機
US5216777A (en) 1990-11-26 1993-06-08 Matsushita Electric Industrial Co., Ltd. Fuzzy control apparatus generating a plurality of membership functions for determining a drive condition of an electric vacuum cleaner
KR930000081B1 (ko) 1990-12-07 1993-01-08 주식회사 금성사 청소기의 자동 청소방법
US5136675A (en) 1990-12-20 1992-08-04 General Electric Company Slewable projection system with fiber-optic elements
US5062819A (en) 1991-01-28 1991-11-05 Mallory Mitchell K Toy vehicle apparatus
ATE113450T1 (de) * 1991-02-01 1994-11-15 Kurt Zachhuber Bodenbearbeitungsmaschine.
JP2983658B2 (ja) 1991-02-14 1999-11-29 三洋電機株式会社 電気掃除機
US5094311A (en) 1991-02-22 1992-03-10 Gmfanuc Robotics Corporation Limited mobility transporter
US5173881A (en) 1991-03-19 1992-12-22 Sindle Thomas J Vehicular proximity sensing system
JP3148270B2 (ja) 1991-03-20 2001-03-19 日立機電工業株式会社 無人搬送車の給電装置
US5165064A (en) 1991-03-22 1992-11-17 Cyberotics, Inc. Mobile robot guidance and navigation system
US5105550A (en) 1991-03-25 1992-04-21 Wilson Sporting Goods Co. Apparatus for measuring golf clubs
FI92973C (fi) 1991-05-06 1995-02-10 Planmeca Oy Menetelmä ja laite panoraamaröntgenkuvauksessa
US5321614A (en) 1991-06-06 1994-06-14 Ashworth Guy T D Navigational control apparatus and method for autonomus vehicles
KR930005714B1 (ko) 1991-06-25 1993-06-24 주식회사 금성사 진공 청소기의 흡입력 제어방법 및 장치
US5400244A (en) 1991-06-25 1995-03-21 Kabushiki Kaisha Toshiba Running control system for mobile robot provided with multiple sensor information integration system
US5152202A (en) 1991-07-03 1992-10-06 The Ingersoll Milling Machine Company Turning machine with pivoted armature
US5560065A (en) 1991-07-03 1996-10-01 Tymco, Inc. Broom assisted pick-up head
DE4122280C2 (de) 1991-07-05 1994-08-18 Henkel Kgaa Fahrbarer Bodenreinigungsautomat
EP0522200B1 (en) 1991-07-10 1998-05-13 Samsung Electronics Co., Ltd. Mobile monitoring device
JP2795384B2 (ja) 1991-07-24 1998-09-10 株式会社テック 電気掃除機の吸込口体
JP2682910B2 (ja) 1991-08-07 1997-11-26 株式会社クボタ 作業車誘導用の位置検出装置
JPH0542076A (ja) * 1991-08-09 1993-02-23 Matsushita Electric Ind Co Ltd 電気掃除機の床ノズル
JPH0546246A (ja) 1991-08-10 1993-02-26 Nec Home Electron Ltd 掃除ロボツト及びその走行方法
JPH0546239A (ja) * 1991-08-10 1993-02-26 Nec Home Electron Ltd 自律走行ロボツト
KR930003937Y1 (ko) 1991-08-14 1993-06-25 주식회사 금성사 진공청소기의 오물흡입감지장치
US5442358A (en) 1991-08-16 1995-08-15 Kaman Aerospace Corporation Imaging lidar transmitter downlink for command guidance of underwater vehicle
US5227985A (en) 1991-08-19 1993-07-13 University Of Maryland Computer vision system for position monitoring in three dimensions using non-coplanar light sources attached to a monitored object
JP2705384B2 (ja) 1991-08-22 1998-01-28 日本電気株式会社 磁気ディスク組立体
JP2520732Y2 (ja) 1991-08-22 1996-12-18 住友ベークライト株式会社 超音波ホーン
JP2738610B2 (ja) 1991-09-07 1998-04-08 富士重工業株式会社 自走台車の走行制御装置
JP2901112B2 (ja) 1991-09-19 1999-06-07 矢崎総業株式会社 車両周辺監視装置
DE4131667C2 (de) 1991-09-23 2002-07-18 Schlafhorst & Co W Vorrichtung zum Entfernen von Fadenresten
JP3198553B2 (ja) 1991-10-07 2001-08-13 松下電器産業株式会社 電気掃除機
US5239720A (en) 1991-10-24 1993-08-31 Advance Machine Company Mobile surface cleaning machine
JP2555263Y2 (ja) 1991-10-28 1997-11-19 日本電気ホームエレクトロニクス株式会社 掃除ロボット
WO1993009018A1 (en) 1991-11-05 1993-05-13 Seiko Epson Corporation Micro-robot
JPH05150827A (ja) 1991-11-29 1993-06-18 Suzuki Motor Corp 無人車の誘導システム
JPH05150829A (ja) 1991-11-29 1993-06-18 Suzuki Motor Corp 無人車の誘導システム
JP2650234B2 (ja) 1991-12-19 1997-09-03 株式会社リコー 屋内通信方式
JPH0554620U (ja) 1991-12-26 1993-07-23 株式会社小松エスト ロードスイーパのガッタブラシ押付力調整装置
US5222786A (en) 1992-01-10 1993-06-29 Royal Appliance Mfg. Co. Wheel construction for vacuum cleaner
IL123225A (en) 1992-01-12 1999-07-14 Israel State Large area movement robot
JP3076122B2 (ja) 1992-01-13 2000-08-14 オリンパス光学工業株式会社 カメラ
DE4201596C2 (de) 1992-01-22 2001-07-05 Gerhard Kurz Bodendüse für Staubsauger
AU663148B2 (en) 1992-01-22 1995-09-28 Acushnet Company Monitoring system to measure flight characteristics of moving sports object
JPH063251U (ja) 1992-01-31 1994-01-18 日本電気ホームエレクトロニクス株式会社 掃除ロボット
US5502638A (en) 1992-02-10 1996-03-26 Honda Giken Kogyo Kabushiki Kaisha System for obstacle avoidance path planning for multiple-degree-of-freedom mechanism
US5276618A (en) 1992-02-26 1994-01-04 The United States Of America As Represented By The Secretary Of The Navy Doorway transit navigational referencing system
JP3104372B2 (ja) 1992-03-03 2000-10-30 井関農機株式会社 穀類処理装置
US5568589A (en) 1992-03-09 1996-10-22 Hwang; Jin S. Self-propelled cleaning machine with fuzzy logic control
JPH05257533A (ja) 1992-03-12 1993-10-08 Tokimec Inc 移動ロボットの床面掃引方法及び装置
JP3397336B2 (ja) 1992-03-13 2003-04-14 神鋼電機株式会社 無人車の位置・方向検出方法
KR940004375B1 (ko) 1992-03-25 1994-05-23 삼성전자 주식회사 자주식 청소기의 구동방법
JPH05285861A (ja) 1992-04-07 1993-11-02 Fujita Corp 天井用墨出し方法
JP3055298B2 (ja) * 1992-04-07 2000-06-26 松下電器産業株式会社 電気掃除機の吸込具
US5277064A (en) 1992-04-08 1994-01-11 General Motors Corporation Thick film accelerometer
DE4213038C1 (ja) 1992-04-21 1993-07-15 Dr.Ing.H.C. F. Porsche Ag, 7000 Stuttgart, De
JPH05302836A (ja) 1992-04-27 1993-11-16 Yashima Denki Co Ltd ８極磁化ボールを備えたエンコーダ
JPH0816776B2 (ja) 1992-04-27 1996-02-21 富士写真フイルム株式会社 写真フイルムの巻径規制用ディスクの製造方法
JPH05312514A (ja) 1992-05-11 1993-11-22 Yashima Denki Co Ltd 光反射・吸収性ボールを備えたエンコーダ
FR2691093B1 (fr) 1992-05-12 1996-06-14 Univ Joseph Fourier Robot de guidage de gestes et procede de commande.
GB2267360B (en) 1992-05-22 1995-12-06 Octec Ltd Method and system for interacting with floating objects
DE4217093C1 (ja) 1992-05-22 1993-07-01 Siemens Ag, 8000 Muenchen, De
GB9211146D0 (en) * 1992-05-26 1992-07-08 O C S Group Limited Improvements in window cleaning
US5206500A (en) 1992-05-28 1993-04-27 Cincinnati Microwave, Inc. Pulsed-laser detection with pulse stretcher and noise averaging
JPH05341904A (ja) 1992-06-12 1993-12-24 Yashima Denki Co Ltd ホール素子と磁化ボールを備えたエンコーダ
JPH063251A (ja) 1992-06-18 1994-01-11 Hitachi Ltd 多孔質体における気孔率等の分析法
US5637973A (en) 1992-06-18 1997-06-10 Kabushiki Kaisha Yaskawa Denki Noncontacting electric power transfer apparatus, noncontacting signal transfer apparatus, split-type mechanical apparatus employing these transfer apparatus and a control method for controlling same
US6615434B1 (en) 1992-06-23 2003-09-09 The Kegel Company, Inc. Bowling lane cleaning machine and method
JPH064130A (ja) 1992-06-23 1994-01-14 Sanyo Electric Co Ltd 掃除ロボット
IL102314A0 (en) 1992-06-25 1993-01-14 Elscint Ltd Gray scale windowing
US5279672A (en) 1992-06-29 1994-01-18 Windsor Industries, Inc. Automatic controlled cleaning machine
US5331713A (en) 1992-07-13 1994-07-26 White Consolidated Industries, Inc. Floor scrubber with recycled cleaning solution
JPH0638912A (ja) 1992-07-22 1994-02-15 Matsushita Electric Ind Co Ltd 塵埃検知装置およびそれを用いた掃除機
JPH06154143A (ja) * 1992-08-07 1994-06-03 Johnson Kk 床洗浄用機械
JPH0662991A (ja) 1992-08-21 1994-03-08 Yashima Denki Co Ltd 電気掃除機
JPH06105781A (ja) * 1992-09-30 1994-04-19 Sanyo Electric Co Ltd 自走式掃除機
US5613269A (en) 1992-10-26 1997-03-25 Miwa Science Laboratory Inc. Recirculating type cleaner
US5324948A (en) 1992-10-27 1994-06-28 The United States Of America As Represented By The United States Department Of Energy Autonomous mobile robot for radiologic surveys
US5548511A (en) 1992-10-29 1996-08-20 White Consolidated Industries, Inc. Method for controlling self-running cleaning apparatus
JPH06137828A (ja) 1992-10-29 1994-05-20 Kajima Corp 障害物位置検出方法
JPH06149350A (ja) 1992-10-30 1994-05-27 Johnson Kk 自走車の誘導システム
US5319828A (en) 1992-11-04 1994-06-14 Tennant Company Low profile scrubber
US5369838A (en) 1992-11-16 1994-12-06 Advance Machine Company Automatic floor scrubber
US5261139A (en) 1992-11-23 1993-11-16 Lewis Steven D Raised baseboard brush for powered floor sweeper
USD345707S (en) 1992-12-18 1994-04-05 U.S. Philips Corporation Dust sensor device
GB2273865A (en) 1992-12-19 1994-07-06 Fedag A vacuum cleaner with an electrically driven brush roller
US5284452A (en) 1993-01-15 1994-02-08 Atlantic Richfield Company Mooring buoy with hawser tension indicator system
US5491670A (en) 1993-01-21 1996-02-13 Weber; T. Jerome System and method for sonic positioning
US5315227A (en) 1993-01-29 1994-05-24 Pierson Mark V Solar recharge station for electric vehicles
US5310379A (en) 1993-02-03 1994-05-10 Mattel, Inc. Multiple configuration toy vehicle
DE9303254U1 (de) 1993-03-05 1993-09-30 Raimondi S.r.l., Modena Maschine zum Waschen von gefliesten Oberflächen
CN1065906C (zh) 1993-03-30 2001-05-16 美国3M公司 多表面的清洁组合物及其使用方法
US5451135A (en) 1993-04-02 1995-09-19 Carnegie Mellon University Collapsible mobile vehicle
JP2551316B2 (ja) 1993-04-09 1996-11-06 株式会社日立製作所 パネル
US5345649A (en) 1993-04-21 1994-09-13 Whitlow William T Fan brake for textile cleaning machine
US5352901A (en) 1993-04-26 1994-10-04 Cummins Electronics Company, Inc. Forward and back scattering loss compensated smoke detector
US5435405A (en) 1993-05-14 1995-07-25 Carnegie Mellon University Reconfigurable mobile vehicle with magnetic tracks
US5363935A (en) 1993-05-14 1994-11-15 Carnegie Mellon University Reconfigurable mobile vehicle with magnetic tracks
JPH06327598A (ja) 1993-05-21 1994-11-29 Tokyo Electric Co Ltd 電気掃除機の吸込口体
JP2555263B2 (ja) 1993-06-03 1996-11-20 株式会社コクブ 釘
US5440216A (en) 1993-06-08 1995-08-08 Samsung Electronics Co., Ltd. Robot cleaner
US5460124A (en) 1993-07-15 1995-10-24 Perimeter Technologies Incorporated Receiver for an electronic animal confinement system
DE9311014U1 (de) 1993-07-23 1993-09-02 Kurz, Gerhard, 70565 Stuttgart Bodendüse für Staubsauger
JPH0747046A (ja) 1993-08-03 1995-02-21 Matsushita Electric Ind Co Ltd 自走式掃除機
KR0140499B1 (ko) 1993-08-07 1998-07-01 김광호 청소기와 그 제어방법
US5510893A (en) 1993-08-18 1996-04-23 Digital Stream Corporation Optical-type position and posture detecting device
JP3486923B2 (ja) 1993-08-24 2004-01-13 松下電器産業株式会社 掃除機
US5586063A (en) 1993-09-01 1996-12-17 Hardin; Larry C. Optical range and speed detection system
CA2128676C (en) 1993-09-08 1997-12-23 John D. Sotack Capacitive sensor
KR0161031B1 (ko) 1993-09-09 1998-12-15 김광호 로보트의 위치오차보정장치
JPH0784696A (ja) 1993-09-10 1995-03-31 Canon Inc 情報処理装置及びその制御方法
KR100197676B1 (ko) 1993-09-27 1999-06-15 윤종용 로보트 청소기
JP2657203B2 (ja) 1993-10-01 1997-09-24 中小企業事業団 水性印刷インキ組成物
JP3319093B2 (ja) 1993-11-08 2002-08-26 松下電器産業株式会社 移動作業ロボット
GB9323316D0 (en) 1993-11-11 1994-01-05 Crowe Gordon M Motorized carrier
DE4338841C2 (de) 1993-11-13 1999-08-05 Axel Dickmann Leuchte
GB2284957B (en) 1993-12-14 1998-02-18 Gec Marconi Avionics Holdings Optical systems for the remote tracking of the position and/or orientation of an object
JP2594880B2 (ja) 1993-12-29 1997-03-26 西松建設株式会社 自律走行型知能作業ロボット
US5511147A (en) 1994-01-12 1996-04-23 Uti Corporation Graphical interface for robot
JPH07222705A (ja) 1994-02-10 1995-08-22 Fujitsu General Ltd 床面清掃ロボット
SE502428C2 (sv) 1994-02-21 1995-10-16 Electrolux Ab Dammsugarmunstycke
US5608306A (en) 1994-03-15 1997-03-04 Ericsson Inc. Rechargeable battery pack with identification circuit, real time clock and authentication capability
JP3201903B2 (ja) 1994-03-18 2001-08-27 富士通株式会社 半導体論理回路及びそれを用いた半導体集積回路装置
JPH07262025A (ja) 1994-03-18 1995-10-13 Fujitsu Ltd 実行制御システム
US5646494A (en) 1994-03-29 1997-07-08 Samsung Electronics Co., Ltd. Charge induction apparatus of robot cleaner and method thereof
JPH07270518A (ja) 1994-03-31 1995-10-20 Komatsu Ltd 距離計測装置
JPH07265240A (ja) 1994-03-31 1995-10-17 Hookii:Kk 床面掃除機における壁際用清掃体
KR970000582B1 (ko) 1994-03-31 1997-01-14 삼성전자 주식회사 로보트청소기의 주행제어방법
JPH07281742A (ja) 1994-04-04 1995-10-27 Kubota Corp ビーム光誘導式作業車用の走行制御装置
DE4414683A1 (de) 1994-04-15 1995-10-19 Vorwerk Co Interholding Reinigungsgerät
US5455982A (en) 1994-04-22 1995-10-10 Advance Machine Company Hard and soft floor surface cleaning apparatus
US5802665A (en) 1994-04-25 1998-09-08 Widsor Industries, Inc. Floor cleaning apparatus with two brooms
EP0759157B1 (de) 1994-05-10 1999-07-07 Heinrich Iglseder Verfahren zum nachweis von partikeln in einer 2-phasen-strömung, verwendung des verfahrens und staubsauger
US5507067A (en) 1994-05-12 1996-04-16 Newtronics Pty Ltd. Electronic vacuum cleaner control system
JPH07313417A (ja) 1994-05-30 1995-12-05 Minolta Co Ltd 自走式作業車
SE514791C2 (sv) 1994-06-06 2001-04-23 Electrolux Ab Förbättrat förfarande för lokalisering av fyrar vid självgående anordning
JP3051023B2 (ja) 1994-06-10 2000-06-12 東芝セラミックス株式会社 珪素質分析試料中の不純物高精度分析のための処理方法及びその装置
US5735959A (en) 1994-06-15 1998-04-07 Minolta Co, Ltd. Apparatus spreading fluid on floor while moving
JPH08322774A (ja) 1995-03-24 1996-12-10 Minolta Co Ltd 作業装置
JPH08256960A (ja) 1995-01-24 1996-10-08 Minolta Co Ltd 作業装置
US5636402A (en) 1994-06-15 1997-06-10 Minolta Co., Ltd. Apparatus spreading fluid on floor while moving
JPH08393A (ja) 1994-06-16 1996-01-09 Okamura Corp 椅子の肘掛けの幅間隔調整装置
JPH084921A (ja) 1994-06-23 1996-01-12 Kubota Corp スイング式逆止弁
JPH0816776A (ja) 1994-06-30 1996-01-19 Tokyo Koku Keiki Kk 平滑化処理回路を有するグラフィック表示回路
JP3346513B2 (ja) 1994-07-01 2002-11-18 ミノルタ株式会社 マップ記憶方法及びそのマップを使用する経路作成方法
BE1008470A3 (fr) 1994-07-04 1996-05-07 Colens Andre Dispositif et systeme automatique de depoussierage de sol et engin y adapte.
