A robot obstacle detection system including a robot housing which navigates with respect to a surface and a sensor subsystem aimed at the surface for detecting the surface. The sensor subsystem includes an emitter which emits a signal having a field of emission and a photon detector having a field of view which intersects the field of emission at a region. The subsystem detects the presence of an object proximate the mobile robot and determines a value of a signal corresponding to the object. It compares the value to a predetermined value, moves the mobile robot in response to the comparison, and updates the predetermined value upon the occurrence of an event.

Patent
   8275482
Priority
Jan 24 2000
Filed
May 23 2008
Issued
Sep 25 2012
Expiry
Dec 04 2021
Extension
314 days
Assg.orig
Entity
unknown
0
1194
EXPIRED
9. A method for operating a mobile robot, the method comprising the steps of:
detecting the presence of a wall;
driving the robot, based on the detecting, to follow the wall until the wall is no longer detected;
rotating the robot to seek the wall while determining:
whether the wall is again detected,
whether the robot is in contact with the wall, and
whether the robot has turned a predetermined angle without detecting or contacting the wall; and
realigning the robot for travel along the wall in response to contacting or again detecting the wall.
11. A method for operating a mobile robot, the method comprising the steps of:
detecting the presence of a wall;
driving the robot, based on the detecting, to follow the wall until the wall is no longer detected;
rotating the robot to seek the wall while determining:
whether the wall is again detected,
whether the robot is in contact with the wall, and
whether the robot has turned a predetermined angle without detecting or contacting the wall; and
detecting a level of ambient light and detecting a level of robot emitted light relative to the ambient light.
13. A method for operating a mobile robot, the method comprising the steps of:
detecting the presence of a wall;
driving the robot, based on the detecting, to follow the wall until the wall is no longer detected;
rotating the robot to seek the wall while determining:
whether the wall is again detected,
whether the robot is in contact with the wall, and
whether the robot has turned a predetermined angle without detecting or contacting the wall; and
varying the radius of rotation of the robot in response to the difference between a detected signal strength and a target signal strength.
10. A method for operating a mobile robot, the method comprising the steps of:
detecting the presence of a wall;
driving the robot, based on the detecting, to follow the wall until the wall is no longer detected;
rotating the robot to seek the wall while determining:
whether the wall is again detected,
whether the robot is in contact with the wall, and
whether the robot has turned a predetermined angle without detecting or contacting the wall; and
terminating a wall seeking routine in response to determining that the robot has turned a predetermined angle without encountering the wall.
12. A method for operating a mobile robot, the method comprising the steps of:
detecting the presence of a wall;
driving the robot, based on the detecting, to follow the wall until the wall is no longer detected; and
rotating the robot to seek the wall while determining:
whether the wall is again detected,
whether the robot is in contact with the wall, and
whether the robot has turned a predetermined angle without detecting or contacting the wall,
wherein driving the robot comprises maintaining a range of detected signal strength as a function of the orientation of the robot with respect to the wall.
14. A method for operating a mobile robot, the method comprising the steps of:
detecting the presence of a wall;
driving the robot, based on the detecting, to follow the wall until the wall is no longer detected;
rotating the robot to seek the wall while determining:
whether the wall is again detected,
whether the robot is in contact with the wall, and
whether the robot has turned a predetermined angle without detecting or contacting the wall; and
terminating a wall following routine in response to determining that the robot has rotated 360 degrees in following the wall or in seeking the wall since last detecting the wall.
1. A method for operating a mobile robot, the method comprising the steps of:
detecting the presence of a wall;
driving the robot, based on the detecting, to follow the wall until the wall is no longer detected; and
rotating the robot to seek the wall while determining:
whether the wall is again detected,
whether the robot is in contact with the wall, and
whether the robot has turned a predetermined angle without detecting or contacting the wall,
wherein detecting comprises defining a finite volume of intersection space between a signal emission region and a detection region and driving the robot comprises causing the robot to be directed back towards the wall while the wall does not occupy the intersection space.
2. The method of claim 1, further comprising realigning the robot for travel along the wall in response to contacting or again detecting the wall.
3. The method of claim 1, further comprising terminating a wall seeking routine in response to determining that the robot has turned a predetermined angle without encountering the wall.
4. The method of claim 1, further comprising detecting a level of ambient light and detecting a level of robot emitted light relative to the ambient light.
5. The method of claim 1, further comprising pivoting the robot 180 degrees about a wall end to follow an opposing side of the wall.
6. The method of claim 1, wherein driving the robot comprises maintaining a range of detected signal strength as a function of the orientation of the robot with respect to the wall.
7. The method of claim 1, further comprising varying the radius of rotation of the robot in response to the difference between a detected signal strength and a target signal strength.
8. The method of claim 1, further comprising terminating a wall following routine in response to determining that the robot has rotated 360 degrees in following the wall or in seeking the wall since last detecting the wall.

This U.S. patent application is a continuation of, and claims priority under 35 U.S.C. §120 from U.S. patent application Ser. No. 11/834,553 filed on Aug. 6, 2007, now U.S. Pat. No. 7,430,455 which is a continuation of Ser. No. 11/166,986, filed on Jun. 24, 2005, which is a continuation-in-part of U.S. patent application Ser. No. 10/453,202, filed on Jun. 3, 2003, now U.S. Pat. No. 7,155,308 which is a continuation-in-part of U.S. patent application Ser. No. 09/768,773, filed on Jan. 24, 2001, now U.S. Pat. No. 6,594,844, which claims priority under 35 U.S.C. §119(e) to U.S. Provisional Application 60/177,703, filed on Jan. 24, 2000. U.S. patent application Ser. No. 11/166,986 also claims priority under 35 U.S.C. §119(e) to U.S. Provisional Application 60/582,992, filed on Jun. 25, 2004. The disclosures of the prior applications are considered part of (and are hereby incorporated by reference in) the disclosure of this application.

This invention relates to an obstacle detection system for an autonomous robot, such as an autonomous cleaning robot.

There is a long felt need for autonomous robotic cleaning and processing devices for dusting, mopping, vacuuming, sweeping, lawn mowing, ice resurfacing, ice melting, and other operations. Although technology exists for complex robots which can, to some extent, “see” and “feel” their surroundings, the complexity, expense and power requirements associated with these types of robotic subsystems render them unsuitable for the consumer marketplace.

The assignee of the subject application has devised a less expensive, battery operated, autonomous cleaning robot which operates in various modes, including random bounce and wall-following modes. In the random bounce mode, the processing circuitry of the robot causes it to move in a straight line until the robot comes into contact with an obstacle; the robot then turns away from the obstacle and heads in a random direction. In the wall-following mode, the robot encounters a wall, follows it for a time, and then returns to the random mode. By using this combination of modes, robotic theory has proven that the floor, including the edges thereof, is adequately covered in an optimal time resulting in a power savings.

Unfortunately, however, presently available sensor subsystems such as sonar sensors for detecting obstacles on or in the floor or for detecting the wall in order to enter the wall-following mode (or to avoid bumping into the wall) are either too complex or too expensive or both. Tactile sensors are inefficient to ensure that walls or other obstacles can be effectively followed at a predetermined distance.

Some existing systems that disclose wall-following modes for autonomous robots are disclosed in International Publication No. WO 02/101477 A2, U.S. patent application Ser. No. 10/453,202 and U.S. Pat. No. 6,809,490, the disclosures of which are herein incorporated by reference in their entireties. In an embodiment of the system disclosed in the U.S. patent and application (and available commercially from iRobot Corporation as the ROOMBA® Robotic Floorvac), analog electronics (i.e., a comparator) are used to determine whether a sensor has detected the wall or not. The system is designed to follow along a wall at a predetermined distance to allow a cleaning mechanism (e.g., a side brush) to clean against a wall. In the ROOMBA® Robotic Floorvac, a mechanical shutter proximate the sensor can be manually adjusted by the user in order to make the robot follow an appropriate distance from the wall. This shutter is used since the sensor can be sensitive to the albedo of the wall. This manually adjusted shutter, while effective, detracts from the autonomous nature of mobile robots; thus, a fully independent wall-following scheme for a mobile robot is needed.

Accordingly, the control system of the present invention utilizes, in one embodiment, a synchronous detection scheme inputted directly into an A/D port on a microprocessor of the robot. This allows sensor values, and not merely the presence or absence of a wall, to be used to control the robot. The synchronous detection algorithm also allows readings to be taken with and without the sensor emitter powered, which allows the system to take into account ambient light.

In one aspect, the invention relates to a robot obstacle detection system that is simple in design, low cost, accurate, easy to implement, and easy to calibrate.

In an embodiment of the above aspect, such a robot detection system prevents an autonomous cleaning robot from driving off a stair or an obstacle that is too high.

In another aspect, the invention relates to a robotic wall detection system that is low cost, accurate, easy to implement, and easy to calibrate.