JPH0822322A (ja) 1994-07-07 1996-01-23 Johnson Kk 床面洗浄車制御方法及び装置
JP2569279B2 (ja) 1994-08-01 1997-01-08 コナミ株式会社 移動体の非接触式位置検出装置
CA2137706C (en) 1994-12-09 2001-03-20 Murray Evans Cutting mechanism
US5551525A (en) 1994-08-19 1996-09-03 Vanderbilt University Climber robot
JP3296105B2 (ja) 1994-08-26 2002-06-24 ミノルタ株式会社 自律移動ロボット
US5454129A (en) 1994-09-01 1995-10-03 Kell; Richard T. Self-powered pool vacuum with remote controlled capabilities
JP3197758B2 (ja) 1994-09-13 2001-08-13 日本電信電話株式会社 光結合装置およびその製造方法
JPH0884696A (ja) 1994-09-16 1996-04-02 Fuji Heavy Ind Ltd 清掃ロボットの制御方法及びその装置
JP3188116B2 (ja) 1994-09-26 2001-07-16 日本輸送機株式会社 自走式掃除機
JPH0889449A (ja) * 1994-09-27 1996-04-09 Kunihiro Michihashi 吸引構造
US6188643B1 (en) 1994-10-13 2001-02-13 Schlumberger Technology Corporation Method and apparatus for inspecting well bore casing
JPH08123548A (ja) 1994-10-24 1996-05-17 Minolta Co Ltd 自律走行車
US5546631A (en) 1994-10-31 1996-08-20 Chambon; Michael D. Waterless container cleaner monitoring system
GB9422911D0 (en) 1994-11-14 1995-01-04 Moonstone Technology Ltd Capacitive touch detectors
US5505072A (en) 1994-11-15 1996-04-09 Tekscan, Inc. Scanning circuit for pressure responsive array
US5560077A (en) 1994-11-25 1996-10-01 Crotchett; Diane L. Vacuum dustpan apparatus
JP3396977B2 (ja) 1994-11-30 2003-04-14 松下電器産業株式会社 移動作業ロボット
GB9500943D0 (en) 1994-12-01 1995-03-08 Popovich Milan M Optical position sensing system
US5710506A (en) 1995-02-07 1998-01-20 Benchmarq Microelectronics, Inc. Lead acid charger
KR100384194B1 (ko) 1995-03-22 2003-08-21 혼다 기켄 고교 가부시키가이샤 흡착식 벽면보행장치
JP3201208B2 (ja) 1995-03-23 2001-08-20 ミノルタ株式会社 自律走行車
US5634237A (en) 1995-03-29 1997-06-03 Paranjpe; Ajit P. Self-guided, self-propelled, convertible cleaning apparatus
IT236779Y1 (it) 1995-03-31 2000-08-17 Dulevo Int Spa Macchina spazzatrice aspirante e filtrante
JPH08286744A (ja) 1995-04-14 1996-11-01 Minolta Co Ltd 自律走行車
US5947225A (en) 1995-04-14 1999-09-07 Minolta Co., Ltd. Automatic vehicle
JPH08286741A (ja) 1995-04-14 1996-11-01 Minolta Co Ltd 自律走行車
GB2300082B (en) 1995-04-21 1999-09-22 British Aerospace Altitude measuring methods
JP3887678B2 (ja) 1995-04-21 2007-02-28 フォルベルク・ウント・ツェーオー、インターホールディング・ゲーエムベーハー 表面の湿式洗浄用真空クリーナのアタッチメント
US5537711A (en) 1995-05-05 1996-07-23 Tseng; Yu-Che Electric board cleaner
SE9501810D0 (sv) 1995-05-16 1995-05-16 Electrolux Ab Skrapa av elastiskt material
IL113913A (en) 1995-05-30 2000-02-29 Friendly Machines Ltd Navigation method and system
US5655658A (en) 1995-05-31 1997-08-12 Eastman Kodak Company Cassette container having effective centering capability
JPH08326025A (ja) 1995-05-31 1996-12-10 Tokico Ltd 清掃ロボット
US5781697A (en) 1995-06-02 1998-07-14 Samsung Electronics Co., Ltd. Method and apparatus for automatic running control of a robot
IT1275326B (it) 1995-06-07 1997-08-05 Bticino Spa Sistema di connessione meccanica ed elettrica tra dispositivi elettronici atti ad essere integrati in apparecchiature elettriche da incasso
US5935333A (en) 1995-06-07 1999-08-10 The Kegel Company Variable speed bowling lane maintenance machine
JPH08335112A (ja) 1995-06-08 1996-12-17 Minolta Co Ltd 移動作業ロボットシステム
JPH08339297A (ja) 1995-06-12 1996-12-24 Fuji Xerox Co Ltd ユーザインタフェース装置
JP2640736B2 (ja) 1995-07-13 1997-08-13 株式会社エイシン技研 クリーニングマシンおよびボーリングレーンメンテナンスマシン
US5555587A (en) 1995-07-20 1996-09-17 The Scott Fetzer Company Floor mopping machine
WO1997004414A2 (en) 1995-07-20 1997-02-06 Dallas Semiconductor Corporation An electronic micro identification circuit that is inherently bonded to a someone or something
JPH0943901A (ja) 1995-07-28 1997-02-14 Dainippon Ink & Chem Inc 電子写真用トナーの製造方法
JPH0944240A (ja) 1995-08-01 1997-02-14 Kubota Corp 移動車の誘導装置
JPH0947413A (ja) 1995-08-08 1997-02-18 Minolta Co Ltd 清掃ロボット
US5814808A (en) 1995-08-28 1998-09-29 Matsushita Electric Works, Ltd. Optical displacement measuring system using a triangulation including a processing of position signals in a time sharing manner
USD375592S (en) 1995-08-29 1996-11-12 Aktiebolaget Electrolux Vacuum cleaner
JPH0966855A (ja) 1995-09-04 1997-03-11 Minolta Co Ltd クローラ式走行車
ES2173323T3 (es) 1995-09-06 2002-10-16 Johnson & Son Inc S C Limpiadores de superficies duras completamente diluidos que contienen altas concentraciones de ciertos aniones.
JPH0981742A (ja) 1995-09-13 1997-03-28 Sharp Corp 解像度測定方法および装置
JP4014662B2 (ja) 1995-09-18 2007-11-28 ファナック株式会社 ロボット教示操作盤
JP3152622B2 (ja) 1995-09-19 2001-04-03 光雄 藤井 ワイパー洗浄方法及び装置
US5819008A (en) 1995-10-18 1998-10-06 Rikagaku Kenkyusho Mobile robot sensor system
US5995449A (en) 1995-10-20 1999-11-30 Baker Hughes Inc. Method and apparatus for improved communication in a wellbore utilizing acoustic signals
SE505115C2 (sv) 1995-10-27 1997-06-30 Electrolux Ab Dammsugarmunstycke innefattande ett borstmunstycke och förfarande för att åstadkomma sugning utefter borstmunstyckets, i rörelseriktningen sett, främre kant
KR0133745B1 (ko) 1995-10-31 1998-04-24 배순훈 다단계 먼지 표시기를 갖는 진공청소기
US5867861A (en) 1995-11-13 1999-02-09 Kasen; Timothy E. Upright water extraction cleaning machine with two suction nozzles
US5777596A (en) 1995-11-13 1998-07-07 Symbios, Inc. Touch sensitive flat panel display
US5996167A (en) 1995-11-16 1999-12-07 3M Innovative Properties Company Surface treating articles and method of making same
JPH09145309A (ja) 1995-11-20 1997-06-06 Kenichi Suzuki 位置検知システム
JP3025348U (ja) 1995-11-30 1996-06-11 株式会社トミー 走行体
JPH09160644A (ja) 1995-12-06 1997-06-20 Fujitsu General Ltd 床清掃ロボットの制御方法
US6049620A (en) 1995-12-15 2000-04-11 Veridicom, Inc. Capacitive fingerprint sensor with adjustable gain
KR970032722A (ko) 1995-12-19 1997-07-22 최진호 무선조정 청소기
JPH09179685A (ja) 1995-12-22 1997-07-11 Fujitsu Ltd ワイヤレス光学式ポインティング装置並びにこれに使用する発光指示器及び光信号検出器
JPH09179625A (ja) 1995-12-26 1997-07-11 Hitachi Electric Syst:Kk 自律走行車の走行制御方法及び走行制御装置
JPH09179100A (ja) 1995-12-27 1997-07-11 Sharp Corp 液晶表示素子
US5793900A (en) 1995-12-29 1998-08-11 Stanford University Generating categorical depth maps using passive defocus sensing
US6373573B1 (en) 2000-03-13 2002-04-16 Lj Laboratories L.L.C. Apparatus for measuring optical characteristics of a substrate and pigments applied thereto
US5989700A (en) 1996-01-05 1999-11-23 Tekscan Incorporated Pressure sensitive ink means, and methods of use
JPH09185410A (ja) 1996-01-08 1997-07-15 Hitachi Electric Syst:Kk 自律走行車の走行制御方法及び走行制御装置
US5784755A (en) 1996-01-18 1998-07-28 White Consolidated Industries, Inc. Wet extractor system
JPH09192069A (ja) 1996-01-19 1997-07-29 Fujitsu General Ltd 床面洗浄車
US6220865B1 (en) 1996-01-22 2001-04-24 Vincent J. Macri Instruction for groups of users interactively controlling groups of images to make idiosyncratic, simulated, physical movements
US6830120B1 (en) 1996-01-25 2004-12-14 Penguin Wax Co., Ltd. Floor working machine with a working implement mounted on a self-propelled vehicle for acting on floor
JP3237500B2 (ja) * 1996-01-29 2001-12-10 ミノルタ株式会社 自律移動作業車
JPH09204223A (ja) 1996-01-29 1997-08-05 Minolta Co Ltd 自律移動作業車
US6574536B1 (en) 1996-01-29 2003-06-03 Minolta Co., Ltd. Moving apparatus for efficiently moving on floor with obstacle
JP3423523B2 (ja) 1996-01-31 2003-07-07 アマノ株式会社 床面洗浄機用スキージ
JP3660042B2 (ja) 1996-02-01 2005-06-15 富士重工業株式会社 清掃ロボットの制御方法
DE19605573C2 (de) 1996-02-15 2000-08-24 Eurocopter Deutschland Dreiachsig drehpositionierbarer Steuerknüppel
DE19605780A1 (de) 1996-02-16 1997-08-21 Branofilter Gmbh Detektionseinrichtung für Filterbeutel in Staubsaugern
US5828770A (en) 1996-02-20 1998-10-27 Northern Digital Inc. System for determining the spatial position and angular orientation of an object
JP3697768B2 (ja) 1996-02-21 2005-09-21 神鋼電機株式会社 自動充電システム
US5659918A (en) 1996-02-23 1997-08-26 Breuer Electric Mfg. Co. Vacuum cleaner and method
EP0847549B1 (en) 1996-03-06 1999-09-22 GMD-Forschungszentrum Informationstechnik GmbH Autonomous mobile robot system for sensor-based and map-based navigation in pipe networks
JPH09244730A (ja) 1996-03-11 1997-09-19 Komatsu Ltd ロボットシステムおよびロボットの制御装置
JPH09251318A (ja) 1996-03-18 1997-09-22 Minolta Co Ltd 段差センサ
BE1013948A3 (nl) 1996-03-26 2003-01-14 Egemin Naanloze Vennootschap Meetsysteem voor het toetsen van de positie van een voertuig en waarneeminrichting hiervoor.
JPH09263140A (ja) * 1996-03-27 1997-10-07 Minolta Co Ltd 無人作業車
JPH09265319A (ja) 1996-03-28 1997-10-07 Minolta Co Ltd 自律走行車
US5732401A (en) 1996-03-29 1998-03-24 Intellitecs International Ltd. Activity based cost tracking systems
JPH09269810A (ja) 1996-03-29 1997-10-14 Minolta Co Ltd 移動体制御装置
US5735017A (en) 1996-03-29 1998-04-07 Bissell Inc. Compact wet/dry vacuum cleaner with flexible bladder
JPH09269807A (ja) 1996-03-29 1997-10-14 Minolta Co Ltd 移動体制御装置
JPH09266871A (ja) * 1996-04-03 1997-10-14 Fuji Heavy Ind Ltd 清掃ロボットの制御方法
US5814591A (en) 1996-04-12 1998-09-29 The Clorox Company Hard surface cleaner with enhanced soil removal
US5972876A (en) 1996-10-17 1999-10-26 Robbins; Michael H. Low odor, hard surface cleaner with enhanced soil removal
SE509317C2 (sv) 1996-04-25 1999-01-11 Electrolux Ab Munstycksarrangemang för en självgående dammsugare
SE506372C2 (sv) 1996-04-30 1997-12-08 Electrolux Ab Självgående anordning
SE506907C2 (sv) 1996-04-30 1998-03-02 Electrolux Ab System och anordning vid självorienterande anordning
US5935179A (en) 1996-04-30 1999-08-10 Aktiebolaget Electrolux System and device for a self orienting device
DE19617986B4 (de) 1996-05-04 2004-02-26 Ing. Haaga Werkzeugbau Kg Kehrmaschine
US5742975A (en) 1996-05-06 1998-04-28 Windsor Industries, Inc. Articulated floor scrubber
SE9601742L (sv) 1996-05-07 1997-11-08 Besam Ab Sätt att bestämma avstånd och läge för ett föremål
JP3343027B2 (ja) 1996-05-17 2002-11-11 アマノ株式会社 床面洗浄機用スキージ
US5831597A (en) 1996-05-24 1998-11-03 Tanisys Technology, Inc. Computer input device for use in conjunction with a mouse input device
JP3493539B2 (ja) 1996-06-03 2004-02-03 ミノルタ株式会社 走行作業ロボット
JPH09315061A (ja) 1996-06-03 1997-12-09 Minolta Co Ltd Ｉｃカードおよびｉｃカード装着装置
JPH09319432A (ja) 1996-06-03 1997-12-12 Minolta Co Ltd 移動ロボット
JPH09319434A (ja) 1996-06-03 1997-12-12 Minolta Co Ltd 移動ロボット
JPH09319431A (ja) 1996-06-03 1997-12-12 Minolta Co Ltd 移動ロボット
JPH09325812A (ja) 1996-06-05 1997-12-16 Minolta Co Ltd 自律移動ロボット
US5983448A (en) 1996-06-07 1999-11-16 Royal Appliance Mfg. Co. Cordless wet mop and vacuum assembly
JP3581911B2 (ja) 1996-06-07 2004-10-27 コニカミノルタホールディングス株式会社 移動走行車
US6101671A (en) 1996-06-07 2000-08-15 Royal Appliance Mfg. Co. Wet mop and vacuum assembly
US6065182A (en) 1996-06-07 2000-05-23 Royal Appliance Mfg. Co. Cordless wet mop and vacuum assembly
US5767960A (en) 1996-06-14 1998-06-16 Ascension Technology Corporation Optical 6D measurement system with three fan-shaped beams rotating around one axis
KR100202079B1 (ko) 1996-06-21 1999-06-15 윤종용 멀티플렉서 동기신호 검출 및 분리방법
WO1997050218A1 (en) 1996-06-26 1997-12-31 Philips Electronics N.V. Trellis coded qam using rate compatible, punctured, convolutional codes
JPH1019542A (ja) 1996-07-08 1998-01-23 Keyence Corp 測定装置
US5812267A (en) 1996-07-10 1998-09-22 The United States Of America As Represented By The Secretary Of The Navy Optically based position location system for an autonomous guided vehicle
US6142252A (en) 1996-07-11 2000-11-07 Minolta Co., Ltd. Autonomous vehicle that runs while recognizing work area configuration, and method of selecting route
JP3395874B2 (ja) 1996-08-12 2003-04-14 ミノルタ株式会社 移動走行車
US5926909A (en) 1996-08-28 1999-07-27 Mcgee; Daniel Remote control vacuum cleaner and charging system
US5756904A (en) 1996-08-30 1998-05-26 Tekscan, Inc. Pressure responsive sensor having controlled scanning speed
JPH10105236A (ja) 1996-09-30 1998-04-24 Minolta Co Ltd 移動体の位置決め装置および移動体の位置決め方法
US5829095A (en) 1996-10-17 1998-11-03 Nilfisk-Advance, Inc. Floor surface cleaning machine
DE19643465C2 (de) 1996-10-22 1999-08-05 Bosch Gmbh Robert Steuervorrichtung für einen optischen Sensor, insbesondere einen Regensensor
JPH10118963A (ja) 1996-10-23 1998-05-12 Minolta Co Ltd 自律移動車
JPH10117973A (ja) 1996-10-23 1998-05-12 Minolta Co Ltd 自律移動車
DE19644570C2 (de) 1996-10-26 1999-11-18 Kaercher Gmbh & Co Alfred Fahrbares Bodenreinigungsgerät
US5815884A (en) 1996-11-27 1998-10-06 Yashima Electric Co., Ltd. Dust indication system for vacuum cleaner
EP0845237B1 (en) 1996-11-29 2000-04-05 YASHIMA ELECTRIC CO., Ltd. Vacuum cleaner
JP3525658B2 (ja) 1996-12-12 2004-05-10 松下電器産業株式会社 空気清浄器の運転制御装置
US5940346A (en) 1996-12-13 1999-08-17 Arizona Board Of Regents Modular robotic platform with acoustic navigation system
US5974348A (en) 1996-12-13 1999-10-26 Rocks; James K. System and method for performing mobile robotic work operations
JPH10177414A (ja) 1996-12-16 1998-06-30 Matsushita Electric Ind Co Ltd 天井画像による走行状態認識装置
US5987696A (en) 1996-12-24 1999-11-23 Wang; Kevin W. Carpet cleaning machine
US6146278A (en) 1997-01-10 2000-11-14 Konami Co., Ltd. Shooting video game machine
WO1998033103A1 (de) 1997-01-22 1998-07-30 Siemens Aktiengesellschaft Verfahren und anordnung zur andockpositionierung einer autonomen mobilen einheit
US6076226A (en) 1997-01-27 2000-06-20 Robert J. Schaap Controlled self operated vacuum cleaning system
JP3375843B2 (ja) 1997-01-29 2003-02-10 本田技研工業株式会社 ロボットの自律走行方法および自律走行ロボットの制御装置
JP3731021B2 (ja) 1997-01-31 2006-01-05 株式会社トプコン 位置検出測量機
JP3323772B2 (ja) 1997-02-13 2002-09-09 本田技研工業株式会社 デッドロック防止装置付自律走行ロボット
US5942869A (en) 1997-02-13 1999-08-24 Honda Giken Kogyo Kabushiki Kaisha Mobile robot control device
US5819367A (en) 1997-02-25 1998-10-13 Yashima Electric Co., Ltd. Vacuum cleaner with optical sensor
BR9807266A (pt) 1997-02-28 2000-05-02 Du Pont Aparelho para agitação de um agente de limpeza em um tapete
JPH10240342A (ja) 1997-02-28 1998-09-11 Minolta Co Ltd 自律走行車
DE19708955A1 (de) 1997-03-05 1998-09-10 Bosch Siemens Hausgeraete Multifunktionales Saugreinigungsgerät
US5995884A (en) 1997-03-07 1999-11-30 Allen; Timothy P. Computer peripheral floor cleaning system and navigation method
US5860707A (en) 1997-03-13 1999-01-19 Rollerblade, Inc. In-line skate wheel
WO1998041081A1 (fr) 1997-03-18 1998-09-24 Solar And Robotics S.A. Ameliorations a une tondeuse robotique
WO1998041822A1 (en) 1997-03-20 1998-09-24 Crotzer David R Dust sensor apparatus
US5767437A (en) 1997-03-20 1998-06-16 Rogers; Donald L. Digital remote pyrotactic firing mechanism
JPH10260727A (ja) 1997-03-21 1998-09-29 Minolta Co Ltd 自動走行作業車
US6587573B1 (en) 2000-03-20 2003-07-01 Gentex Corporation System for controlling exterior vehicle lights
JPH10292655A (ja) * 1997-04-16 1998-11-04 Hitachi Plant Eng & Constr Co Ltd 水槽底部清掃装置
US6119457A (en) 1997-04-23 2000-09-19 Isuzu Ceramics Research Institute Co., Ltd. Heat exchanger apparatus using porous material, and ceramic engine provided with supercharger driven by thermal energy recorded from exhaust gas by the same apparatus
JPH10295595A (ja) 1997-04-23 1998-11-10 Minolta Co Ltd 自律移動作業車
US5987383C1 (en) 1997-04-28 2006-06-13 Trimble Navigation Ltd Form line following guidance system
US6557104B2 (en) 1997-05-02 2003-04-29 Phoenix Technologies Ltd. Method and apparatus for secure processing of cryptographic keys
US6108031A (en) 1997-05-08 2000-08-22 Kaman Sciences Corporation Virtual reality teleoperated remote control vehicle
KR200155821Y1 (ko) 1997-05-12 1999-10-01 최진호 원격제어 진공청소기
JPH10314088A (ja) * 1997-05-15 1998-12-02 Fuji Heavy Ind Ltd 自走式清掃装置
JPH10314078A (ja) * 1997-05-15 1998-12-02 Fuji Heavy Ind Ltd 清掃装置用制御装置
CA2290348A1 (en) 1997-05-19 1998-11-26 Creator Ltd. Apparatus and methods for controlling household appliances
US6070290A (en) 1997-05-27 2000-06-06 Schwarze Industries, Inc. High maneuverability riding turf sweeper and surface cleaning apparatus
IL133233A (en) 1997-05-30 2005-05-17 British Broadcasting Corp Position determination
GB2326353B (en) 1997-06-20 2001-02-28 Wong T K Ass Ltd Toy
JPH1115941A (ja) 1997-06-24 1999-01-22 Minolta Co Ltd Ｉｃカードおよびこれを含むｉｃカードシステム
US6009358A (en) 1997-06-25 1999-12-28 Thomas G. Xydis Programmable lawn mower
JPH1118752A (ja) 1997-07-05 1999-01-26 Masaru Motonaga アロエ酢およびアロエ酢の製造方法
US6032542A (en) 1997-07-07 2000-03-07 Tekscan, Inc. Prepressured force/pressure sensor and method for the fabrication thereof
US6192548B1 (en) 1997-07-09 2001-02-27 Bissell Homecare, Inc. Upright extraction cleaning machine with flow rate indicator
US6438793B1 (en) 1997-07-09 2002-08-27 Bissell Homecare, Inc. Upright extraction cleaning machine
US6131237A (en) 1997-07-09 2000-10-17 Bissell Homecare, Inc. Upright extraction cleaning machine
US5905209A (en) 1997-07-22 1999-05-18 Tekscan, Inc. Output circuit for pressure sensor
AU9068698A (en) 1997-07-23 1999-02-16 Horst Jurgen Duschek Method for controlling an unmanned transport vehicle and unmanned transport vehicle system therefor
US5950408A (en) 1997-07-25 1999-09-14 Mtd Products Inc Bag-full indicator mechanism
US5821730A (en) 1997-08-18 1998-10-13 International Components Corp. Low cost battery sensing technique
US6226830B1 (en) 1997-08-20 2001-05-08 Philips Electronics North America Corp. Vacuum cleaner with obstacle avoidance
JP3489976B2 (ja) 1997-08-21 2004-01-26 株式会社コプロス 円形立坑掘削機
JPH1165655A (ja) 1997-08-26 1999-03-09 Minolta Co Ltd 移動体の制御装置
US5998953A (en) 1997-08-22 1999-12-07 Minolta Co., Ltd. Control apparatus of mobile that applies fluid on floor
JP4282772B2 (ja) 1997-08-25 2009-06-24 コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ 音響式表面タイプ検出器を有する電気表面処理デバイス
JPH1156705A (ja) 1997-08-27 1999-03-02 Tec Corp 電気掃除機の吸込口体
TW410593U (en) 1997-08-29 2000-11-01 Sanyo Electric Co Suction head for electric vacuum cleaner
JPH1185269A (ja) 1997-09-08 1999-03-30 Seibutsukei Tokutei Sangyo Gijutsu Kenkyu Suishin Kiko 移動車の誘導制御装置
US6321337B1 (en) 1997-09-09 2001-11-20 Sanctum Ltd. Method and system for protecting operations of trusted internal networks
SE510524C2 (sv) 1997-09-19 1999-05-31 Electrolux Ab Elektroniskt avgränsningssystem
KR19990025888A (ko) 1997-09-19 1999-04-06 손욱 리튬 계열 이차 전지용 극판의 제조 방법
WO1999016078A1 (fr) 1997-09-19 1999-04-01 Hitachi, Ltd. Composant de circuit integre synchrone
US5933102A (en) 1997-09-24 1999-08-03 Tanisys Technology, Inc. Capacitive sensitive switch method and system
JPH11102220A (ja) 1997-09-26 1999-04-13 Minolta Co Ltd 移動体の制御装置
US6076026A (en) 1997-09-30 2000-06-13 Motorola, Inc. Method and device for vehicle control events data recording and securing
US20010032278A1 (en) 1997-10-07 2001-10-18 Brown Stephen J. Remote generation and distribution of command programs for programmable devices
SE511504C2 (sv) 1997-10-17 1999-10-11 Apogeum Ab Sätt och anordning för associering av anonyma reflektorer till detekterade vinkellägen
US5974365A (en) 1997-10-23 1999-10-26 The United States Of America As Represented By The Secretary Of The Army System for measuring the location and orientation of an object
DE19747318C1 (de) 1997-10-27 1999-05-27 Kaercher Gmbh & Co Alfred Reinigungsgerät
US5943730A (en) 1997-11-24 1999-08-31 Tennant Company Scrubber vac-fan seal
JP4458664B2 (ja) 1997-11-27 2010-04-28 ソーラー・アンド・ロボティクス 移動性ロボット及びその制御システムの改良
US6532404B2 (en) 1997-11-27 2003-03-11 Colens Andre Mobile robots and their control system
GB2331919B (en) 1997-12-05 2002-05-08 Bissell Inc Handheld extraction cleaner
GB2332283A (en) 1997-12-10 1999-06-16 Nec Technologies Coulometric battery state of charge metering
JPH11175149A (ja) 1997-12-10 1999-07-02 Minolta Co Ltd 自律走行車
JPH11174145A (ja) 1997-12-11 1999-07-02 Minolta Co Ltd 超音波測距センサおよび自律走行車
US6055042A (en) 1997-12-16 2000-04-25 Caterpillar Inc. Method and apparatus for detecting obstacles using multiple sensors for range selective detection
JPH11178764A (ja) 1997-12-22 1999-07-06 Honda Motor Co Ltd 移動ロボット
JP3426487B2 (ja) 1997-12-22 2003-07-14 本田技研工業株式会社 掃除ロボット
SE511254C2 (sv) 1998-01-08 1999-09-06 Electrolux Ab Elektroniskt söksystem för arbetsredskap
SE523080C2 (sv) 1998-01-08 2004-03-23 Electrolux Ab Dockningssystem för självgående arbetsredskap
US5967747A (en) 1998-01-20 1999-10-19 Tennant Company Low noise fan
US6099091A (en) 1998-01-20 2000-08-08 Letro Products, Inc. Traction enhanced wheel apparatus
US5984880A (en) 1998-01-20 1999-11-16 Lander; Ralph H Tactile feedback controlled by various medium
JP3479212B2 (ja) 1998-01-21 2003-12-15 本田技研工業株式会社 自走ロボットの制御方法および装置
JP3597384B2 (ja) 1998-06-08 2004-12-08 シャープ株式会社 電気掃除機
US6030464A (en) 1998-01-28 2000-02-29 Azevedo; Steven Method for diagnosing, cleaning and preserving carpeting and other fabrics
JP3051023U (ja) 1998-01-29 1998-08-11 株式会社鈴機商事 履帯用パッド
JPH11213157A (ja) 1998-01-29 1999-08-06 Minolta Co Ltd カメラ搭載移動体
DE19804195A1 (de) 1998-02-03 1999-08-05 Siemens Ag Bahnplanungsverfahren für eine mobile Einheit zur Flächenbearbeitung
US6272936B1 (en) 1998-02-20 2001-08-14 Tekscan, Inc Pressure sensor
SE9800583D0 (sv) 1998-02-26 1998-02-26 Electrolux Ab Dammsugarmunstycke
US6036572A (en) 1998-03-04 2000-03-14 Sze; Chau-King Drive for toy with suction cup feet
US6026539A (en) 1998-03-04 2000-02-22 Bissell Homecare, Inc. Upright vacuum cleaner with full bag and clogged filter indicators thereon
ITTO980209A1 (it) 1998-03-12 1998-06-12 Cavanna Spa Procedimento per comandare il funzionamento di macchine per il trat- tamento di articoli, ad esempio per il confezionamento di prodotti
JPH11282533A (ja) 1998-03-26 1999-10-15 Sharp Corp 移動ロボットシステム
US6263989B1 (en) 1998-03-27 2001-07-24 Irobot Corporation Robotic platform
JP3479215B2 (ja) 1998-03-27 2003-12-15 本田技研工業株式会社 マーク検出による自走ロボット制御方法および装置
KR100384980B1 (ko) 1998-04-03 2003-06-02 마츠시타 덴끼 산교 가부시키가이샤 회전 브러시 장치 및 이를 이용한 전기 기구
JPH11295412A (ja) 1998-04-09 1999-10-29 Minolta Co Ltd 移動体の位置認識装置
US6154279A (en) 1998-04-09 2000-11-28 John W. Newman Method and apparatus for determining shapes of countersunk holes
AUPP299498A0 (en) 1998-04-15 1998-05-07 Commonwealth Scientific And Industrial Research Organisation Method of tracking and sensing position of objects
US6233504B1 (en) 1998-04-16 2001-05-15 California Institute Of Technology Tool actuation and force feedback on robot-assisted microsurgery system
DE19820628C1 (de) 1998-05-08 1999-09-23 Kaercher Gmbh & Co Alfred Kehrmaschine
JP3895464B2 (ja) 1998-05-11 2007-03-22 株式会社東海理化電機製作所 データキャリアシステム
IL124413A (en) 1998-05-11 2001-05-20 Friendly Robotics Ltd System and method for area coverage with an autonomous robot
EP2306229A1 (en) 1998-05-25 2011-04-06 Panasonic Corporation Range finder device and camera
US6941199B1 (en) 1998-07-20 2005-09-06 The Procter & Gamble Company Robotic system
ES2207955T3 (es) 1998-07-20 2004-06-01 THE PROCTER & GAMBLE COMPANY Sistema robotico.
JP2000047728A (ja) 1998-07-28 2000-02-18 Denso Corp 移動ロボットシステムの充電制御装置
US6108859A (en) 1998-07-29 2000-08-29 Alto U. S. Inc. High efficiency squeegee
WO2000007492A1 (de) 1998-07-31 2000-02-17 Volker Sommer Haushaltsroboter zum automatischen staubsaugen von bodenflächen
US6112143A (en) 1998-08-06 2000-08-29 Caterpillar Inc. Method and apparatus for establishing a perimeter defining an area to be traversed by a mobile machine
US6463368B1 (en) 1998-08-10 2002-10-08 Siemens Aktiengesellschaft Method and device for determining a path around a defined reference position
JP2000056831A (ja) 1998-08-12 2000-02-25 Minolta Co Ltd 移動走行車
US6088020A (en) 1998-08-12 2000-07-11 Mitsubishi Electric Information Technology Center America, Inc. (Ita) Haptic device
JP2000056006A (ja) 1998-08-14 2000-02-25 Minolta Co Ltd 移動体の位置認識装置
US6491127B1 (en) 1998-08-14 2002-12-10 3Com Corporation Powered caster wheel module for use on omnidirectional drive systems
JP3478476B2 (ja) * 1998-08-18 2003-12-15 シャープ株式会社 掃除ロボット
JP2000066722A (ja) 1998-08-19 2000-03-03 Minolta Co Ltd 自律走行車および回転角度検出方法
JP2000075925A (ja) 1998-08-28 2000-03-14 Minolta Co Ltd 自律走行車
US6216307B1 (en) 1998-09-25 2001-04-17 Cma Manufacturing Co. Hand held cleaning device
US20020104963A1 (en) 1998-09-26 2002-08-08 Vladimir Mancevski Multidimensional sensing system for atomic force microscopy
JP2000102499A (ja) 1998-09-30 2000-04-11 Kankyo Co Ltd 回転ブラシ付き掃除機
US6108269A (en) 1998-10-01 2000-08-22 Garmin Corporation Method for elimination of passive noise interference in sonar
CA2251243C (en) 1998-10-21 2006-12-19 Robert Dworkowski Distance tracking control system for single pass topographical mapping
DE19849978C2 (de) 1998-10-29 2001-02-08 Erwin Prasler Selbstfahrendes Reinigungsgerät
EP1155787B1 (en) 1998-11-30 2016-10-05 Sony Corporation Robot device and control method thereof
JP3980205B2 (ja) 1998-12-17 2007-09-26 コニカミノルタホールディングス株式会社 作業ロボット
GB2344745B (en) 1998-12-18 2002-06-05 Notetry Ltd Vacuum cleaner
US6513046B1 (en) 1999-12-15 2003-01-28 Tangis Corporation Storing and recalling information to augment human memories
GB2344747B (en) 1998-12-18 2002-05-29 Notetry Ltd Autonomous vacuum cleaner
GB2344750B (en) 1998-12-18 2002-06-26 Notetry Ltd Vacuum cleaner
GB2344888A (en) 1998-12-18 2000-06-21 Notetry Ltd Obstacle detection system
GB2344884A (en) 1998-12-18 2000-06-21 Notetry Ltd Light Detection Apparatus - eg for a robotic cleaning device
GB9827779D0 (en) 1998-12-18 1999-02-10 Notetry Ltd Improvements in or relating to appliances
GB2344751B (en) 1998-12-18 2002-01-09 Notetry Ltd Vacuum cleaner
US6108076A (en) 1998-12-21 2000-08-22 Trimble Navigation Limited Method and apparatus for accurately positioning a tool on a mobile machine using on-board laser and positioning system
KR200211751Y1 (ko) 1998-12-31 2001-02-01 송영소 진공 청소기용 집진 테스터
US6145159A (en) * 1999-01-08 2000-11-14 Royal Appliance Mfg. Co. Combination dirty fluid tank and nozzle for a carpet extractor
DE19900484A1 (de) 1999-01-08 2000-08-10 Wap Reinigungssysteme Meßsystem zur Reststaubüberwachung für Sicherheitssauger
US6238451B1 (en) 1999-01-08 2001-05-29 Fantom Technologies Inc. Vacuum cleaner
US6154917A (en) 1999-01-08 2000-12-05 Royal Appliance Mfg. Co. Carpet extractor housing
US6282526B1 (en) 1999-01-20 2001-08-28 The United States Of America As Represented By The Secretary Of The Navy Fuzzy logic based system and method for information processing with uncertain input data
US6167332A (en) 1999-01-28 2000-12-26 International Business Machines Corporation Method and apparatus suitable for optimizing an operation of a self-guided vehicle
US6124694A (en) 1999-03-18 2000-09-26 Bancroft; Allen J. Wide area navigation for a robot scrubber
JP3513419B2 (ja) 1999-03-19 2004-03-31 キヤノン株式会社 座標入力装置及びその制御方法、コンピュータ可読メモリ
US6338013B1 (en) * 1999-03-19 2002-01-08 Bryan John Ruffner Multifunctional mobile appliance
JP2000275321A (ja) 1999-03-25 2000-10-06 Ushio U-Tech Inc 移動体の位置座標測定方法および装置
JP4198262B2 (ja) 1999-03-29 2008-12-17 富士重工業株式会社 床面清掃ロボットにおける吸塵装置の位置調整機構
DE19931014B4 (de) 1999-05-03 2007-04-19 Volkswagen Ag Abstandssensorik für ein Kraftfahrzeug
JP4512963B2 (ja) 1999-05-10 2010-07-28 ソニー株式会社 ロボット装置及びその制御方法
US6737591B1 (en) 1999-05-25 2004-05-18 Silverbrook Research Pty Ltd Orientation sensing device
GB2350696A (en) 1999-05-28 2000-12-06 Notetry Ltd Visual status indicator for a robotic machine, eg a vacuum cleaner
US6261379B1 (en) 1999-06-01 2001-07-17 Fantom Technologies Inc. Floating agitator housing for a vacuum cleaner head
JP3598881B2 (ja) 1999-06-09 2004-12-08 株式会社豊田自動織機 清掃ロボット
JP4132415B2 (ja) 1999-06-09 2008-08-13 株式会社豊田自動織機 清掃ロボット
JP2000342498A (ja) 1999-06-09 2000-12-12 Toyota Autom Loom Works Ltd 清掃ロボット
ATE459120T1 (de) 1999-06-11 2010-03-15 Abb Research Ltd System für eine eine vielzahl von aktoren aufweisende maschine
US6446302B1 (en) 1999-06-14 2002-09-10 Bissell Homecare, Inc. Extraction cleaning machine with cleaning control
AU5376400A (en) 1999-06-17 2001-01-09 Solar And Robotics S.A. Device for automatically picking up objects
AU6065700A (en) 1999-06-30 2001-01-31 Nilfisk-Advance, Inc. Riding floor scrubber
JP4165965B2 (ja) 1999-07-09 2008-10-15 フィグラ株式会社 自律走行作業車
US6611738B2 (en) 1999-07-12 2003-08-26 Bryan J. Ruffner Multifunctional mobile appliance
GB9917232D0 (en) * 1999-07-23 1999-09-22 Notetry Ltd Method of operating a floor cleaning device
GB9917348D0 (en) * 1999-07-24 1999-09-22 Procter & Gamble Robotic system
US6283034B1 (en) 1999-07-30 2001-09-04 D. Wayne Miles, Jr. Remotely armed ammunition
US6677938B1 (en) 1999-08-04 2004-01-13 Trimble Navigation, Ltd. Generating positional reality using RTK integrated with scanning lasers
JP3700487B2 (ja) 1999-08-30 2005-09-28 トヨタ自動車株式会社 車両位置検出装置
ATE306096T1 (de) 1999-08-31 2005-10-15 Swisscom Ag Mobiler roboter und steuerverfahren für einen mobilen roboter
JP2001087182A (ja) 1999-09-20 2001-04-03 Mitsubishi Electric Corp 電気掃除機
US6480762B1 (en) 1999-09-27 2002-11-12 Olympus Optical Co., Ltd. Medical apparatus supporting system
JP3568837B2 (ja) 1999-09-30 2004-09-22 アマノ株式会社 床面洗浄清掃機
DE19948974A1 (de) 1999-10-11 2001-04-12 Nokia Mobile Phones Ltd Verfahren zum Erkennen und Auswählen einer Tonfolge, insbesondere eines Musikstücks
US6530102B1 (en) 1999-10-20 2003-03-11 Tennant Company Scrubber head anti-vibration mounting
GB2355391A (en) * 1999-10-20 2001-04-25 Notetry Ltd Cyclonic vacuum cleaner with a horizontal, or substantially horizontal, separator
JP2001121455A (ja) 1999-10-29 2001-05-08 Sony Corp 移動ロボットのための充電システム及び充電制御方法、充電ステーション、移動ロボット及びその制御方法
JP4207336B2 (ja) 1999-10-29 2009-01-14 ソニー株式会社 移動ロボットのための充電システム、充電ステーションを探索する方法、移動ロボット、コネクタ、及び、電気的接続構造
JP2001216482A (ja) 1999-11-10 2001-08-10 Matsushita Electric Ind Co Ltd 電気機器及び可搬型記録媒体
IL149558A0 (en) 1999-11-18 2002-11-10 Procter & Gamble Home cleaning robot
US6548982B1 (en) 1999-11-19 2003-04-15 Regents Of The University Of Minnesota Miniature robotic vehicles and methods of controlling same
US6374155B1 (en) 1999-11-24 2002-04-16 Personal Robotics, Inc. Autonomous multi-platform robot system
US6362875B1 (en) 1999-12-10 2002-03-26 Cognax Technology And Investment Corp. Machine vision system and method for inspection, homing, guidance and docking with respect to remote objects
DE19960591A1 (de) * 1999-12-16 2001-06-21 Laser & Med Tech Gmbh Wand- und Boden-Kavitationsreiniger
US6263539B1 (en) 1999-12-23 2001-07-24 Taf Baig Carpet/floor cleaning wand and machine
JP4019586B2 (ja) 1999-12-27 2007-12-12 富士電機リテイルシステムズ株式会社 店舗管理システム、情報管理方法およびその方法をコンピュータに実行させるプログラムを記録したコンピュータ読み取り可能な記録媒体
JP2001197008A (ja) 2000-01-13 2001-07-19 Tsubakimoto Chain Co 移動体光通信システム、受光装置、光通信装置及び搬送装置
US6467122B2 (en) 2000-01-14 2002-10-22 Bissell Homecare, Inc. Deep cleaner with tool mount
US6146041A (en) 2000-01-19 2000-11-14 Chen; He-Jin Sponge mop with cleaning tank attached thereto
US6332400B1 (en) 2000-01-24 2001-12-25 The United States Of America As Represented By The Secretary Of The Navy Initiating device for use with telemetry systems
US8412377B2 (en) 2000-01-24 2013-04-02 Irobot Corporation Obstacle following sensor scheme for a mobile robot
JP2001289939A (ja) 2000-02-02 2001-10-19 Mitsubishi Electric Corp 超音波送受信装置及び車両周辺障害物検出装置
US6418586B2 (en) 2000-02-02 2002-07-16 Alto U.S., Inc. Liquid extraction machine
US6421870B1 (en) 2000-02-04 2002-07-23 Tennant Company Stacked tools for overthrow sweeping
DE10006493C2 (de) 2000-02-14 2002-02-07 Hilti Ag Verfahren und Vorrichtung zur optoelektronischen Entfernungsmessung
US6276478B1 (en) 2000-02-16 2001-08-21 Kathleen Garrubba Hopkins Adherent robot
DE10007864A1 (de) 2000-02-21 2001-08-30 Wittenstein Gmbh & Co Kg Verfahren zum Erkennen, Bestimmen, Lokalisieren zumindest eines beliebigen Gegenstandes und/oder Raumes
WO2001062173A2 (en) 2000-02-25 2001-08-30 The Board Of Trustees Of The Leland Stanford Junior University Methods and apparatuses for maintaining a trajectory in sterotaxi for tracking a target inside a body
US6490539B1 (en) 2000-02-28 2002-12-03 Case Corporation Region of interest selection for varying distances between crop rows for a vision guidance system