In an embodiment of the above aspect, such a robot wall detection system effects smoother robot operation in the wall-following mode.

In yet another aspect, the invention relates to a sensor subsystem for a robot that consumes a minimal amount of power.

In still another aspect, the invention relates to a sensor subsystem that is unaffected by surfaces of different reflectivity or albedo.

Another aspect of the invention results from the realization that a low cost, accurate, and easy-to-implement system for either preventing an autonomous robot from driving off a stair or over an obstacle which is too high or too low and/or for more smoothly causing the robot to follow a wall for more thorough cleaning can be effected by intersecting the field of view of a detector with the field of emission of a directed beam at a predetermined region and then detecting whether the floor or wall occupies that region. If the floor does not occupy the predefined region, a stair or some other obstacle is present and the robot is directed away accordingly. If a wall occupies the region, the robot is first turned away from the wall and then turned back towards the wall at decreasing radiuses of curvature until the wall once again occupies the region of intersection to effect smoother robot operation in the wall-following mode.

One embodiment of the invention features an autonomous robot having a housing that navigates in at least one direction on a surface. A first sensor subsystem is aimed at the surface for detecting obstacles on the surface. A second sensor subsystem is aimed at least proximate the direction of navigation for detecting walls. Each subsystem can include an optical emitter which emits a directed beam having a defined field of emission and a photon detector having a defined field of view which intersects the field of emission of the emitter at a finite, predetermined region.

Another embodiment of the robot obstacle detection system of this invention features a robot housing which navigates with respect to a surface and a sensor subsystem having a defined relationship with respect to the housing and aimed at the surface for detecting the surface. The sensor subsystem can include an optical emitter which emits a directed beam having a defined field of emission and a photon detector having a defined field of view which intersects the field of emission of the emitter at a region. A circuit in communication with the detector then redirects the robot when the surface does not occupy the region to avoid obstacles.

In certain embodiments, there are a plurality of sensor subsystems spaced from each other on the housing of the robot and the circuit includes logic for detecting whether any detector has failed to detect a beam from an emitter.

In one embodiment, the robot includes a surface cleaning brush. Other embodiments attach to the robot a buffing brush for floor polishing, a wire brush for stripping paint from a floor, a sandpaper drum for sanding a surface, a blade for mowing grass, etc. The emitter typically includes an infrared light source and, consequently, the detector includes an infrared photon detector. A modulator connected to the infrared light source modulates the directed infrared light source beam at a predetermined frequency, with the photon detector tuned to that frequency. The emitter usually includes an emitter collimator about the infrared light source for directing the beam and the detector then further includes a detector collimator about the infrared photon detector. The emitter collimator and the detector collimator may be angled with respect to the surface to define a finite region of intersection.

One embodiment of the robot wall detection system in accordance with the invention includes a robot housing which navigates with respect to a wall and a sensor subsystem having a defined relationship with respect to the housing and aimed at the wall for detecting the presence of the wall. The sensor subsystem includes an emitter which emits a directed beam having a defined field of emission and a detector having a defined field of view which intersects the field of emission of the emitter at a region. A circuit in communication with the detector redirects the robot when the wall occupies the region.

In another embodiment, there are a plurality of sensor subsystems spaced from each other on the housing of the robot and the circuit includes logic for detecting whether any detector has detected a beam from an emitter.

The circuit includes logic which redirects the robot away from the wall when the wall occupies the region and back towards the wall when the wall no longer occupies the region of intersection, typically at decreasing radiuses of curvature until the wall once again occupies the region of intersection to effect smooth operation of the robot in the wall-following mode.

The sensor subsystem for an autonomous robot which rides on a surface in accordance with this invention includes an optical emitter which emits a directed optical beam having a defined field of emission, a photon detector having a defined field of view which intersects the field of emission of the emitter at a region and a circuit in communication with a detector for providing an output when an object is not present in the region.

If the object is the surface, the output from the circuit causes the robot to be directed to avoid an obstacle. If, on the other hand, the object is a wall, the output from the circuit causes the robot to be directed back towards the wall.

If the object is diffuse, at least one of the detector and the emitter may be oriented normal to the object. Also, an optional lens for the emitter and a lens for the detector control the size and/or shape of the region. A control system may be included and configured to operate the robot in a plurality of modes including an obstacle following mode, whereby said robot travels adjacent to an obstacle. Typically, the obstacle following mode comprises alternating between decreasing the turning radius of the robot as a function of distance traveled, such that the robot turns toward said obstacle until the obstacle is detected, and such that the robot turns away from said obstacle until the obstacle is no longer detected. In one embodiment, the robot operates in obstacle following mode for a distance greater than twice the work width of the robot and less than approximately ten times the work width of the robot. In one example, the robot operates in obstacle following mode for a distance greater than twice the work width of the robot and less than five times the work width of the robot.