US6278918B1 (en) 2000-02-28 2001-08-21 Case Corporation Region of interest selection for a vision guidance system
US6285930B1 (en) 2000-02-28 2001-09-04 Case Corporation Tracking improvement for a vision guidance system
JP2001258807A (ja) 2000-03-16 2001-09-25 Sharp Corp 自走式電気掃除機
JP2001265437A (ja) 2000-03-16 2001-09-28 Figla Co Ltd 移動体制御装置
US6443509B1 (en) 2000-03-21 2002-09-03 Friendly Robotics Ltd. Tactile sensor
US6540424B1 (en) 2000-03-24 2003-04-01 The Clorox Company Advanced cleaning system
JP3895092B2 (ja) 2000-03-24 2007-03-22 富士通株式会社 通信システム
JP2001275908A (ja) 2000-03-30 2001-10-09 Matsushita Seiko Co Ltd 清掃装置
JP4032603B2 (ja) 2000-03-31 2008-01-16 コニカミノルタセンシング株式会社 ３次元計測装置
JP2001277163A (ja) 2000-04-03 2001-10-09 Sony Corp ロボットの制御装置及び制御方法
US20010045883A1 (en) 2000-04-03 2001-11-29 Holdaway Charles R. Wireless digital launch or firing system
JP4480843B2 (ja) 2000-04-03 2010-06-16 ソニー株式会社 脚式移動ロボット及びその制御方法、並びに、脚式移動ロボット用相対移動測定センサ
US6870792B2 (en) 2000-04-04 2005-03-22 Irobot Corporation Sonar Scanner
US6956348B2 (en) 2004-01-28 2005-10-18 Irobot Corporation Debris sensor for cleaning apparatus
AU2001253151A1 (en) 2000-04-04 2001-10-15 Irobot Corporation Wheeled platforms
KR100332984B1 (ko) 2000-04-24 2002-04-15 이충전 업라이트형 진공청소기의 에지브러쉬 결합구조
DE10020503A1 (de) 2000-04-26 2001-10-31 Bsh Bosch Siemens Hausgeraete Vorrichtung zur Durchführung von Arbeiten an einer Fläche
US6769004B2 (en) 2000-04-27 2004-07-27 Irobot Corporation Method and system for incremental stack scanning
JP2001306170A (ja) 2000-04-27 2001-11-02 Canon Inc 画像処理装置、画像処理システム、画像処理装置使用制限方法及び記憶媒体
EP2363775A1 (en) 2000-05-01 2011-09-07 iRobot Corporation Method and system for remote control of mobile robot
US6845297B2 (en) 2000-05-01 2005-01-18 Irobot Corporation Method and system for remote control of mobile robot
US6633150B1 (en) 2000-05-02 2003-10-14 Personal Robotics, Inc. Apparatus and method for improving traction for a mobile robot
JP2001320781A (ja) 2000-05-10 2001-11-16 Inst Of Physical & Chemical Res データ・キャリア・システムを用いた支援システム
US6454036B1 (en) 2000-05-15 2002-09-24 ′Bots, Inc. Autonomous vehicle navigation system and method
US6854148B1 (en) 2000-05-26 2005-02-15 Poolvernguegen Four-wheel-drive automatic swimming pool cleaner
US6481515B1 (en) 2000-05-30 2002-11-19 The Procter & Gamble Company Autonomous mobile surface treating apparatus
US6385515B1 (en) 2000-06-15 2002-05-07 Case Corporation Trajectory path planner for a vision guidance system
US6629028B2 (en) 2000-06-29 2003-09-30 Riken Method and system of optical guidance of mobile body
US6397429B1 (en) 2000-06-30 2002-06-04 Nilfisk-Advance, Inc. Riding floor scrubber
JP3833903B2 (ja) * 2000-07-11 2006-10-18 株式会社東芝 半導体装置の製造方法
US6539284B2 (en) 2000-07-25 2003-03-25 Axonn Robotics, Llc Socially interactive autonomous robot
EP1176487A1 (de) 2000-07-27 2002-01-30 Gmd - Forschungszentrum Informationstechnik Gmbh Autonom navigierendes Robotersystem
US6571422B1 (en) 2000-08-01 2003-06-03 The Hoover Company Vacuum cleaner with a microprocessor-based dirt detection circuit
KR100391179B1 (ko) * 2000-08-02 2003-07-12 한국전력공사 고방사성미세분진폐기물 원격조종이동형청소장치
JP2002073170A (ja) 2000-08-25 2002-03-12 Matsushita Electric Ind Co Ltd 移動作業ロボット
US6832407B2 (en) 2000-08-25 2004-12-21 The Hoover Company Moisture indicator for wet pick-up suction cleaner
WO2002019104A1 (fr) 2000-08-28 2002-03-07 Sony Corporation Dispositif et procede de communication, systeme de reseau et appareil robotise
JP3674481B2 (ja) 2000-09-08 2005-07-20 松下電器産業株式会社 自走式掃除機
US7040869B2 (en) 2000-09-14 2006-05-09 Jan W. Beenker Method and device for conveying media
KR20020022444A (ko) 2000-09-20 2002-03-27 김대홍 모형비행기용 기체 및 이를 이용한 모형비행기
US20050255425A1 (en) 2000-09-21 2005-11-17 Pierson Paul R Mixing tip for dental materials
EP1191166A1 (en) 2000-09-26 2002-03-27 The Procter & Gamble Company Process of cleaning the inner surface of a water-containing vessel
US6674259B1 (en) 2000-10-06 2004-01-06 Innovation First, Inc. System and method for managing and controlling a robot competition
USD458318S1 (en) 2000-10-10 2002-06-04 Sharper Image Corporation Robot
US6658693B1 (en) 2000-10-12 2003-12-09 Bissell Homecare, Inc. Hand-held extraction cleaner with turbine-driven brush
US6690993B2 (en) 2000-10-12 2004-02-10 R. Foulke Development Company, Llc Reticle storage system
US6457206B1 (en) 2000-10-20 2002-10-01 Scott H. Judson Remote-controlled vacuum cleaner
NO313533B1 (no) 2000-10-30 2002-10-21 Torbjoern Aasen Mobil robot
US6615885B1 (en) 2000-10-31 2003-09-09 Irobot Corporation Resilient wheel structure
JP2002307354A (ja) 2000-11-07 2002-10-23 Sega Toys:Kk 電子玩具
AUPR154400A0 (en) 2000-11-17 2000-12-14 Duplex Cleaning Machines Pty. Limited Robot machine
US6496754B2 (en) 2000-11-17 2002-12-17 Samsung Kwangju Electronics Co., Ltd. Mobile robot and course adjusting method thereof
US6571415B2 (en) 2000-12-01 2003-06-03 The Hoover Company Random motion cleaner
US6572711B2 (en) 2000-12-01 2003-06-03 The Hoover Company Multi-purpose position sensitive floor cleaning device
SE0004465D0 (sv) 2000-12-04 2000-12-04 Abb Ab Robot system
JP4084921B2 (ja) 2000-12-13 2008-04-30 日産自動車株式会社 ブローチ盤の切屑除去装置
JP3946499B2 (ja) 2000-12-27 2007-07-18 フジノン株式会社 被観察体の姿勢検出方法およびこれを用いた装置
US6661239B1 (en) 2001-01-02 2003-12-09 Irobot Corporation Capacitive sensor systems and methods with increased resolution and automatic calibration
US6388013B1 (en) 2001-01-04 2002-05-14 Equistar Chemicals, Lp Polyolefin fiber compositions
US6444003B1 (en) 2001-01-08 2002-09-03 Terry Lee Sutcliffe Filter apparatus for sweeper truck hopper
JP4479101B2 (ja) 2001-01-12 2010-06-09 パナソニック株式会社 自走式掃除機
JP2002204768A (ja) 2001-01-12 2002-07-23 Matsushita Electric Ind Co Ltd 自走式掃除機
US6658325B2 (en) 2001-01-16 2003-12-02 Stephen Eliot Zweig Mobile robotic with web server and digital radio links
US6690134B1 (en) 2001-01-24 2004-02-10 Irobot Corporation Method and system for robot localization and confinement
US7571511B2 (en) 2002-01-03 2009-08-11 Irobot Corporation Autonomous floor-cleaning robot
KR100845473B1 (ko) 2001-01-25 2008-07-11 코닌클리케 필립스 일렉트로닉스 엔.브이. 사이클로이드 운동을 통한 표면 진공 청소용 로봇
FR2820216B1 (fr) 2001-01-26 2003-04-25 Wany Sa Procede et dispositif de detection d'obstacle et de mesure de distance par rayonnement infrarouge
ITMI20010193A1 (it) 2001-02-01 2002-08-01 Pierangelo Bertola Spazzola raccoglibriciole con mezzi perfezionati per il trattenimentodello sporco raccolto
ITFI20010021A1 (it) 2001-02-07 2002-08-07 Zucchetti Ct Sistemi S P A Apparecchio pulitore aspirante automatico per pavimenti
US6530117B2 (en) 2001-02-12 2003-03-11 Robert A. Peterson Wet vacuum
US6810305B2 (en) 2001-02-16 2004-10-26 The Procter & Gamble Company Obstruction management system for robots
JP4438237B2 (ja) 2001-02-22 2010-03-24 ソニー株式会社 受信装置および方法、記録媒体、並びにプログラム
ES2225775T5 (es) * 2001-02-24 2008-04-01 Dyson Technology Limited Camara colectora para aspiradora.
SE518483C2 (sv) 2001-02-28 2002-10-15 Electrolux Ab Hjulupphängning för en självgående städapparat
DE10110905A1 (de) 2001-03-07 2002-10-02 Kaercher Gmbh & Co Alfred Bodenbearbeitungsgerät, insbesondere Bodenreinigungsgerät
DE10110907A1 (de) 2001-03-07 2002-09-19 Kaercher Gmbh & Co Alfred Bodenreinigungsgerät
DE10110906A1 (de) 2001-03-07 2002-09-19 Kaercher Gmbh & Co Alfred Kehrgerät
US6842318B2 (en) 2001-03-15 2005-01-11 Microsemi Corporation Low leakage input protection device and scheme for electrostatic discharge
SE0100924D0 (sv) 2001-03-15 2001-03-15 Electrolux Ab Energy-efficient navigation of an autonomous surface treatment apparatus
SE518395C2 (sv) 2001-03-15 2002-10-01 Electrolux Ab Närhetsavkännande system för en autonom anordning och ultraljudgivare
SE518683C2 (sv) * 2001-03-15 2002-11-05 Electrolux Ab Förfarande och anordning för positionsbestämning av en autonom apparat
US6925679B2 (en) 2001-03-16 2005-08-09 Vision Robotics Corporation Autonomous vacuum cleaner
SE523318C2 (sv) 2001-03-20 2004-04-13 Ingenjoers N D C Netzler & Dah Kamerabaserad avstånds- och vinkelmätare
JP3849442B2 (ja) 2001-03-27 2006-11-22 株式会社日立製作所 自走式掃除機
DE10116892A1 (de) 2001-04-04 2002-10-17 Outokumpu Oy Verfahren zum Fördern von körnigen Feststoffen
US7328196B2 (en) 2003-12-31 2008-02-05 Vanderbilt University Architecture for multiple interacting robot intelligences
JP2002369778A (ja) 2001-04-13 2002-12-24 Yashima Denki Co Ltd ゴミ検出装置及び電気掃除機
KR100437372B1 (ko) 2001-04-18 2004-06-25 삼성광주전자 주식회사 이동통신망을 이용한 로봇 청소 시스템
AU767561B2 (en) 2001-04-18 2003-11-13 Samsung Kwangju Electronics Co., Ltd. Robot cleaner, system employing the same and method for reconnecting to external recharging device
RU2220643C2 (ru) 2001-04-18 2004-01-10 Самсунг Гванджу Электроникс Ко., Лтд. Автоматическое чистящее устройство, автоматическая чистящая система и способ управления этой системой (варианты)
US6929548B2 (en) 2002-04-23 2005-08-16 Xiaoling Wang Apparatus and a method for more realistic shooting video games on computers or similar devices
JP2002323926A (ja) * 2001-04-24 2002-11-08 Toshiba Tec Corp 自律走行車
US6408226B1 (en) 2001-04-24 2002-06-18 Sandia Corporation Cooperative system and method using mobile robots for testing a cooperative search controller
US6438456B1 (en) 2001-04-24 2002-08-20 Sandia Corporation Portable control device for networked mobile robots
US6687571B1 (en) 2001-04-24 2004-02-03 Sandia Corporation Cooperating mobile robots
FR2823842B1 (fr) 2001-04-24 2003-09-05 Romain Granger Procede de mesure pour determiner la position et l'orientation d'un ensemble mobile, et dispositif pour mettre en oeuvre ledit procede
JP2002323925A (ja) 2001-04-26 2002-11-08 Matsushita Electric Ind Co Ltd 移動作業ロボット
US6540607B2 (en) 2001-04-26 2003-04-01 Midway Games West Video game position and orientation detection system
US20020159051A1 (en) 2001-04-30 2002-10-31 Mingxian Guo Method for optical wavelength position searching and tracking
US7809944B2 (en) 2001-05-02 2010-10-05 Sony Corporation Method and apparatus for providing information for decrypting content, and program executed on information processor
US6487474B1 (en) 2001-05-10 2002-11-26 International Business Machines Corporation Automated data storage library with multipurpose slots providing user-selected control path to shared robotic device
JP2002333920A (ja) 2001-05-11 2002-11-22 Figla Co Ltd 作業用移動体の移動制御装置
US6711280B2 (en) 2001-05-25 2004-03-23 Oscar M. Stafsudd Method and apparatus for intelligent ranging via image subtraction
EP1408729B1 (fr) 2001-05-28 2016-10-26 Husqvarna AB Amelioration d'une tondeuse robotique
JP4802397B2 (ja) 2001-05-30 2011-10-26 コニカミノルタホールディングス株式会社 画像撮影システム、および操作装置
JP2002355206A (ja) 2001-06-04 2002-12-10 Matsushita Electric Ind Co Ltd 自走式電気掃除機
US6763282B2 (en) 2001-06-04 2004-07-13 Time Domain Corp. Method and system for controlling a robot
JP3356170B1 (ja) 2001-06-05 2002-12-09 松下電器産業株式会社 掃除ロボット
US6901624B2 (en) 2001-06-05 2005-06-07 Matsushita Electric Industrial Co., Ltd. Self-moving cleaner
JP4017840B2 (ja) 2001-06-05 2007-12-05 松下電器産業株式会社 自走式掃除機
JP2002366227A (ja) 2001-06-05 2002-12-20 Matsushita Electric Ind Co Ltd 移動作業ロボット
US6670817B2 (en) 2001-06-07 2003-12-30 Heidelberger Druckmaschinen Ag Capacitive toner level detection
US7663333B2 (en) 2001-06-12 2010-02-16 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US6473167B1 (en) 2001-06-14 2002-10-29 Ascension Technology Corporation Position and orientation determination using stationary fan beam sources and rotating mirrors to sweep fan beams
US6685092B2 (en) 2001-06-15 2004-02-03 Symbol Technologies, Inc. Molded imager optical package and miniaturized linear sensor-based code reading engines
JP2003005296A (ja) 2001-06-18 2003-01-08 Noritsu Koki Co Ltd 写真処理装置
US6604021B2 (en) 2001-06-21 2003-08-05 Advanced Telecommunications Research Institute International Communication robot
JP2003010076A (ja) 2001-06-27 2003-01-14 Figla Co Ltd 電気掃除機
JP4553524B2 (ja) 2001-06-27 2010-09-29 フィグラ株式会社 液体塗布方法
US6600844B2 (en) * 2001-06-29 2003-07-29 Hrl Laboratories, Llc Highly linear electro-optic delay generator for all-optical pulse-position modulation
KR100900848B1 (ko) 2001-06-29 2009-06-04 바스프 에스이 이소부탄으로부터 메타크롤레인을 제조하는 방법
JP2003015740A (ja) 2001-07-04 2003-01-17 Figla Co Ltd 作業用移動体の移動制御装置
US6622465B2 (en) 2001-07-10 2003-09-23 Deere & Company Apparatus and method for a material collection fill indicator
JP2003030543A (ja) 2001-07-11 2003-01-31 Dainippon Printing Co Ltd キャンペーン参加者管理サーバー
JP4601215B2 (ja) 2001-07-16 2010-12-22 三洋電機株式会社 極低温冷凍装置
US20030233870A1 (en) 2001-07-18 2003-12-25 Xidex Corporation Multidimensional sensing system for atomic force microscopy
JP2003036116A (ja) 2001-07-25 2003-02-07 Toshiba Tec Corp 自律走行ロボット
US6671925B2 (en) 2001-07-30 2004-01-06 Tennant Company Chemical dispenser for a hard floor surface cleaner
US6585827B2 (en) 2001-07-30 2003-07-01 Tennant Company Apparatus and method of use for cleaning a hard floor surface utilizing an aerated cleaning liquid
US6735811B2 (en) 2001-07-30 2004-05-18 Tennant Company Cleaning liquid dispensing system for a hard floor surface cleaner
JP2003038401A (ja) 2001-08-01 2003-02-12 Toshiba Tec Corp 掃除装置
JP2003038402A (ja) 2001-08-02 2003-02-12 Toshiba Tec Corp 掃除装置
JP2003047579A (ja) 2001-08-06 2003-02-18 Toshiba Tec Corp 掃除装置
FR2828589B1 (fr) 2001-08-07 2003-12-05 France Telecom Systeme de connexion electrique entre un vehicule et une station de recharge ou similaire
KR100420171B1 (ko) 2001-08-07 2004-03-02 삼성광주전자 주식회사 로봇 청소기와 그 시스템 및 제어방법
US6580246B2 (en) 2001-08-13 2003-06-17 Steven Jacobs Robot touch shield
JP2003061882A (ja) 2001-08-28 2003-03-04 Matsushita Electric Ind Co Ltd 自走式掃除機
US20030168081A1 (en) 2001-09-06 2003-09-11 Timbucktoo Mfg., Inc. Motor-driven, portable, adjustable spray system for cleaning hard surfaces
JP2003084994A (ja) 2001-09-12 2003-03-20 Olympus Optical Co Ltd 医療システム
ATE309736T1 (de) * 2001-09-14 2005-12-15 Vorwerk Co Interholding Selbsttätig verfahrbares bodenstaub- aufsammelgerät, sowie kombination eines derartigen aufsammelgerätes und einer basisstaton
DE10242257C5 (de) 2001-09-14 2017-05-11 Vorwerk & Co. Interholding Gmbh Selbsttätig verfahrbares Bodenstaub-Aufsammelgerät, sowie Kombination eines derartigen Aufsammelgerätes und einer Basisstation
JP2003079550A (ja) 2001-09-17 2003-03-18 Toshiba Tec Corp 掃除装置
JP2003179556A (ja) 2001-09-21 2003-06-27 Casio Comput Co Ltd 情報伝送方式、情報伝送システム、撮像装置、および、情報伝送方法
AU2002341358A1 (en) * 2001-09-26 2003-04-07 Friendly Robotics Ltd. Robotic vacuum cleaner
US6624744B1 (en) 2001-10-05 2003-09-23 William Neil Wilson Golf cart keyless control system
US6980229B1 (en) 2001-10-16 2005-12-27 Ebersole Jr John F System for precise rotational and positional tracking
GB0126492D0 (en) 2001-11-03 2002-01-02 Dyson Ltd An autonomous machine
GB0126497D0 (en) 2001-11-03 2002-01-02 Dyson Ltd An autonomous machine
DE10155271A1 (de) 2001-11-09 2003-05-28 Bosch Gmbh Robert Common-Rail-Injektor
US6776817B2 (en) 2001-11-26 2004-08-17 Honeywell International Inc. Airflow sensor, system and method for detecting airflow within an air handling system
JP2003167628A (ja) 2001-11-28 2003-06-13 Figla Co Ltd 自律走行作業車
KR100449710B1 (ko) 2001-12-10 2004-09-22 삼성전자주식회사 원격 포인팅 방법 및 이에 적합한 장치
JP3626724B2 (ja) 2001-12-14 2005-03-09 株式会社日立製作所 自走式掃除機
US6860206B1 (en) 2001-12-14 2005-03-01 Irobot Corporation Remote digital firing system
JP3986310B2 (ja) 2001-12-19 2007-10-03 シャープ株式会社 親子型電気掃除機
JP3907169B2 (ja) 2001-12-21 2007-04-18 富士フイルム株式会社 移動ロボット
JP2003190064A (ja) * 2001-12-25 2003-07-08 Duskin Co Ltd 自走式掃除機
US7335271B2 (en) 2002-01-02 2008-02-26 Lewis & Clark College Adhesive microstructure and method of forming same
US6886651B1 (en) 2002-01-07 2005-05-03 Massachusetts Institute Of Technology Material transportation system
USD474312S1 (en) 2002-01-11 2003-05-06 The Hoover Company Robotic vacuum cleaner
JP4088589B2 (ja) 2002-01-18 2008-05-21 株式会社日立製作所 レーダ装置
US9128486B2 (en) 2002-01-24 2015-09-08 Irobot Corporation Navigational control system for a robotic device
DE60301148T2 (de) 2002-01-24 2006-06-01 Irobot Corp., Burlington Verfahren und System zur Roboterlokalisierung und Beschränkung des Arbeitsbereichs
US6674687B2 (en) 2002-01-25 2004-01-06 Navcom Technology, Inc. System and method for navigation using two-way ultrasonic positioning
US6856811B2 (en) 2002-02-01 2005-02-15 Warren L. Burdue Autonomous portable communication network
US6844606B2 (en) 2002-02-04 2005-01-18 Delphi Technologies, Inc. Surface-mount package for an optical sensing device and method of manufacture
JP2003241836A (ja) 2002-02-19 2003-08-29 Keio Gijuku 自走移動体の制御方法および装置
US6735812B2 (en) 2002-02-22 2004-05-18 Tennant Company Dual mode carpet cleaning apparatus utilizing an extraction device and a soil transfer cleaning medium
US6756703B2 (en) 2002-02-27 2004-06-29 Chi Che Chang Trigger switch module
US7860680B2 (en) 2002-03-07 2010-12-28 Microstrain, Inc. Robotic system for powering and interrogating sensors
JP3863447B2 (ja) 2002-03-08 2006-12-27 インターナショナル・ビジネス・マシーンズ・コーポレーション 認証システム、ファームウェア装置、電気機器、及び認証方法
JP3812463B2 (ja) 2002-03-08 2006-08-23 株式会社日立製作所 方向検出装置およびそれを搭載した自走式掃除機
JP2002360482A (ja) 2002-03-15 2002-12-17 Matsushita Electric Ind Co Ltd 自走式掃除機
US6658354B2 (en) 2002-03-15 2003-12-02 American Gnc Corporation Interruption free navigator
JP4058974B2 (ja) * 2002-03-19 2008-03-12 松下電器産業株式会社 自走式機器
US6832139B2 (en) 2002-03-21 2004-12-14 Rapistan Systems Advertising Corp. Graphical system configuration program for material handling
JP4032793B2 (ja) 2002-03-27 2008-01-16 ソニー株式会社 充電システム及び充電制御方法、ロボット装置、及び充電制御プログラム及び記録媒体
US7103457B2 (en) 2002-03-28 2006-09-05 Dean Technologies, Inc. Programmable lawn mower
JP2004001162A (ja) 2002-03-28 2004-01-08 Fuji Photo Film Co Ltd ペットロボット充電システム、受取装置、ロボット、及びロボットシステム
JP2003296855A (ja) 2002-03-29 2003-10-17 Toshiba Corp 監視装置
KR20030082040A (ko) 2002-04-16 2003-10-22 삼성광주전자 주식회사 로봇 청소기
JP2003304992A (ja) 2002-04-17 2003-10-28 Hitachi Ltd 自走式掃除機
US20040068415A1 (en) 2002-04-22 2004-04-08 Neal Solomon System, methods and apparatus for coordination of and targeting for mobile robotic vehicles
US20040068416A1 (en) 2002-04-22 2004-04-08 Neal Solomon System, method and apparatus for implementing a mobile sensor network
US20040068351A1 (en) 2002-04-22 2004-04-08 Neal Solomon System, methods and apparatus for integrating behavior-based approach into hybrid control model for use with mobile robotic vehicles
JP2003310509A (ja) 2002-04-23 2003-11-05 Hitachi Ltd 自走式掃除機
JP2002366226A (ja) * 2002-04-24 2002-12-20 Matsushita Electric Ind Co Ltd 移動装置
US6691058B2 (en) 2002-04-29 2004-02-10 Hewlett-Packard Development Company, L.P. Determination of pharmaceutical expiration date
US7113847B2 (en) 2002-05-07 2006-09-26 Royal Appliance Mfg. Co. Robotic vacuum with removable portable vacuum and semi-automated environment mapping
US6836701B2 (en) 2002-05-10 2004-12-28 Royal Appliance Mfg. Co. Autonomous multi-platform robotic system
JP2003330543A (ja) 2002-05-17 2003-11-21 Toshiba Tec Corp 充電式自律走行システム
JP2003340759A (ja) 2002-05-20 2003-12-02 Sony Corp ロボット装置およびロボット制御方法、記録媒体、並びにプログラム
GB0211644D0 (en) 2002-05-21 2002-07-03 Wesby Philip B System and method for remote asset management
EP1523724A2 (en) 2002-06-06 2005-04-20 Instrumentarium Corporation Method and system for selectively tracking and monitoring activities
JP4195968B2 (ja) * 2002-06-14 2008-12-17 パナソニック株式会社 自走式掃除機
DE10226853B3 (de) 2002-06-15 2004-02-19 Kuka Roboter Gmbh Verfahren zum Begrenzen der Krafteinwirkung eines Roboterteils
US6967275B2 (en) 2002-06-25 2005-11-22 Irobot Corporation Song-matching system and method
KR100556612B1 (ko) 2002-06-29 2006-03-06 삼성전자주식회사 레이저를 이용한 위치 측정 장치 및 방법
DE10231390A1 (de) 2002-07-08 2004-02-05 Alfred Kärcher Gmbh & Co. Kg Sauggerät für Reinigungszwecke
DE10231391A1 (de) 2002-07-08 2004-02-12 Alfred Kärcher Gmbh & Co. Kg Bodenbearbeitungssystem
DE10231384A1 (de) 2002-07-08 2004-02-05 Alfred Kärcher Gmbh & Co. Kg Verfahren zum Betreiben eines Bodenreinigungssystems sowie Bodenreinigungssystem zur Anwendung des Verfahrens
US20050150519A1 (en) 2002-07-08 2005-07-14 Alfred Kaercher Gmbh & Co. Kg Method for operating a floor cleaning system, and floor cleaning system for use of the method
DE10231387A1 (de) 2002-07-08 2004-02-12 Alfred Kärcher Gmbh & Co. Kg Bodenreinigungsgerät
DE10231386B4 (de) 2002-07-08 2004-05-06 Alfred Kärcher Gmbh & Co. Kg Sensorvorrichtung sowie selbstfahrendes Bodenreinigungsgerät mit einer Sensorvorrichtung
DE10231388A1 (de) * 2002-07-08 2004-02-05 Alfred Kärcher Gmbh & Co. Kg Bodenbearbeitungssystem
US6925357B2 (en) 2002-07-25 2005-08-02 Intouch Health, Inc. Medical tele-robotic system
US6741364B2 (en) 2002-08-13 2004-05-25 Harris Corporation Apparatus for determining relative positioning of objects and related methods
US7085623B2 (en) 2002-08-15 2006-08-01 Asm International Nv Method and system for using short ranged wireless enabled computers as a service tool
AU2003256435A1 (en) 2002-08-16 2004-03-03 Evolution Robotics, Inc. Systems and methods for the automated sensing of motion in a mobile robot using visual data
USD478884S1 (en) 2002-08-23 2003-08-26 Motorola, Inc. Base for a cordless telephone
US7103447B2 (en) 2002-09-02 2006-09-05 Sony Corporation Robot apparatus, and behavior controlling method for robot apparatus
US7054716B2 (en) 2002-09-06 2006-05-30 Royal Appliance Mfg. Co. Sentry robot system
US8428778B2 (en) 2002-09-13 2013-04-23 Irobot Corporation Navigational control system for a robotic device
US20040143919A1 (en) 2002-09-13 2004-07-29 Wildwood Industries, Inc. Floor sweeper having a viewable receptacle
WO2004025947A2 (en) 2002-09-13 2004-03-25 Irobot Corporation A navigational control system for a robotic device
JP3875941B2 (ja) 2002-09-30 2007-01-31 三菱電機株式会社 車両走行支援装置および車両走行支援サービスの提供方法
WO2004031878A1 (ja) 2002-10-01 2004-04-15 Fujitsu Limited ロボット
JP2004123040A (ja) 2002-10-07 2004-04-22 Figla Co Ltd 全方向移動車
US7054718B2 (en) 2002-10-11 2006-05-30 Sony Corporation Motion editing apparatus and method for legged mobile robot and computer program
US7303010B2 (en) 2002-10-11 2007-12-04 Intelligent Robotic Corporation Apparatus and method for an autonomous robotic system for performing activities in a well
US6871115B2 (en) 2002-10-11 2005-03-22 Taiwan Semiconductor Manufacturing Co., Ltd Method and apparatus for monitoring the operation of a wafer handling robot
US6804579B1 (en) 2002-10-16 2004-10-12 Abb, Inc. Robotic wash cell using recycled pure water
KR100492577B1 (ko) 2002-10-22 2005-06-03 엘지전자 주식회사 로봇 청소기의 흡입헤드
KR100459465B1 (ko) 2002-10-22 2004-12-03 엘지전자 주식회사 로봇 청소기의 먼지흡입구조
US7069124B1 (en) 2002-10-28 2006-06-27 Workhorse Technologies, Llc Robotic modeling of voids
KR100468107B1 (ko) 2002-10-31 2005-01-26 삼성광주전자 주식회사 외부충전장치를 갖는 로봇청소기 시스템 및 로봇청소기의외부충전장치 접속방법
KR100500842B1 (ko) * 2002-10-31 2005-07-12 삼성광주전자 주식회사 로봇청소기와, 그 시스템 및 제어방법
KR100466321B1 (ko) 2002-10-31 2005-01-14 삼성광주전자 주식회사 로봇청소기와, 그 시스템 및 제어방법
JP2004148021A (ja) 2002-11-01 2004-05-27 Hitachi Home & Life Solutions Inc 自走式掃除機
US6774098B2 (en) 2002-11-06 2004-08-10 Lhtaylor Associates Methods for removing stains from fabrics using tetrapotassium EDTA
US7079924B2 (en) 2002-11-07 2006-07-18 The Regents Of The University Of California Vision-based obstacle avoidance
GB2395261A (en) 2002-11-11 2004-05-19 Qinetiq Ltd Ranging apparatus
JP2004160102A (ja) 2002-11-11 2004-06-10 Figla Co Ltd 電気掃除機
US7032469B2 (en) 2002-11-12 2006-04-25 Raytheon Company Three axes line-of-sight transducer
JP2004174228A (ja) 2002-11-13 2004-06-24 Figla Co Ltd 自走式作業ロボット
US20050209736A1 (en) 2002-11-13 2005-09-22 Figla Co., Ltd. Self-propelled working robot
KR100542340B1 (ko) 2002-11-18 2006-01-11 삼성전자주식회사 홈네트워크 시스템 및 그 제어방법
JP2004166968A (ja) * 2002-11-20 2004-06-17 Zojirushi Corp 自走式掃除ロボット
US7320149B1 (en) * 2002-11-22 2008-01-22 Bissell Homecare, Inc. Robotic extraction cleaner with dusting pad
US7346428B1 (en) 2002-11-22 2008-03-18 Bissell Homecare, Inc. Robotic sweeper cleaner with dusting pad
JP3885019B2 (ja) 2002-11-29 2007-02-21 株式会社東芝 セキュリティシステム及び移動ロボット
US7496665B2 (en) 2002-12-11 2009-02-24 Broadcom Corporation Personal access and control of media peripherals on a media exchange network
JP4838978B2 (ja) 2002-12-16 2011-12-14 アイロボット コーポレイション 自律的床清掃ロボット
JP4069293B2 (ja) * 2002-12-16 2008-04-02 三菱電機株式会社 自走式掃除機
GB2396407A (en) 2002-12-19 2004-06-23 Nokia Corp Encoder
JP3731123B2 (ja) 2002-12-20 2006-01-05 新菱冷熱工業株式会社 物体の位置検出方法及び装置
DE10261788B3 (de) 2002-12-23 2004-01-22 Alfred Kärcher Gmbh & Co. Kg Mobiles Bodenbearbeitungsgerät
DE10261787B3 (de) 2002-12-23 2004-01-22 Alfred Kärcher Gmbh & Co. Kg Mobiles Bodenbearbeitungsgerät
JP3884377B2 (ja) 2002-12-27 2007-02-21 ジーイー・メディカル・システムズ・グローバル・テクノロジー・カンパニー・エルエルシー Ｘ線撮影装置
JP2004219185A (ja) 2003-01-14 2004-08-05 Meidensha Corp ダイナモメータの電気慣性評価装置とその方法
US20040148419A1 (en) 2003-01-23 2004-07-29 Chen Yancy T. Apparatus and method for multi-user entertainment
US7146682B2 (en) 2003-01-31 2006-12-12 The Hoover Company Powered edge cleaner
JP2004237392A (ja) 2003-02-05 2004-08-26 Sony Corp ロボット装置、及びロボット装置の表現方法
JP2004237075A (ja) 2003-02-06 2004-08-26 Samsung Kwangju Electronics Co Ltd 外部充電装置を有するロボット掃除機システム及びロボット掃除機の外部充電装置の接続方法。
KR100485696B1 (ko) 2003-02-07 2005-04-28 삼성광주전자 주식회사 로봇청소기의 위치인식표지 검출방법 및 이 검출방법을적용한 로봇청소기
GB2398394B (en) 2003-02-14 2006-05-17 Dyson Ltd An autonomous machine
JP2004267236A (ja) 2003-03-05 2004-09-30 Hitachi Ltd 自走式掃除機およびそれに用いる充電装置
US20040181706A1 (en) 2003-03-13 2004-09-16 Chen Yancy T. Time-controlled variable-function or multi-function apparatus and methods
US20040200505A1 (en) 2003-03-14 2004-10-14 Taylor Charles E. Robot vac with retractable power cord
US20040236468A1 (en) 2003-03-14 2004-11-25 Taylor Charles E. Robot vacuum with remote control mode
US7801645B2 (en) 2003-03-14 2010-09-21 Sharper Image Acquisition Llc Robotic vacuum cleaner with edge and object detection system
KR100492590B1 (ko) 2003-03-14 2005-06-03 엘지전자 주식회사 로봇의 자동충전 시스템 및 복귀방법
JP2004275468A (ja) 2003-03-17 2004-10-07 Hitachi Home & Life Solutions Inc 自走式掃除機およびその運転方法
JP3484188B1 (ja) 2003-03-31 2004-01-06 貴幸 関島 蒸気噴射式クリーニング装置
JP2004351191A (ja) * 2003-03-31 2004-12-16 Takayuki Sekijima 蒸気噴射式クリーニング装置
JP2004304714A (ja) 2003-04-01 2004-10-28 Sony Corp 情報処理システム、情報処理装置、情報処理方法、およびプログラム
KR20040086940A (ko) 2003-04-03 2004-10-13 엘지전자 주식회사 이미지센서를 채용한 이동로봇 및 그의 이동거리 측정방법
US7627197B2 (en) 2003-04-07 2009-12-01 Honda Motor Co., Ltd. Position measurement method, an apparatus, a computer program and a method for generating calibration information
KR100486737B1 (ko) 2003-04-08 2005-05-03 삼성전자주식회사 청소로봇의 청소궤적 생성·추종방법 및 장치
US7057120B2 (en) 2003-04-09 2006-06-06 Research In Motion Limited Shock absorbent roller thumb wheel
KR100488524B1 (ko) 2003-04-09 2005-05-11 삼성전자주식회사 로봇충전장치
US20040221790A1 (en) 2003-05-02 2004-11-11 Sinclair Kenneth H. Method and apparatus for optical odometry
JP2004329598A (ja) 2003-05-08 2004-11-25 Matsushita Electric Ind Co Ltd 電気掃除機用吸込具およびそれを用いた電気掃除機
US6975246B1 (en) 2003-05-13 2005-12-13 Itt Manufacturing Enterprises, Inc. Collision avoidance using limited range gated video
US7533435B2 (en) * 2003-05-14 2009-05-19 Karcher North America, Inc. Floor treatment apparatus
US6888333B2 (en) 2003-07-02 2005-05-03 Intouch Health, Inc. Holonomic platform for a robot
US7133746B2 (en) 2003-07-11 2006-11-07 F Robotics Acquistions, Ltd. Autonomous machine for docking with a docking station and method for docking
DE10331874A1 (de) 2003-07-14 2005-03-03 Robert Bosch Gmbh Fernprogrammieren eines programmgesteuerten Geräts
DE10333395A1 (de) 2003-07-16 2005-02-17 Alfred Kärcher Gmbh & Co. Kg Bodenreinigungssystem
KR100507928B1 (ko) 2003-07-24 2005-08-17 삼성광주전자 주식회사 로봇청소기
KR20050012047A (ko) 2003-07-24 2005-01-31 삼성광주전자 주식회사 회전 물걸레 청소유닛을 구비한 로봇청소기
AU2004202834B2 (en) * 2003-07-24 2006-02-23 Samsung Gwangju Electronics Co., Ltd. Robot Cleaner
KR20050012049A (ko) * 2003-07-24 2005-01-31 삼성광주전자 주식회사 공기 청정 기능을 구비한 로봇청소기 및 그 시스템
AU2004202836B2 (en) 2003-07-24 2006-03-09 Samsung Gwangju Electronics Co., Ltd. Dust Receptacle of Robot Cleaner
KR100478681B1 (ko) 2003-07-29 2005-03-25 삼성광주전자 주식회사 바닥살균기능을 구비한 로봇청소기
CN2637136Y (zh) 2003-08-11 2004-09-01 泰怡凯电器(苏州)有限公司 机器人的自定位机构
JP4271193B2 (ja) 2003-08-12 2009-06-03 株式会社国際電気通信基礎技術研究所 コミュニケーションロボット用制御システム
US7027893B2 (en) 2003-08-25 2006-04-11 Ati Industrial Automation, Inc. Robotic tool coupler rapid-connect bus
US7174238B1 (en) 2003-09-02 2007-02-06 Stephen Eliot Zweig Mobile robotic system with web server and digital radio links
US20070061041A1 (en) 2003-09-02 2007-03-15 Zweig Stephen E Mobile robot with wireless location sensing apparatus
US7784147B2 (en) 2003-09-05 2010-08-31 Brunswick Bowling & Billiards Corporation Bowling lane conditioning machine
JP4300516B2 (ja) 2003-09-16 2009-07-22 株式会社大樹 土砂等混合廃棄物の選別方法
US7225501B2 (en) 2003-09-17 2007-06-05 The Hoover Company Brush assembly for a cleaning device
JP2005088179A (ja) 2003-09-22 2005-04-07 Honda Motor Co Ltd 自律移動ロボットシステム
WO2005032735A2 (en) * 2003-09-29 2005-04-14 Electrolux Home Care Products, Ltd. Floor cleaning device
US7030768B2 (en) 2003-09-30 2006-04-18 Wanie Andrew J Water softener monitoring device
JP3960291B2 (ja) 2003-10-07 2007-08-15 ヤマハ株式会社 データ転送装置及びプログラム
JP2005135400A (ja) 2003-10-08 2005-05-26 Figla Co Ltd 自走式作業ロボット
TWM247170U (en) 2003-10-09 2004-10-21 Cheng-Shiang Yan Self-moving vacuum floor cleaning device
JP2005118354A (ja) 2003-10-17 2005-05-12 Matsushita Electric Ind Co Ltd 家屋内清掃システム及びその稼動方法
US7392566B2 (en) 2003-10-30 2008-07-01 Gordon Evan A Cleaning machine for cleaning a surface
JP2005142800A (ja) 2003-11-06 2005-06-02 Nec Corp 監視用端末、ネットワーク監視システム
EP1530339B1 (en) 2003-11-07 2008-03-05 Harman Becker Automotive Systems GmbH Method and apparatuses for access control to encrypted data services for a vehicle entertainment and information processing device
DE10357636B4 (de) 2003-12-10 2013-05-08 Vorwerk & Co. Interholding Gmbh Selbsttätig verfahrbares Bodenstaub-Aufsammelgerät
DE10357635B4 (de) 2003-12-10 2013-10-31 Vorwerk & Co. Interholding Gmbh Bodenreinigungsgerät
DE10357637A1 (de) * 2003-12-10 2005-07-07 Vorwerk & Co. Interholding Gmbh Selbstfahrendes oder zu verfahrendes Kehrgerät sowie Kombination eines Kehrgeräts mit einer Basisstation
US7201786B2 (en) 2003-12-19 2007-04-10 The Hoover Company Dust bin and filter for robotic vacuum cleaner
ITMI20032565A1 (it) 2003-12-22 2005-06-23 Calzoni Srl Dispositivo ottico indicatore dell'angolo di planata per velivoli
KR20050063546A (ko) 2003-12-22 2005-06-28 엘지전자 주식회사 로봇 청소기 및 그 운전방법
GB2409559A (en) 2003-12-24 2005-06-29 Peter Frost-Gaskin Fire alarm with separately powered smoke and heat detectors
EP1553472A1 (en) 2003-12-31 2005-07-13 Alcatel Remotely controlled vehicle using wireless LAN
US7624473B2 (en) 2004-01-07 2009-12-01 The Hoover Company Adjustable flow rate valve for a cleaning apparatus
JP2005210199A (ja) 2004-01-20 2005-08-04 Alps Electric Co Ltd 無線ネットワークにおける端末相互間の接続方法
KR101214667B1 (ko) 2004-01-21 2012-12-24 아이로보트 코퍼레이션 자율 로봇을 도킹시키는 시스템
US7332890B2 (en) 2004-01-21 2008-02-19 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
DE102004004505B9 (de) 2004-01-22 2010-08-05 Alfred Kärcher Gmbh & Co. Kg Bodenbearbeitungsgerät sowie Verfahren zu dessen Steuerung
EP1711873B1 (en) 2004-01-28 2012-12-19 iRobot Corporation Debris sensor for cleaning apparatus
JP2005211364A (ja) 2004-01-30 2005-08-11 Funai Electric Co Ltd 自走式掃除機
JP2005211360A (ja) 2004-01-30 2005-08-11 Funai Electric Co Ltd 自走式掃除機
JP2005211493A (ja) 2004-01-30 2005-08-11 Funai Electric Co Ltd 自走式掃除機
JP2005211496A (ja) * 2004-01-30 2005-08-11 Funai Electric Co Ltd 自走式掃除機