In another aspect, the invention relates to a method for operating a mobile robot, the method including the steps of detecting the presence of an object proximate the mobile robot, sensing a value of a signal corresponding to the object, comparing the value to a predetermined value, moving the mobile robot in response to the comparison, and updating the predetermined value upon the occurrence of an event. In another embodiment, the updated predetermined value is based at least in part on a product of the predetermined value and a constant. In certain embodiments, the event may include a physical contact between the mobile robot and the object or may include when a scaled value is less than the predetermined value. In one embodiment, the scaled value is based at least in part on a product of the value and a constant. The step of moving the mobile robot may include causing the robot to travel toward the object, when the value is less than the predetermined value, and/or causing the robot to travel away from the object, when the value is greater than the predetermined value.

In other embodiments, the method includes conditioning the value of the signal corresponding to the object. The detection step of the method may also include a first detection at a first distance to the object, and a second detection at a second distance to the object. The detection step may include emitting at least one signal and/or measuring at least one signal with at least one sensor. Embodiments of the above aspect may average a plurality of signals or filter one or more signals. In certain embodiments, a plurality of sensors are disposed on the mobile robot in a predetermined pattern that minimizes a variation in object reflectivity. Other embodiments vary the power of at least one emitted signal and/or vary the sensitivity of at least one sensor.

In various embodiments of the above aspect, at least one emitted signal or detected signal includes light having at least one of a visible wavelength and an infrared wavelength. In other embodiments of the above aspect, at least one emitted signal or detected signal includes an acoustic wave having at least one of an audible frequency and an ultrasonic frequency. Other embodiments of the above aspect include a mobile robot, the robot having at least one infrared emitter and at least one infrared detector, wherein the infrared emitter and the infrared detector are oriented substantially parallel to each other. In certain embodiments, the signal value corresponds to at least one of a distance to the object and an albedo of the object.

In another aspect, the invention relates to a method for operating a mobile robot, the method including the steps of detecting a presence of an object proximate the mobile robot, detecting an absence of the object, moving the robot a predetermined distance in a predetermined first direction, and rotating the robot in a predetermined second direction about a fixed point. In certain embodiments of the above aspect, the predetermined distance corresponds at least in part to a distance from a sensor located on the robot to a robot wheel axis. In one embodiment, the first direction is defined at least in part by a previous direction of motion of the robot prior to detecting the absence of the object.

In alternative embodiments, the fixed point is a point between a first wheel of the robot and the object. In some embodiments, the first wheel is proximate the object. In other embodiments, rotating the robot may cease on the occurrence of an event, the event including detecting a presence of an object, contacting an object, or rotating the robot beyond a predetermined angle. An additional step of moving in a third direction is included in other embodiments.

Other objects, features and advantages will occur to those skilled in the art from the following description of some embodiments of the invention and the accompanying drawings, in which:

FIG. 1 is schematic view of a robot in accordance with one embodiment of the invention approaching a downward stair;

FIG. 2 is a schematic view of the robot of FIG. 1 approaching an upward stair;

FIG. 3 is a schematic view of the robot of FIG. 1 approaching an obstacle on a floor;

FIG. 4 is a schematic view showing the difference between the wall-following and random modes of travel of a robot in accordance with one embodiment of the invention;

FIG. 5A is a schematic view of a sensor subsystem in accordance with one embodiment of the invention;

FIG. 5B is a graph of signal strength versus distance for the sensor-detector configuration depicted in FIG. 5A;

FIG. 6A is a schematic view of a sensor subsystem in accordance with another embodiment of the invention;

FIG. 6B is a graph of signal strength versus distance for the sensor-detector configuration depicted in FIG. 6A;

FIG. 7 is a schematic view showing the field of emission of the emitter and the field of view of the detector of the sensor subsystem in accordance with one embodiment of the invention;

FIG. 8 is a three-dimensional schematic view showing a full overlap of the field of emission of the emitter and the field of view of the detector in accordance with one embodiment of the invention;

FIG. 9 is a three-dimensional schematic view showing the situation which occurs when there is a minimal overlap between the field of emission and the field of view of one embodiment of the sensor subsystem of the invention;