JP2005211494A (ja) * 2004-01-30 2005-08-11 Funai Electric Co Ltd 自走式掃除機
JP2005211365A (ja) 2004-01-30 2005-08-11 Funai Electric Co Ltd 自律走行ロボットクリーナー
US20050183230A1 (en) 2004-01-30 2005-08-25 Funai Electric Co., Ltd. Self-propelling cleaner
DE602005017749D1 (de) 2004-02-03 2009-12-31 F Robotics Acquisitions Ltd Roboter-dockstation und roboter zur verwendung damit
JP2005218560A (ja) * 2004-02-04 2005-08-18 Funai Electric Co Ltd 自走式掃除機
ATE486480T1 (de) 2004-02-06 2010-11-15 Koninkl Philips Electronics Nv System und verfahren für einen hibernationsmodus für barkeneinrichtungen
JP2005224265A (ja) * 2004-02-10 2005-08-25 Funai Electric Co Ltd 自走式掃除機
JP2005224263A (ja) 2004-02-10 2005-08-25 Funai Electric Co Ltd 自走式掃除機
DE102004007677B4 (de) 2004-02-16 2011-11-17 Miele & Cie. Kg Saugdüse für einen Staubsauger mit einer Staubfluss-Anzeigevorrichtung
JP2005230032A (ja) 2004-02-17 2005-09-02 Funai Electric Co Ltd 自律走行ロボットクリーナー
KR100561863B1 (ko) 2004-02-19 2006-03-16 삼성전자주식회사 가상 센서를 이용한 로봇의 네비게이션 방법 및 장치
KR100571834B1 (ko) 2004-02-27 2006-04-17 삼성전자주식회사 청소 로봇의 바닥 먼지 검출 방법 및 장치
DE102004010827B4 (de) 2004-02-27 2006-01-05 Alfred Kärcher Gmbh & Co. Kg Bodenbearbeitungsgerät und Verfahren zu dessen Steuerung
WO2005086685A2 (en) * 2004-03-05 2005-09-22 Tennant Low profile side squeegee assembly
JP4309785B2 (ja) 2004-03-08 2009-08-05 フィグラ株式会社 電気掃除機
US20050273967A1 (en) 2004-03-11 2005-12-15 Taylor Charles E Robot vacuum with boundary cones
US7360277B2 (en) * 2004-03-24 2008-04-22 Oreck Holdings, Llc Vacuum cleaner fan unit and access aperture
DE112005000738T5 (de) 2004-03-29 2007-04-26 Evolution Robotics, Inc., Pasadena Verfahren und Vorrichtung zur Positionsbestimmung unter Verwendung von reflektierten Lichtquellen
US7148458B2 (en) 2004-03-29 2006-12-12 Evolution Robotics, Inc. Circuit for estimating position and orientation of a mobile object
US7535071B2 (en) 2004-03-29 2009-05-19 Evolution Robotics, Inc. System and method of integrating optics into an IC package
WO2005098475A1 (en) 2004-03-29 2005-10-20 Evolution Robotics, Inc. Sensing device and method for measuring position and orientation relative to multiple light sources
US7617557B2 (en) * 2004-04-02 2009-11-17 Royal Appliance Mfg. Co. Powered cleaning appliance
US7603744B2 (en) * 2004-04-02 2009-10-20 Royal Appliance Mfg. Co. Robotic appliance with on-board joystick sensor and associated methods of operation
JP2005296511A (ja) 2004-04-15 2005-10-27 Funai Electric Co Ltd 自走式掃除機
US7640624B2 (en) * 2004-04-16 2010-01-05 Panasonic Corporation Of North America Dirt cup with dump door in bottom wall and dump door actuator on top wall
JP2005309700A (ja) * 2004-04-20 2005-11-04 Sanyo Electric Co Ltd 自走式移動体、移動体制御方法、及びコンピュータプログラム
TWI258259B (en) 2004-04-20 2006-07-11 Jason Yan Automatic charging system of mobile robotic electronic device
TWI262777B (en) 2004-04-21 2006-10-01 Jason Yan Robotic vacuum cleaner
US7041029B2 (en) 2004-04-23 2006-05-09 Alto U.S. Inc. Joystick controlled scrubber
USD510066S1 (en) 2004-05-05 2005-09-27 Irobot Corporation Base station for robot
JP2005346700A (ja) 2004-05-07 2005-12-15 Figla Co Ltd 自走式作業ロボット
US7208697B2 (en) 2004-05-20 2007-04-24 Lincoln Global, Inc. System and method for monitoring and controlling energy usage
JP4163150B2 (ja) 2004-06-10 2008-10-08 日立アプライアンス株式会社 自走式掃除機
US7778640B2 (en) 2004-06-25 2010-08-17 Lg Electronics Inc. Method of communicating data in a wireless mobile communication system
US8972052B2 (en) 2004-07-07 2015-03-03 Irobot Corporation Celestial navigation system for an autonomous vehicle
US7706917B1 (en) 2004-07-07 2010-04-27 Irobot Corporation Celestial navigation system for an autonomous robot
JP2006026028A (ja) 2004-07-14 2006-02-02 Sanyo Electric Co Ltd 掃除機
JP2006031503A (ja) * 2004-07-20 2006-02-02 Sharp Corp 自律走行移動体
US6993954B1 (en) 2004-07-27 2006-02-07 Tekscan, Incorporated Sensor equilibration and calibration system and method
JP4201747B2 (ja) * 2004-07-29 2008-12-24 三洋電機株式会社 自走式掃除機
KR20040072581A (ko) 2004-07-29 2004-08-18 (주)제이씨 프로텍 전자기파 증폭중계기 및 이를 이용한 무선전력변환장치
JP2004337632A (ja) * 2004-07-29 2004-12-02 Matsushita Electric Ind Co Ltd 自走式掃除機
DE102004038074B3 (de) 2004-07-29 2005-06-30 Alfred Kärcher Gmbh & Co. Kg Reinigungsroboter
KR100641113B1 (ko) 2004-07-30 2006-11-02 엘지전자 주식회사 이동로봇 및 그의 이동제어방법
KR101012375B1 (ko) 2004-07-30 2011-02-09 엘지전자 주식회사 진공청소기의 흡입노즐
JP4268911B2 (ja) 2004-08-04 2009-05-27 日立アプライアンス株式会社 自走式掃除機
KR100601960B1 (ko) 2004-08-05 2006-07-14 삼성전자주식회사 로봇의 위치 추적 및 지도 작성 방법
DE102004041021B3 (de) 2004-08-17 2005-08-25 Alfred Kärcher Gmbh & Co. Kg Bodenreinigungssystem
GB0418376D0 (en) 2004-08-18 2004-09-22 Loc8Tor Ltd Locating system
US20060042042A1 (en) 2004-08-26 2006-03-02 Mertes Richard H Hair ingestion device and dust protector for vacuum cleaner
US20080184518A1 (en) 2004-08-27 2008-08-07 Sharper Image Corporation Robot Cleaner With Improved Vacuum Unit
DE102004046383B4 (de) * 2004-09-24 2009-06-18 Stein & Co Gmbh Vorrichtung für Bürstwalze von Bodenpflegegeräten
DE102005044617A1 (de) 2004-10-01 2006-04-13 Vorwerk & Co. Interholding Gmbh Verfahren zum Pflegen und/oder Reinigen eines Bodenbelages sowie Bodenbelag und Bodenpflege- und oder Reinigungsgerät hierzu
US7430462B2 (en) 2004-10-20 2008-09-30 Infinite Electronics Inc. Automatic charging station for autonomous mobile machine
US8078338B2 (en) 2004-10-22 2011-12-13 Irobot Corporation System and method for behavior based control of an autonomous vehicle
USD526753S1 (en) * 2004-10-26 2006-08-15 Funai Electric Company Limited Electric vacuum cleaner
KR100656701B1 (ko) 2004-10-27 2006-12-13 삼성광주전자 주식회사 로봇청소기 시스템 및 외부충전장치 복귀 방법
JP4485320B2 (ja) 2004-10-29 2010-06-23 アイシン精機株式会社 燃料電池システム
JP4074285B2 (ja) 2004-10-29 2008-04-09 モレックス インコーポレーテッド フラット状のケーブルの挿通構造及び挿通方法
KR100575708B1 (ko) 2004-11-11 2006-05-03 엘지전자 주식회사 로봇청소기의 거리감지장치 및 방법
KR20060059006A (ko) 2004-11-26 2006-06-01 삼성전자주식회사 이동형 가전기기가 장애물을 회피하며 벽을 따라 이동하는방법 및 장치
JP4277214B2 (ja) 2004-11-30 2009-06-10 日立アプライアンス株式会社 自走式掃除機
KR100664059B1 (ko) * 2004-12-04 2007-01-03 엘지전자 주식회사 로봇청소기의 장애물 위치 인식시스템 및 방법
DE102005019908A1 (de) 2004-12-09 2006-06-14 Alfred Kärcher Gmbh & Co. Kg Reinigungsroboter
WO2006061133A1 (de) 2004-12-09 2006-06-15 Alfred Kärcher Gmbh & Co. Kg Reinigungsroboter
US7870637B2 (en) * 2004-12-10 2011-01-18 Techtronic Floor Care Technology Limited Stacked tank arrangement for a cleaning apparatus
KR100588061B1 (ko) 2004-12-22 2006-06-09 주식회사유진로보틱스 이중흡입장치가 구비된 청소용 로봇
JP4601419B2 (ja) * 2004-12-27 2010-12-22 花王株式会社 湿式電気掃除機用吸引ノズル
US20060143295A1 (en) 2004-12-27 2006-06-29 Nokia Corporation System, method, mobile station and gateway for communicating with a universal plug and play network
KR100499770B1 (ko) 2004-12-30 2005-07-07 주식회사 아이오. 테크 네트워크 기반의 로봇 제어 시스템
KR100588059B1 (ko) 2005-01-03 2006-06-09 주식회사유진로보틱스 청소용 로봇의 비접촉 장애물 감지 장치
US7904990B1 (en) * 2005-01-07 2011-03-15 Bissell Homecare Inc. Extraction cleaning with alternating fluid distribution
JP4243594B2 (ja) * 2005-01-31 2009-03-25 パナソニック電工株式会社 清掃ロボット
JP2006227673A (ja) 2005-02-15 2006-08-31 Matsushita Electric Ind Co Ltd 自律走行装置
US7784148B2 (en) * 2005-02-17 2010-08-31 Bissell Homecare, Inc. Surface cleaning apparatus with cleaning fluid supply
US7389156B2 (en) 2005-02-18 2008-06-17 Irobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US8392021B2 (en) * 2005-02-18 2013-03-05 Irobot Corporation Autonomous surface cleaning robot for wet cleaning
US20060184293A1 (en) 2005-02-18 2006-08-17 Stephanos Konandreas Autonomous surface cleaning robot for wet cleaning
US7620476B2 (en) 2005-02-18 2009-11-17 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
KR100661339B1 (ko) * 2005-02-24 2006-12-27 삼성광주전자 주식회사 로봇 청소기
KR100654676B1 (ko) * 2005-03-07 2006-12-08 삼성광주전자 주식회사 로봇청소기
ES2238196B1 (es) 2005-03-07 2006-11-16 Electrodomesticos Taurus, S.L. Estacion base con robot aspirador.
JP2006247467A (ja) 2005-03-08 2006-09-21 Figla Co Ltd 自走式作業車
US20060207053A1 (en) * 2005-03-15 2006-09-21 Beynon Merlin D Vacuum and cleaning apparatus
JP2006260161A (ja) 2005-03-17 2006-09-28 Figla Co Ltd 自走式作業ロボット
KR100657530B1 (ko) * 2005-03-31 2006-12-14 엘지전자 주식회사 자동주행 로봇의 들림감지장치
JP4533787B2 (ja) 2005-04-11 2010-09-01 フィグラ株式会社 作業ロボット
JP2006296697A (ja) 2005-04-20 2006-11-02 Figla Co Ltd 清掃ロボット
KR100624387B1 (ko) * 2005-04-25 2006-09-20 엘지전자 주식회사 주행영역 지정이 가능한 로봇 시스템
TWI278731B (en) 2005-05-09 2007-04-11 Infinite Electronics Inc Self-propelled apparatus for virtual wall system
US20060259494A1 (en) 2005-05-13 2006-11-16 Microsoft Corporation System and method for simultaneous search service and email search
US7578020B2 (en) * 2005-06-28 2009-08-25 S.C. Johnson & Son, Inc. Surface treating device with top load cartridge-based cleaning system
US7389166B2 (en) * 2005-06-28 2008-06-17 S.C. Johnson & Son, Inc. Methods to prevent wheel slip in an autonomous floor cleaner
JP4492462B2 (ja) 2005-06-30 2010-06-30 ソニー株式会社 電子機器、映像処理装置及び映像処理方法
US20070006404A1 (en) * 2005-07-08 2007-01-11 Gooten Innolife Corporation Remote control sweeper
JP4630146B2 (ja) 2005-07-11 2011-02-09 本田技研工業株式会社 位置管理システムおよび位置管理プログラム
JP2007014668A (ja) 2005-07-11 2007-01-25 Funai Electric Co Ltd 自走掃除機
JP2007034866A (ja) 2005-07-29 2007-02-08 Hitachi Appliances Inc 移動体の走行制御方法及び自走式掃除機
US7456596B2 (en) 2005-08-19 2008-11-25 Cisco Technology, Inc. Automatic radio site survey using a robot
USD548411S1 (en) * 2005-08-29 2007-08-07 Bsh Bosch Und Siemens Hausgeraete Gmbh Robot vacuum cleaner
KR20070027916A (ko) 2005-08-30 2007-03-12 삼성광주전자 주식회사 슬립현상을 감지할 수 있는 로봇청소기
KR101323597B1 (ko) 2005-09-02 2013-11-01 니토 로보틱스 인코퍼레이티드 다기능 로봇 장치
DE102005046639A1 (de) 2005-09-29 2007-04-05 Vorwerk & Co. Interholding Gmbh Selbständig verfahrbares Bodenstaub-Aufsammelgerät
DE102005046813A1 (de) 2005-09-30 2007-04-05 Vorwerk & Co. Interholding Gmbh Verfahren zum Betreiben eines selbsttätig verfahrbaren Haushaltsgerätes sowie Verfahren zum Betreiben einer Basisstation
DE102005046913A1 (de) 2005-10-01 2007-04-05 GM Global Technology Operations, Inc., Detroit Verbinder für Druckleitungen
JP4477565B2 (ja) 2005-10-04 2010-06-09 シャープ株式会社 集塵器およびそれを備えた電気掃除機
US8097414B2 (en) 2005-11-25 2012-01-17 K. K. Dnaform Method for detecting and amplifying nucleic acid
EP2544065B1 (en) 2005-12-02 2017-02-08 iRobot Corporation Robot system
KR101290379B1 (ko) * 2005-12-02 2013-07-26 아이로보트 코퍼레이션 자동 커버리지 로봇 운행 시스템
ES2334064T3 (es) 2005-12-02 2010-03-04 Irobot Corporation Robot modular.
ATE534941T1 (de) * 2005-12-02 2011-12-15 Irobot Corp Abdeckungsrobotermobilität
ES2522926T3 (es) 2005-12-02 2014-11-19 Irobot Corporation Robot Autónomo de Cubrimiento
EP2270620B1 (en) 2005-12-02 2014-10-01 iRobot Corporation Autonomous Coverage robot
US7568259B2 (en) 2005-12-13 2009-08-04 Jason Yan Robotic floor cleaner
DE202005019993U1 (de) 2005-12-20 2006-02-23 Wessel-Werk Gmbh & Co. Kg Selbstfahrende Saugreinigungsvorrichtung
DE502005009101D1 (de) * 2005-12-20 2010-04-08 Wessel Werk Gmbh Selbstfahrende Saugreinigungsvorrichtung
TWI290881B (en) 2005-12-26 2007-12-11 Ind Tech Res Inst Mobile robot platform and method for sensing movement of the same
TWM294301U (en) 2005-12-27 2006-07-21 Supply Internat Co Ltd E Self-propelled vacuum cleaner with dust collecting structure
KR20070074146A (ko) 2006-01-06 2007-07-12 삼성전자주식회사 청소기 시스템
KR20070074147A (ko) 2006-01-06 2007-07-12 삼성전자주식회사 청소기 시스템
US7953526B2 (en) * 2006-01-18 2011-05-31 I-Guide Robotics, Inc. Robotic vehicle controller
JP2007209392A (ja) * 2006-02-07 2007-08-23 Funai Electric Co Ltd 自走式掃除機
WO2007092322A2 (en) * 2006-02-07 2007-08-16 Nilfisk-Advance, Inc. Squeegee assembly
JP2007213180A (ja) 2006-02-08 2007-08-23 Figla Co Ltd 移動体システム
EP1836941B1 (en) 2006-03-14 2014-02-12 Toshiba TEC Kabushiki Kaisha Electric vacuum cleaner
CA2541635A1 (en) 2006-04-03 2007-10-03 Servo-Robot Inc. Hybrid sensing apparatus for adaptive robotic processes
EP1842474A3 (en) 2006-04-04 2007-11-28 Samsung Electronics Co., Ltd. Robot cleaner system having robot cleaner and docking station
KR20070104989A (ko) * 2006-04-24 2007-10-30 삼성전자주식회사 로봇청소기 시스템 및 그 먼지제거 방법
EP2394553B1 (en) 2006-05-19 2016-04-20 iRobot Corporation Removing debris from cleaning robots
US8417383B2 (en) 2006-05-31 2013-04-09 Irobot Corporation Detecting robot stasis
US7211980B1 (en) 2006-07-05 2007-05-01 Battelle Energy Alliance, Llc Robotic follow system and method
DE602007007026D1 (de) 2006-09-05 2010-07-22 Lg Electronics Inc Reinigungsroboter
US7408157B2 (en) 2006-09-27 2008-08-05 Jason Yan Infrared sensor
US20090102296A1 (en) 2007-01-05 2009-04-23 Powercast Corporation Powering cell phones and similar devices using RF energy harvesting
JP5285861B2 (ja) 2007-02-22 2013-09-11 新光電子株式会社 荷重変換用音叉振動装置
KR101301834B1 (ko) * 2007-05-09 2013-08-29 아이로보트 코퍼레이션 소형 자율 커버리지 로봇
US20080302586A1 (en) 2007-06-06 2008-12-11 Jason Yan Wheel set for robot cleaner
JP2009015611A (ja) 2007-07-05 2009-01-22 Figla Co Ltd 充電システム、充電ユニットおよび移動ロボットの自動充電システム
JP5040519B2 (ja) 2007-08-14 2012-10-03 ソニー株式会社 画像処理装置、画像処理方法およびプログラム
US20090048727A1 (en) 2007-08-17 2009-02-19 Samsung Electronics Co., Ltd. Robot cleaner and control method and medium of the same
KR101330734B1 (ko) 2007-08-24 2013-11-20 삼성전자주식회사 로봇청소기와 도킹 스테이션을 구비하는 로봇청소기 시스템
EP2180972A1 (en) 2007-08-31 2010-05-05 Element Six (Production) (Pty) Ltd. Polycrystalline diamond composites
JP5091604B2 (ja) 2007-09-26 2012-12-05 株式会社東芝 分布の評価方法、製品の製造方法、分布の評価プログラム及び分布の評価システム
FR2923465B1 (fr) 2007-11-13 2013-08-30 Valeo Systemes Thermiques Branche Thermique Habitacle Dispositif de chargement et de dechargement pour chariot de manutention.
JP5150827B2 (ja) 2008-01-07 2013-02-27 株式会社高尾 スピーカ破壊検出機能つき遊技機
JP5042076B2 (ja) 2008-03-11 2012-10-03 新明和工業株式会社 吸引装置および吸引車
JP5046239B2 (ja) 2008-03-28 2012-10-10 住友大阪セメント株式会社 有機無機複合体
EP3311722B1 (en) * 2008-04-24 2019-07-24 iRobot Corporation Application of localization, positioning & navigation systems for robotic enabled mobile products
JP5054620B2 (ja) 2008-06-17 2012-10-24 未来工業株式会社 通気弁
JP5023269B2 (ja) 2008-08-22 2012-09-12 サンノプコ株式会社 界面活性剤及びこれを含有してなる塗料組成物
USD593265S1 (en) * 2008-12-02 2009-05-26 Bissell Homecare, Inc. Robotic vacuum cleaner
JP2010198552A (ja) 2009-02-27 2010-09-09 Konica Minolta Holdings Inc 運転状況監視装置
JP5046246B2 (ja) 2009-03-31 2012-10-10 サミー株式会社 パチンコ遊技機
TWI399190B (zh) 2009-05-21 2013-06-21 Ind Tech Res Inst 清潔裝置、及其偵測方法
JP5302836B2 (ja) 2009-09-28 2013-10-02 黒崎播磨株式会社 ストッパー制御型浸漬ノズル
CN102905812B (zh) 2010-07-30 2014-04-09 株式会社小松制作所 分支管的制造方法及分支管制造装置
JP5312514B2 (ja) 2011-04-28 2013-10-09 上銀科技股▲分▼有限公司 交差式ローラーベアリング
ES2732069T3 (es) 2011-04-29 2019-11-20 Irobot Corp Rodillo elástico y compresible y robot de cobertura autónomo
WO2013007273A1 (en) 2011-07-08 2013-01-17 Cardionovum Sp.Z.O.O. Balloon surface coating
JP5257533B2 (ja) 2011-09-26 2013-08-07 ダイキン工業株式会社 電力変換装置
JP5257527B2 (ja) 2012-02-03 2013-08-07 日立電線株式会社 光電気複合伝送モジュール
JP6003251B2 (ja) 2012-06-06 2016-10-05 ブラザー工業株式会社 露光装置
KR101438603B1 (ko) 2012-10-05 2014-09-05 현대자동차 주식회사 차량용 에어컨 시스템
JP6154143B2 (ja) 2013-01-25 2017-06-28 Juki株式会社 電子部品実装装置および電子部品実装方法
JP6026312B2 (ja) 2013-02-15 2016-11-16 株式会社ファンケル 泡沫化粧料
JP6379623B2 (ja) 2013-05-13 2018-08-29 株式会社ジェイテクト 切削装置および切削方法
JP6327598B2 (ja) 2013-10-30 2018-05-23 株式会社オカムラ 椅子
JP6293095B2 (ja) 2015-07-06 2018-03-14 ショット日本株式会社 ヒューズ付き気密端子
EP3117979B1 (en) 2015-07-17 2019-08-21 Shanghai Seeyao Electronics Co Ltd Process and device for simultaneous laser welding
WO2017075500A1 (en) * 2015-10-30 2017-05-04 The Ergo Baby Carrier, Inc. Adjustable child carrier
WO2017090485A1 (ja) 2015-11-27 2017-06-01 Hoya株式会社 マスクブランク用基板、多層反射膜付き基板、反射型マスクブランク及び反射型マスク、並びに半導体装置の製造方法
JP7059702B2 (ja) 2018-03-09 2022-04-26 横浜ゴム株式会社 タイヤ用ゴム組成物及び空気入りタイヤ

Patent Citations (105)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US724605A (en) * 1901-10-07 1903-04-07 William F Norman Valve for bucket-bottoms.
US2930055A (en) * 1957-12-16 1960-03-29 Burke R Fallen Floor wax dispensing and spreading unit
US3649981A (en) * 1970-02-25 1972-03-21 Wayne Manufacturing Co Curb travelling sweeper vehicle
US3937174A (en) * 1972-12-21 1976-02-10 Hermann Haaga Sweeper having at least one side brush
US4012681A (en) * 1975-01-03 1977-03-15 Curtis Instruments, Inc. Battery control system for battery operated vehicles
US4369543A (en) * 1980-04-14 1983-01-25 Jen Chen Remote-control radio vacuum cleaner
US4513469A (en) * 1983-06-13 1985-04-30 Godfrey James O Radio controlled vacuum cleaner
US4716621A (en) * 1985-07-26 1988-01-05 Dulevo S.P.A. Floor and bounded surface sweeper machine
US4811228A (en) * 1985-09-17 1989-03-07 Inik Instrument Och Elektronik Method of navigating an automated guided vehicle
US4909972A (en) * 1985-12-02 1990-03-20 Britz Johannes H Method and apparatus for making a solid foamed tire core
US4815157A (en) * 1986-10-28 1989-03-28 Kabushiki Kaisha Hoky Floor cleaner
US4912643A (en) * 1986-10-30 1990-03-27 Institute For Industrial Research And Standards Position sensing apparatus
US4733430A (en) * 1986-12-09 1988-03-29 Whirlpool Corporation Vacuum cleaner with operating condition indicator system
US4733431A (en) * 1986-12-09 1988-03-29 Whirlpool Corporation Vacuum cleaner with performance monitoring system
US4901394A (en) * 1988-04-20 1990-02-20 Matsushita Electric Industrial Co., Ltd. Floor nozzle for electric cleaner
US4919224A (en) * 1988-05-16 1990-04-24 Industrial Technology Research Institute Automatic working vehicular system
US5105502A (en) * 1988-12-06 1992-04-21 Matsushita Electric Industrial Co., Ltd. Vacuum cleaner with function to adjust sensitivity of dust sensor
US4918441A (en) * 1988-12-22 1990-04-17 Ford New Holland, Inc. Non-contact sensing unit for row crop harvester guidance system
US4967862A (en) * 1989-03-13 1990-11-06 Transitions Research Corporation Tether-guided vehicle and method of controlling same
US5182833A (en) * 1989-05-11 1993-02-02 Matsushita Electric Industrial Co., Ltd. Vacuum cleaner
US5084934A (en) * 1990-01-24 1992-02-04 Black & Decker Inc. Vacuum cleaners
US5093955A (en) * 1990-08-29 1992-03-10 Tennant Company Combined sweeper and scrubber
US5086535A (en) * 1990-10-22 1992-02-11 Racine Industries, Inc. Machine and method using graphic data for treating a surface
US5204814A (en) * 1990-11-13 1993-04-20 Mobot, Inc. Autonomous lawn mower
US5098262A (en) * 1990-12-28 1992-03-24 Abbott Laboratories Solution pumping system with compressible pump cassette
US5293955A (en) * 1991-12-30 1994-03-15 Goldstar Co., Ltd. Obstacle sensing apparatus for a self-propelled cleaning robot
US5303448A (en) * 1992-07-08 1994-04-19 Tennant Company Hopper and filter chamber for direct forward throw sweeper
US5410479A (en) * 1992-08-17 1995-04-25 Coker; William B. Ultrasonic furrow or crop row following sensor
US5386862A (en) * 1992-10-02 1995-02-07 The Goodyear Tire & Rubber Company Pneumatic tire having improved wet traction
US5497529A (en) * 1993-07-20 1996-03-12 Boesi; Anna M. Electrical apparatus for cleaning surfaces by suction in dwelling premises
US5869910A (en) * 1994-02-11 1999-02-09 Colens; Andre Power supply system for self-contained mobile robots
US5717484A (en) * 1994-03-22 1998-02-10 Minolta Co., Ltd. Position detecting system
US5714119A (en) * 1994-03-24 1998-02-03 Minolta Co., Ltd. Sterilizer
US5867800A (en) * 1994-03-29 1999-02-02 Aktiebolaget Electrolux Method and device for sensing of obstacles for an autonomous device
US5613261A (en) * 1994-04-14 1997-03-25 Minolta Co., Ltd. Cleaner
US5611108A (en) * 1994-04-25 1997-03-18 Windsor Industries, Inc. Floor cleaning apparatus with slidable flap
US5720077A (en) * 1994-05-30 1998-02-24 Minolta Co., Ltd. Running robot carrying out prescribed work using working member and method of working using the same
US5498948A (en) * 1994-10-14 1996-03-12 Delco Electornics Self-aligning inductive charger
US5608944A (en) * 1995-06-05 1997-03-11 The Hoover Company Vacuum cleaner with dirt detection
US6192549B1 (en) * 1995-11-06 2001-02-27 Bissell Homecare, Inc. Upright water extraction cleaning machine
US6041472A (en) * 1995-11-06 2000-03-28 Bissell Homecare, Inc. Upright water extraction cleaning machine
US5611106A (en) * 1996-01-19 1997-03-18 Castex Incorporated Carpet maintainer
US6012618A (en) * 1996-06-03 2000-01-11 Minolta Co., Ltd. Tank for autonomous running and working vehicle
US5709007A (en) * 1996-06-10 1998-01-20 Chiang; Wayne Remote control vacuum cleaner
US6030465A (en) * 1996-06-26 2000-02-29 Matsushita Electric Corporation Of America Extractor with twin, counterrotating agitators
US6038501A (en) * 1997-02-27 2000-03-14 Minolta Co., Ltd. Autonomous vehicle capable of traveling/stopping in parallel to wall and controlling method thereof
US6167587B1 (en) * 1997-07-09 2001-01-02 Bissell Homecare, Inc. Upright extraction cleaning machine
US6023814A (en) * 1997-09-15 2000-02-15 Imamura; Nobuo Vacuum cleaner
US6025687A (en) * 1997-09-26 2000-02-15 Minolta Co., Ltd. Mobile unit and controller for mobile unit
US20050055796A1 (en) * 1998-01-09 2005-03-17 Royal Appliance Mfg. Co. Upright vacuum cleaner with cyclonic airflow
US6032327A (en) * 1998-01-27 2000-03-07 Sharp Kabushiki Kaisha Electric vacuum cleaner
US6023813A (en) * 1998-04-07 2000-02-15 Spectrum Industrial Products, Inc. Powered floor scrubber and buffer
US6041471A (en) * 1998-04-09 2000-03-28 Madvac International Inc. Mobile walk-behind sweeper
US6339735B1 (en) * 1998-12-29 2002-01-15 Friendly Robotics Ltd. Method for operating a robot
US6202243B1 (en) * 1999-05-26 2001-03-20 Tennant Company Surface cleaning machine with multiple control positions
US20050028316A1 (en) * 1999-06-08 2005-02-10 Thomas Victor W. Floor cleaning apparatus with control circuitry
US7013527B2 (en) * 1999-06-08 2006-03-21 Johnsondiversey, Inc. Floor cleaning apparatus with control circuitry
US20020016649A1 (en) * 2000-01-24 2002-02-07 Jones Joseph L. Robot obstacle detection system
US20040020000A1 (en) * 2000-01-24 2004-02-05 Jones Joseph L. Robot obstacle detection system
US6594844B2 (en) * 2000-01-24 2003-07-22 Irobot Corporation Robot obstacle detection system
US20030023356A1 (en) * 2000-02-02 2003-01-30 Keable Stephen J. Autonomous mobile apparatus for performing work within a predefined area
US20020011813A1 (en) * 2000-05-02 2002-01-31 Harvey Koselka Autonomous floor mopping apparatus
US20020021219A1 (en) * 2000-08-08 2002-02-21 Marlena Edwards Animal collar including tracking and location device
US6502657B2 (en) * 2000-09-22 2003-01-07 The Charles Stark Draper Laboratory, Inc. Transformable vehicle
US20040055163A1 (en) * 2000-12-14 2004-03-25 Wahl Clipper Corporation Hair clipping device with rotating bladeset having multiple cutting edges
USD471243S1 (en) * 2001-02-09 2003-03-04 Irobot Corporation Robot
US7647144B2 (en) * 2001-02-28 2010-01-12 Aktiebolaget Electrolux Obstacle sensing system for an autonomous cleaning apparatus
US20050053912A1 (en) * 2001-06-11 2005-03-10 Roth Mark B. Methods for inducing reversible stasis
US20030025472A1 (en) * 2001-06-12 2003-02-06 Jones Joseph L. Method and system for multi-mode coverage for an autonomous robot
US6865447B2 (en) * 2001-06-14 2005-03-08 Sharper Image Corporation Robot capable of detecting an edge
US6507773B2 (en) * 2001-06-14 2003-01-14 Sharper Image Corporation Multi-functional robot with remote and video system
US20030015232A1 (en) * 2001-07-23 2003-01-23 Thomas Nguyen Portable car port
US20030019071A1 (en) * 2001-07-30 2003-01-30 Field Bruce F Cleaner cartridge
US20030060928A1 (en) * 2001-09-26 2003-03-27 Friendly Robotics Ltd. Robotic vacuum cleaner
US20040049877A1 (en) * 2002-01-03 2004-03-18 Jones Joseph L. Autonomous floor-cleaning robot
US20040030450A1 (en) * 2002-04-22 2004-02-12 Neal Solomon System, methods and apparatus for implementing mobile robotic communication interface
US20040030451A1 (en) * 2002-04-22 2004-02-12 Neal Solomon Methods and apparatus for decision making of system of mobile robotic vehicles
US20040030448A1 (en) * 2002-04-22 2004-02-12 Neal Solomon System, methods and apparatus for managing external computation and sensor resources applied to mobile robotic network
US20040030571A1 (en) * 2002-04-22 2004-02-12 Neal Solomon System, method and apparatus for automated collective mobile robotic vehicles used in remote sensing surveillance
US20040030449A1 (en) * 2002-04-22 2004-02-12 Neal Solomon Methods and apparatus for multi robotic system involving coordination of weaponized unmanned underwater vehicles
US20040030570A1 (en) * 2002-04-22 2004-02-12 Neal Solomon System, methods and apparatus for leader-follower model of mobile robotic system aggregation
US20040016077A1 (en) * 2002-07-26 2004-01-29 Samsung Gwangju Electronics Co., Ltd. Robot cleaner, robot cleaning system and method of controlling same
US20040031113A1 (en) * 2002-08-14 2004-02-19 Wosewick Robert T. Robotic surface treating device with non-circular housing
US20050000543A1 (en) * 2003-03-14 2005-01-06 Taylor Charles E. Robot vacuum with internal mapping system
US20050010331A1 (en) * 2003-03-14 2005-01-13 Taylor Charles E. Robot vacuum with floor type modes
US20100006028A1 (en) * 2003-09-05 2010-01-14 Buckley George W Apparatus and Method for Conditioning a Bowling Lane Using Precision Delivery Injectors
US20070032904A1 (en) * 2003-10-08 2007-02-08 Nobukazu Kawagoe Self-propelled working robot
US7660650B2 (en) * 2003-10-08 2010-02-09 Figla Co., Ltd. Self-propelled working robot having horizontally movable work assembly retracting in different speed based on contact sensor input on the assembly
US7324870B2 (en) * 2004-01-06 2008-01-29 Samsung Electronics Co., Ltd. Cleaning robot and control method thereof
US20050229340A1 (en) * 2004-02-04 2005-10-20 Sawalski Michael M Surface treating device with cartridge-based cleaning system
US20060020369A1 (en) * 2004-03-11 2006-01-26 Taylor Charles E Robot vacuum cleaner
US20060009879A1 (en) * 2004-06-24 2006-01-12 Lynch James K Programming and diagnostic tool for a mobile robot
US20060000050A1 (en) * 2004-07-01 2006-01-05 Royal Appliance Mfg. Co. Hard floor cleaner
US20060020370A1 (en) * 2004-07-22 2006-01-26 Shai Abramson System and method for confining a robot
US20060060216A1 (en) * 2004-09-23 2006-03-23 Lg Electronics Inc. System for automatically exchanging cleaning tools of robot cleaner, and method therefor
US20060061657A1 (en) * 2004-09-23 2006-03-23 Lg Electronics Inc. Remote observation system and method thereof
US20070016328A1 (en) * 2005-02-18 2007-01-18 Andrew Ziegler Autonomous surface cleaning robot for wet and dry cleaning
US20070017061A1 (en) * 2005-07-20 2007-01-25 Jason Yan Steering control sensor for an automatic vacuum cleaner
US20070028574A1 (en) * 2005-08-02 2007-02-08 Jason Yan Dust collector for autonomous floor-cleaning device
US7650666B2 (en) * 2005-12-22 2010-01-26 Kyungmin Mechatronics Co., Ltd. Robot cleaner
US20070156286A1 (en) * 2005-12-30 2007-07-05 Irobot Corporation Autonomous Mobile Robot
US7539557B2 (en) * 2005-12-30 2009-05-26 Irobot Corporation Autonomous mobile robot
US20080039974A1 (en) * 2006-03-17 2008-02-14 Irobot Corporation Robot Confinement
US20080109126A1 (en) * 2006-03-17 2008-05-08 Irobot Corporation Lawn Care Robot
US7318248B1 (en) * 2006-11-13 2008-01-15 Jason Yan Cleaner having structures for jumping obstacles

Cited By (205)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9446521B2 (en) 2000-01-24 2016-09-20 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8565920B2 (en) 2000-01-24 2013-10-22 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8788092B2 (en) 2000-01-24 2014-07-22 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8412377B2 (en) 2000-01-24 2013-04-02 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8761935B2 (en) 2000-01-24 2014-06-24 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8478442B2 (en) 2000-01-24 2013-07-02 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US9144361B2 (en) 2000-04-04 2015-09-29 Irobot Corporation Debris sensor for cleaning apparatus
US9622635B2 (en) 2001-01-24 2017-04-18 Irobot Corporation Autonomous floor-cleaning robot
US8686679B2 (en) 2001-01-24 2014-04-01 Irobot Corporation Robot confinement
US8368339B2 (en) 2001-01-24 2013-02-05 Irobot Corporation Robot confinement
US9167946B2 (en) 2001-01-24 2015-10-27 Irobot Corporation Autonomous floor cleaning robot
US9038233B2 (en) 2001-01-24 2015-05-26 Irobot Corporation Autonomous floor-cleaning robot
US9582005B2 (en) 2001-01-24 2017-02-28 Irobot Corporation Robot confinement
US9104204B2 (en) 2001-06-12 2015-08-11 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US8396592B2 (en) 2001-06-12 2013-03-12 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US8463438B2 (en) 2001-06-12 2013-06-11 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US8474090B2 (en) 2002-01-03 2013-07-02 Irobot Corporation Autonomous floor-cleaning robot
US8671507B2 (en) 2002-01-03 2014-03-18 Irobot Corporation Autonomous floor-cleaning robot
US8656550B2 (en) 2002-01-03 2014-02-25 Irobot Corporation Autonomous floor-cleaning robot
US8516651B2 (en) 2002-01-03 2013-08-27 Irobot Corporation Autonomous floor-cleaning robot
US8763199B2 (en) 2002-01-03 2014-07-01 Irobot Corporation Autonomous floor-cleaning robot
US9128486B2 (en) 2002-01-24 2015-09-08 Irobot Corporation Navigational control system for a robotic device
US9949608B2 (en) 2002-09-13 2018-04-24 Irobot Corporation Navigational control system for a robotic device
US8428778B2 (en) 2002-09-13 2013-04-23 Irobot Corporation Navigational control system for a robotic device
US8386081B2 (en) 2002-09-13 2013-02-26 Irobot Corporation Navigational control system for a robotic device
US8515578B2 (en) 2002-09-13 2013-08-20 Irobot Corporation Navigational control system for a robotic device
US8793020B2 (en) 2002-09-13 2014-07-29 Irobot Corporation Navigational control system for a robotic device
US8781626B2 (en) 2002-09-13 2014-07-15 Irobot Corporation Navigational control system for a robotic device
US8854001B2 (en) 2004-01-21 2014-10-07 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
US9215957B2 (en) 2004-01-21 2015-12-22 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
US8390251B2 (en) 2004-01-21 2013-03-05 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
US8749196B2 (en) 2004-01-21 2014-06-10 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
US8461803B2 (en) 2004-01-21 2013-06-11 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
US8253368B2 (en) 2004-01-28 2012-08-28 Irobot Corporation Debris sensor for cleaning apparatus
US8598829B2 (en) 2004-01-28 2013-12-03 Irobot Corporation Debris sensor for cleaning apparatus
US8456125B2 (en) 2004-01-28 2013-06-04 Irobot Corporation Debris sensor for cleaning apparatus
US8378613B2 (en) 2004-01-28 2013-02-19 Irobot Corporation Debris sensor for cleaning apparatus
US9486924B2 (en) 2004-06-24 2016-11-08 Irobot Corporation Remote control scheduler and method for autonomous robotic device
US9008835B2 (en) 2004-06-24 2015-04-14 Irobot Corporation Remote control scheduler and method for autonomous robotic device
US8874264B1 (en) 2004-07-07 2014-10-28 Irobot Corporation Celestial navigation system for an autonomous robot
US8594840B1 (en) 2004-07-07 2013-11-26 Irobot Corporation Celestial navigation system for an autonomous robot
US9223749B2 (en) 2004-07-07 2015-12-29 Irobot Corporation Celestial navigation system for an autonomous vehicle
US8634956B1 (en) 2004-07-07 2014-01-21 Irobot Corporation Celestial navigation system for an autonomous robot
US9229454B1 (en) 2004-07-07 2016-01-05 Irobot Corporation Autonomous mobile robot system
US8634958B1 (en) 2004-07-07 2014-01-21 Irobot Corporation Celestial navigation system for an autonomous robot
US8972052B2 (en) 2004-07-07 2015-03-03 Irobot Corporation Celestial navigation system for an autonomous vehicle
US7837958B2 (en) 2004-11-23 2010-11-23 S.C. Johnson & Son, Inc. Device and methods of providing air purification in combination with superficial floor cleaning
US8966707B2 (en) 2005-02-18 2015-03-03 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
US8739355B2 (en) 2005-02-18 2014-06-03 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
US9445702B2 (en) 2005-02-18 2016-09-20 Irobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US8985127B2 (en) 2005-02-18 2015-03-24 Irobot Corporation Autonomous surface cleaning robot for wet cleaning
US8382906B2 (en) 2005-02-18 2013-02-26 Irobot Corporation Autonomous surface cleaning robot for wet cleaning
US8387193B2 (en) 2005-02-18 2013-03-05 Irobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US8782848B2 (en) 2005-02-18 2014-07-22 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
US10470629B2 (en) 2005-02-18 2019-11-12 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
US8392021B2 (en) 2005-02-18 2013-03-05 Irobot Corporation Autonomous surface cleaning robot for wet cleaning
US8774966B2 (en) 2005-02-18 2014-07-08 Irobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US8670866B2 (en) 2005-02-18 2014-03-11 Irobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US8950038B2 (en) 2005-12-02 2015-02-10 Irobot Corporation Modular robot
US9149170B2 (en) 2005-12-02 2015-10-06 Irobot Corporation Navigating autonomous coverage robots
US9320398B2 (en) 2005-12-02 2016-04-26 Irobot Corporation Autonomous coverage robots
US8600553B2 (en) 2005-12-02 2013-12-03 Irobot Corporation Coverage robot mobility
US9144360B2 (en) * 2005-12-02 2015-09-29 Irobot Corporation Autonomous coverage robot navigation system
US9599990B2 (en) 2005-12-02 2017-03-21 Irobot Corporation Robot system
US8761931B2 (en) 2005-12-02 2014-06-24 Irobot Corporation Robot system
US8584305B2 (en) 2005-12-02 2013-11-19 Irobot Corporation Modular robot
US8978196B2 (en) 2005-12-02 2015-03-17 Irobot Corporation Coverage robot mobility
US8374721B2 (en) 2005-12-02 2013-02-12 Irobot Corporation Robot system
US9392920B2 (en) 2005-12-02 2016-07-19 Irobot Corporation Robot system
US8380350B2 (en) 2005-12-02 2013-02-19 Irobot Corporation Autonomous coverage robot navigation system
US8954192B2 (en) 2005-12-02 2015-02-10 Irobot Corporation Navigating autonomous coverage robots
US8661605B2 (en) 2005-12-02 2014-03-04 Irobot Corporation Coverage robot mobility
US8584307B2 (en) 2005-12-02 2013-11-19 Irobot Corporation Modular robot
US10524629B2 (en) 2005-12-02 2020-01-07 Irobot Corporation Modular Robot
US8606401B2 (en) 2005-12-02 2013-12-10 Irobot Corporation Autonomous coverage robot navigation system
US10244915B2 (en) 2006-05-19 2019-04-02 Irobot Corporation Coverage robots and associated cleaning bins
US8572799B2 (en) 2006-05-19 2013-11-05 Irobot Corporation Removing debris from cleaning robots
US9492048B2 (en) 2006-05-19 2016-11-15 Irobot Corporation Removing debris from cleaning robots
US9955841B2 (en) 2006-05-19 2018-05-01 Irobot Corporation Removing debris from cleaning robots
US8418303B2 (en) 2006-05-19 2013-04-16 Irobot Corporation Cleaning robot roller processing
US8528157B2 (en) 2006-05-19 2013-09-10 Irobot Corporation Coverage robots and associated cleaning bins
US9317038B2 (en) 2006-05-31 2016-04-19 Irobot Corporation Detecting robot stasis
US8417383B2 (en) 2006-05-31 2013-04-09 Irobot Corporation Detecting robot stasis
US8839477B2 (en) 2007-05-09 2014-09-23 Irobot Corporation Compact autonomous coverage robot
US10070764B2 (en) 2007-05-09 2018-09-11 Irobot Corporation Compact autonomous coverage robot
US8726454B2 (en) 2007-05-09 2014-05-20 Irobot Corporation Autonomous coverage robot
US8438695B2 (en) 2007-05-09 2013-05-14 Irobot Corporation Autonomous coverage robot sensing
US11498438B2 (en) 2007-05-09 2022-11-15 Irobot Corporation Autonomous coverage robot
US11072250B2 (en) 2007-05-09 2021-07-27 Irobot Corporation Autonomous coverage robot sensing
US10299652B2 (en) 2007-05-09 2019-05-28 Irobot Corporation Autonomous coverage robot
US9480381B2 (en) 2007-05-09 2016-11-01 Irobot Corporation Compact autonomous coverage robot
US8239992B2 (en) 2007-05-09 2012-08-14 Irobot Corporation Compact autonomous coverage robot
US20100131098A1 (en) * 2008-11-21 2010-05-27 Rooney Iii James H Hull robot with rotatable turret
US9440717B2 (en) 2008-11-21 2016-09-13 Raytheon Company Hull robot
US9254898B2 (en) 2008-11-21 2016-02-09 Raytheon Company Hull robot with rotatable turret
US8342281B2 (en) 2008-11-21 2013-01-01 Raytheon Company Hull robot steering system
US20100219003A1 (en) * 2008-11-21 2010-09-02 Rooney Iii James H Hull robot steering system
US8271136B2 (en) * 2008-12-31 2012-09-18 Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. Touch sensitive robot with touch sensor belt
US20100168916A1 (en) * 2008-12-31 2010-07-01 Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. Touch sensitive robot with touch sensor belt
US8260462B2 (en) * 2009-03-03 2012-09-04 Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. Touch sensitive robot
US20100228395A1 (en) * 2009-03-03 2010-09-09 Hong Fu Jin Precision Industry(Shenzhen)Co., Ltd. Touch sensitive robot
US8774970B2 (en) 2009-06-11 2014-07-08 S.C. Johnson & Son, Inc. Trainable multi-mode floor cleaning device
AU2010296034B2 (en) * 2009-09-18 2014-03-06 Raytheon Company Hull robot garage
WO2011034558A1 (en) * 2009-09-18 2011-03-24 Raytheon Company Hull robot garage
US20110067615A1 (en) * 2009-09-18 2011-03-24 Rooney Iii James H Hull robot garage
CN102770343A (zh) * 2009-09-18 2012-11-07 雷斯昂公司 船体自动机械库
US8393286B2 (en) 2009-09-18 2013-03-12 Raytheon Company Hull robot garage
TWI395689B (zh) * 2009-09-18 2013-05-11 Raytheon Co 船身機器人車庫
US8393421B2 (en) 2009-10-14 2013-03-12 Raytheon Company Hull robot drive system
US9233724B2 (en) 2009-10-14 2016-01-12 Raytheon Company Hull robot drive system
US20110083599A1 (en) * 2009-10-14 2011-04-14 Kornstein Howard R Hull robot drive system
US9188983B2 (en) 2009-11-06 2015-11-17 Irobot Corporation Methods and systems for complete coverage of a surface by an autonomous robot
US9026302B2 (en) 2009-11-06 2015-05-05 Irobot Corporation Methods and systems for complete coverage of a surface by an autonomous robot
US11052540B2 (en) 2009-11-06 2021-07-06 Irobot Corporation Methods and systems for complete coverage of a surface by an autonomous robot
US8930023B2 (en) 2009-11-06 2015-01-06 Irobot Corporation Localization by learning of wave-signal distributions
US20110167574A1 (en) * 2009-11-06 2011-07-14 Evolution Robotics, Inc. Methods and systems for complete coverage of a surface by an autonomous robot
US10583562B2 (en) 2009-11-06 2020-03-10 Irobot Corporation Methods and systems for complete coverage of a surface by an autonomous robot
US9895808B2 (en) 2009-11-06 2018-02-20 Irobot Corporation Methods and systems for complete coverage of a surface by an autonomous robot
US10314449B2 (en) 2010-02-16 2019-06-11 Irobot Corporation Vacuum brush
US8800107B2 (en) 2010-02-16 2014-08-12 Irobot Corporation Vacuum brush
US11058271B2 (en) 2010-02-16 2021-07-13 Irobot Corporation Vacuum brush
US8386112B2 (en) 2010-05-17 2013-02-26 Raytheon Company Vessel hull robot navigation subsystem
US9075416B2 (en) * 2010-09-21 2015-07-07 Toyota Jidosha Kabushiki Kaisha Mobile body
US8458849B2 (en) * 2010-10-11 2013-06-11 Egenpower Inc. Mobile robotic vacuum cleaner with a detachable electrical fan
US20120084935A1 (en) * 2010-10-11 2012-04-12 Ting-Yin Chiu Mobile robotic vacuum cleaner with a detachable electrical fan
US9146560B2 (en) 2012-03-30 2015-09-29 Irobot Corporation System and method for implementing force field deterrent for robot
US8965623B2 (en) 2012-05-11 2015-02-24 International Business Machines Corporation Automated cleaning in a sensor network
US9939529B2 (en) 2012-08-27 2018-04-10 Aktiebolaget Electrolux Robot positioning system
US9061736B2 (en) 2012-09-14 2015-06-23 Raytheon Company Hull robot for autonomously detecting cleanliness of a hull
US20140081504A1 (en) * 2012-09-14 2014-03-20 Raytheon Company Autonomous Hull Navigation
US9051028B2 (en) 2012-09-14 2015-06-09 Raytheon Company Autonomous hull inspection
US9038557B2 (en) 2012-09-14 2015-05-26 Raytheon Company Hull robot with hull separation countermeasures
US9180934B2 (en) 2012-09-14 2015-11-10 Raytheon Company Hull cleaning robot
JP2015515922A (ja) * 2012-12-28 2015-06-04 アイロボット コーポレイション 自律式カバレッジロボット
US10162359B2 (en) * 2012-12-28 2018-12-25 Irobot Corporation Autonomous coverage robot
US20140188325A1 (en) * 2012-12-28 2014-07-03 Irobot Corporation Autonomous Coverage Robot
AU2015230722B2 (en) * 2012-12-28 2017-06-29 Irobot Corporation Autonomous coverage robot
US9483055B2 (en) * 2012-12-28 2016-11-01 Irobot Corporation Autonomous coverage robot
US10219665B2 (en) 2013-04-15 2019-03-05 Aktiebolaget Electrolux Robotic vacuum cleaner with protruding sidebrush
US10448794B2 (en) 2013-04-15 2019-10-22 Aktiebolaget Electrolux Robotic vacuum cleaner
US20210378476A1 (en) * 2013-11-12 2021-12-09 Irobot Corporation Autonomous surface cleaning robot
US9278690B2 (en) 2013-12-18 2016-03-08 Irobot Corporation Autonomous mobile robot
US10209080B2 (en) 2013-12-19 2019-02-19 Aktiebolaget Electrolux Robotic cleaning device
US9811089B2 (en) 2013-12-19 2017-11-07 Aktiebolaget Electrolux Robotic cleaning device with perimeter recording function
US10149589B2 (en) 2013-12-19 2018-12-11 Aktiebolaget Electrolux Sensing climb of obstacle of a robotic cleaning device
US10433697B2 (en) 2013-12-19 2019-10-08 Aktiebolaget Electrolux Adaptive speed control of rotating side brush
US10045675B2 (en) 2013-12-19 2018-08-14 Aktiebolaget Electrolux Robotic vacuum cleaner with side brush moving in spiral pattern
US10617271B2 (en) 2013-12-19 2020-04-14 Aktiebolaget Electrolux Robotic cleaning device and method for landmark recognition
US9946263B2 (en) 2013-12-19 2018-04-17 Aktiebolaget Electrolux Prioritizing cleaning areas
US10231591B2 (en) 2013-12-20 2019-03-19 Aktiebolaget Electrolux Dust container
US10518416B2 (en) 2014-07-10 2019-12-31 Aktiebolaget Electrolux Method for detecting a measurement error in a robotic cleaning device
US10499778B2 (en) 2014-09-08 2019-12-10 Aktiebolaget Electrolux Robotic vacuum cleaner
US10729297B2 (en) 2014-09-08 2020-08-04 Aktiebolaget Electrolux Robotic vacuum cleaner
US10463219B2 (en) 2014-10-03 2019-11-05 Makita Corporation Self-propelled, dust-collecting robot
US11564545B2 (en) 2014-10-03 2023-01-31 Makita Corporation Self-propelled, dust-collecting robot
US10877484B2 (en) 2014-12-10 2020-12-29 Aktiebolaget Electrolux Using laser sensor for floor type detection
US10874271B2 (en) 2014-12-12 2020-12-29 Aktiebolaget Electrolux Side brush and robotic cleaner
US10534367B2 (en) 2014-12-16 2020-01-14 Aktiebolaget Electrolux Experience-based roadmap for a robotic cleaning device
US10678251B2 (en) 2014-12-16 2020-06-09 Aktiebolaget Electrolux Cleaning method for a robotic cleaning device
US11099554B2 (en) 2015-04-17 2021-08-24 Aktiebolaget Electrolux Robotic cleaning device and a method of controlling the robotic cleaning device
US10874274B2 (en) 2015-09-03 2020-12-29 Aktiebolaget Electrolux System of robotic cleaning devices
US11712142B2 (en) 2015-09-03 2023-08-01 Aktiebolaget Electrolux System of robotic cleaning devices
US10368711B1 (en) * 2016-03-03 2019-08-06 AI Incorporated Method for developing navigation plan in a robotic floor-cleaning device
US11169533B2 (en) 2016-03-15 2021-11-09 Aktiebolaget Electrolux Robotic cleaning device and a method at the robotic cleaning device of performing cliff detection
US11122953B2 (en) 2016-05-11 2021-09-21 Aktiebolaget Electrolux Robotic cleaning device
US10827896B2 (en) 2016-05-20 2020-11-10 Lg Electronics Inc. Autonomous cleaner
US10342405B2 (en) 2016-05-20 2019-07-09 Lg Electronics Inc. Autonomous cleaner
US10835095B2 (en) 2016-05-20 2020-11-17 Lg Electronics Inc. Autonomous cleaner
US10856714B2 (en) 2016-05-20 2020-12-08 Lg Electronics Inc. Autonomous cleaner
US10827895B2 (en) 2016-05-20 2020-11-10 Lg Electronics Inc. Autonomous cleaner
US20170332868A1 (en) * 2016-05-20 2017-11-23 Lg Electronics Inc. Autonomous cleaner
US10420448B2 (en) 2016-05-20 2019-09-24 Lg Electronics Inc. Autonomous cleaner
US10398276B2 (en) 2016-05-20 2019-09-03 Lg Electronics Inc. Autonomous cleaner
US10342400B2 (en) 2016-05-20 2019-07-09 Lg Electronics Inc. Autonomous cleaner
US10939792B2 (en) 2016-05-20 2021-03-09 Lg Electronics Inc. Autonomous cleaner
US10441128B2 (en) 2016-05-20 2019-10-15 Lg Electronics Inc. Autonomous cleaner
US10362916B2 (en) * 2016-05-20 2019-07-30 Lg Electronics Inc. Autonomous cleaner
US10481611B2 (en) 2016-05-20 2019-11-19 Lg Electronics Inc. Autonomous cleaner
US11547263B2 (en) 2016-05-20 2023-01-10 Lg Electronics Inc. Autonomous cleaner
US10463221B2 (en) 2016-05-20 2019-11-05 Lg Electronics Inc. Autonomous cleaner
US10524628B2 (en) 2016-05-20 2020-01-07 Lg Electronics Inc. Autonomous cleaner
US10463212B2 (en) 2016-05-20 2019-11-05 Lg Electronics Inc. Autonomous cleaner
US11846937B2 (en) 2016-05-20 2023-12-19 Lg Electronics Inc. Autonomous cleaner
US11474533B2 (en) 2017-06-02 2022-10-18 Aktiebolaget Electrolux Method of detecting a difference in level of a surface in front of a robotic cleaning device
US10345819B2 (en) * 2017-08-14 2019-07-09 UBTECH Robotics Corp. Recharging robot system
US10898042B2 (en) 2017-08-16 2021-01-26 Sharkninja Operating Llc Robotic vacuum
US12004706B2 (en) 2017-09-07 2024-06-11 Sharkninja Operating Llc Robotic cleaner
US10874275B2 (en) 2017-09-07 2020-12-29 Sharkninja Operating Llc Robotic cleaner
US11921517B2 (en) 2017-09-26 2024-03-05 Aktiebolaget Electrolux Controlling movement of a robotic cleaning device
US11614744B2 (en) * 2017-11-14 2023-03-28 Positec Power Tools (Suzhou) Co., Ltd. Self-moving apparatus and method for controlling same
US11096535B2 (en) 2018-05-23 2021-08-24 Makita Corporation Robotic vacuum
AU2019312668B2 (en) * 2018-08-01 2022-12-08 Sharkninja Operating Llc Robotic vacuum cleaner
US11583158B2 (en) 2018-08-01 2023-02-21 Sharkninja Operating Llc Robotic vacuum cleaner
WO2020028696A1 (en) * 2018-08-01 2020-02-06 Sharkninja Operating Llc Robotic vacuum cleaner
US11950736B2 (en) 2018-09-05 2024-04-09 Irobot Corporation Interface for robot cleaner evacuation
CN114983270A (zh) * 2018-09-05 2022-09-02 艾罗伯特公司 机器人清洁器抽空界面
US11191405B2 (en) 2019-02-06 2021-12-07 Makita Corporation Vacuum cleaner
US11707176B2 (en) 2019-03-05 2023-07-25 Makita Corporation Upright vacuum cleaner
US11517167B2 (en) 2019-06-28 2022-12-06 Makita Corporation Autonomous cleaning device having an optical sensor
US11974813B1 (en) * 2019-08-26 2024-05-07 Verily Life Sciences Llc Efficiency of robotic surgeries via surgical procedure data analysis
US20210251444A1 (en) * 2020-02-19 2021-08-19 Bissell Inc. Surface cleaning apparatus with damp cleaning
US20230009583A1 (en) * 2021-07-07 2023-01-12 Nilfisk A/S Edge cleaning by robotic cleaning machine
WO2023062620A1 (en) * 2021-10-11 2023-04-20 Ben Zeev Nir Water-efficient surface cleaning method and system
US11884223B2 (en) 2021-12-01 2024-01-30 Google Llc Ground vehicle bumper system
US20240041285A1 (en) * 2022-08-02 2024-02-08 Irobot Corp Mobile cleaning robot suspension

Also Published As

Publication number Publication date
EP2995236A1 (en) 2016-03-16
JP2015051336A (ja) 2015-03-19
ES2559128T3 (es) 2016-02-10
WO2008141131A3 (en) 2009-05-14
KR20130128485A (ko) 2013-11-26
JP2012110725A (ja) 2012-06-14
US8726454B2 (en) 2014-05-20
EP3031375A1 (en) 2016-06-15
US8839477B2 (en) 2014-09-23
JP5144752B2 (ja) 2013-02-13
JP5474023B2 (ja) 2014-04-16
US10299652B2 (en) 2019-05-28
KR101301834B1 (ko) 2013-08-29
EP2155032A2 (en) 2010-02-24
JP6063904B2 (ja) 2017-01-18
KR20100054877A (ko) 2010-05-25
KR101314438B1 (ko) 2013-10-07
US8370985B2 (en) 2013-02-12
JP2010526594A (ja) 2010-08-05
KR20100029753A (ko) 2010-03-17
EP2574264B1 (en) 2016-03-02
KR101452676B1 (ko) 2014-10-22
ES2571739T3 (es) 2016-05-26
EP2995235B1 (en) 2021-08-11
KR20100049703A (ko) 2010-05-12
JP5926310B2 (ja) 2016-05-25
EP2995236B1 (en) 2022-10-05
KR20140101009A (ko) 2014-08-18
US8347444B2 (en) 2013-01-08
EP2781178B1 (en) 2021-04-21
US20150020326A1 (en) 2015-01-22
US20120265343A1 (en) 2012-10-18
KR101505380B1 (ko) 2015-03-23
KR20140123110A (ko) 2014-10-21
US20220009363A1 (en) 2022-01-13
US20120011669A1 (en) 2012-01-19
EP2570065A1 (en) 2013-03-20
KR101414321B1 (ko) 2014-07-01
EP2574264A1 (en) 2013-04-03
US10070764B2 (en) 2018-09-11
KR101160393B1 (ko) 2012-06-26
EP2644074A1 (en) 2013-10-02
JP2012096042A (ja) 2012-05-24
WO2008141186A3 (en) 2009-05-14
KR101345528B1 (ko) 2013-12-27
EP2148604B1 (en) 2014-06-04
US11014460B2 (en) 2021-05-25
KR101529848B1 (ko) 2015-06-17
EP2155032B1 (en) 2015-12-02
JP5926304B2 (ja) 2016-05-25
JP2012045403A (ja) 2012-03-08
US11498438B2 (en) 2022-11-15
US20080276408A1 (en) 2008-11-13
US20180116479A1 (en) 2018-05-03
EP2570065B1 (en) 2015-11-25
US20120011668A1 (en) 2012-01-19
KR20120115417A (ko) 2012-10-17
JP2010526596A (ja) 2010-08-05
WO2008141131A2 (en) 2008-11-20
KR101168481B1 (ko) 2012-07-26
EP3031375B1 (en) 2021-11-03
US20170079499A1 (en) 2017-03-23
KR20140101008A (ko) 2014-08-18
KR20120012833A (ko) 2012-02-10
JP2014111190A (ja) 2014-06-19
JP6999123B2 (ja) 2022-01-18
EP2781178A1 (en) 2014-09-24
US20120265346A1 (en) 2012-10-18
US8438695B2 (en) 2013-05-14
KR20140041964A (ko) 2014-04-04
JP2014131768A (ja) 2014-07-17
ES2562824T3 (es) 2016-03-08
US8239992B2 (en) 2012-08-14
KR20100054878A (ko) 2010-05-25
KR101295448B1 (ko) 2013-08-09
JP2017080449A (ja) 2017-05-18
JP2014131753A (ja) 2014-07-17
US20190008351A1 (en) 2019-01-10
WO2008141186A2 (en) 2008-11-20
KR20100022036A (ko) 2010-02-26
JP6215189B2 (ja) 2017-10-18
US11072250B2 (en) 2021-07-27
KR101519685B1 (ko) 2015-05-12
KR101393196B1 (ko) 2014-05-08
US20080276407A1 (en) 2008-11-13
EP2574265A1 (en) 2013-04-03
KR101339513B1 (ko) 2013-12-10
JP2012176279A (ja) 2012-09-13
US20140215735A1 (en) 2014-08-07
KR20100051133A (ko) 2010-05-14
KR20120099122A (ko) 2012-09-06
JP5514258B2 (ja) 2014-06-04
JP2014193418A (ja) 2014-10-09
KR101458752B1 (ko) 2014-11-05
EP2574265B1 (en) 2015-10-14
KR20140022472A (ko) 2014-02-24
US20190246862A1 (en) 2019-08-15
US9480381B2 (en) 2016-11-01
EP2148604A2 (en) 2010-02-03
EP2995235A1 (en) 2016-03-16
US20130117952A1 (en) 2013-05-16

Similar Documents

Publication Publication Date Title
US11498438B2 (en) Autonomous coverage robot
EP2661209B1 (en) Autonomous coverage robot with liquid applicator
JP2015128733A (ja) 清掃ロボット

Legal Events

Date Code Title Description
AS Assignment

Owner name: IROBOT CORPORATION, MASSACHUSETTS

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:GILBERT, DUANE L.;WILLIAMS, MARCUS R.;OKERHOLM, ANDREA M.;AND OTHERS;SIGNING DATES FROM 20080618 TO 20110901;REEL/FRAME:026873/0070

STCB Information on status: application discontinuation

Free format text: ABANDONED -- FAILURE TO PAY ISSUE FEE