FIG. 10 is a series of views showing, from top to bottom, no overlap between the field of emission and the field of view and then a full overlap of the field of view over the field of emission;

FIG. 11 is a set of figures corresponding to FIG. 10 depicting the area of overlap for each of these conditions shown in FIG. 10;

FIG. 12 is a more detailed schematic view of the sensor subsystem according to one embodiment of the invention;

FIG. 13 is a schematic view of the sensor subsystem of FIG. 12 in place on or in a robot in accordance with one embodiment of the invention;

FIG. 14 is a schematic top view of the wall detection system in accordance with one embodiment of the invention in place on the shell or housing of a robot;

FIG. 15 is a schematic three dimensional view of the sensor system in accordance with another embodiment of the invention;

FIG. 16 is a flow chart depicting the primary steps associated with a logic which detects whether a cliff is present in front of the robot in accordance with one embodiment of the invention;

FIG. 17 is a flow chart depicting the primary steps associated with the wall-detection logic in accordance with one embodiment of the invention;

FIG. 18 is a bottom view of a cleaning robot in accordance with one embodiment of the invention configured to turn about curvatures of decreasing radiuses;

FIG. 19 is a schematic top view showing the abrupt turns made by a robot in the wall-following mode when the wall-following algorithm of an embodiment of the invention is not employed;

FIG. 20A is a view similar to FIG. 19 except that now the wall-following algorithm of one embodiment of the invention is employed to smooth out the path of the robotic cleaning device in the wall-following mode;

FIGS. 20B-20G depict a sequence wherein a mobile robot operates a wall-following, corner-turning algorithm in accordance with one embodiment of the invention;

FIG. 21A is a flow-chart illustration of the obstacle-following algorithm of an embodiment of the invention;

FIG. 21B is a flow-chart illustration of the obstacle-following algorithm of another embodiment of the invention;

FIG. 21C is a flow-chart illustration of the threshold-adjustment subroutine of the algorithm depicted in FIG. 21B;

FIG. 22 is a flow-chart illustration of an algorithm for determining when to exit the obstacle following mode;

FIG. 23 is a block diagram showing the various components associated with a robotic cleaning device;

FIG. 24 is a schematic three-dimensional view of a robotic cleaning device employing a number of cliff sensors and wall sensors in accordance with one embodiment of the invention;

FIG. 25 is a bottom view of one particular robotic cleaning device and the cliff sensors incorporated therewith in accordance one embodiment of the invention;

FIG. 26 is a side view of the robot of FIG. 25, further incorporating wall-following sensors in accordance with one embodiment of the invention;

FIG. 27A is a circuit diagram for the detector circuit of one embodiment of the invention;

FIG. 27B is a circuit diagram for the detector circuit of another embodiment of the invention;

FIG. 28 is a circuit diagram for the oscillator circuit of one embodiment of the invention;

FIG. 29 is a circuit diagram for the power connection circuit of one embodiment of the invention;

FIG. 30 is a decoupling circuit of one embodiment of the invention;

FIG. 31 is a diagram of a connector used in one embodiment of the invention;

FIG. 32 is a diagram of another connector used in one embodiment of the invention;

FIG. 33 is a diagram of still another connector used in one embodiment of the invention;

FIG. 34 is a circuit diagram of a jumper used in one embodiment of the invention; and

FIG. 35 is a circuit diagram for constant current source used in one embodiment of the invention.

Robotic cleaning device 10, FIG. 1 can be configured to dust, mop, vacuum, and/or sweep a surface such as a floor. Typically, robot 10 operates in several modes: random coverage, spiral, and a wall-following mode, as discussed in U.S. Pat. No. 6,809,490 and in the Background section above. In any mode, robot 10 may encounter downward stair 12 or another similar “cliff,” upward stair 14, FIG. 2, or another similar rise, and/or obstacle 16, FIG. 3. According to one specification, the robot must be capable of traversing obstacles less then ⅝″ above or below floor level. Therefore, robot 10 must avoid stairs 12 and 14 but traverse obstacle 16 which may be an extension cord, the interface between a rug and hard flooring, or a threshold between rooms.

As delineated in the background of the invention, presently available obstacle sensor subsystems useful in connection with robot 10 are either too complex or too expensive or both. Moreover, robot 10, depicted in FIG. 4, is designed to be inexpensive and to operate based on battery power to thus thoroughly clean room 20 in several modes: a spiral mode (not shown), a wall-following mode as shown at 22 and 24, and a random bounce mode as shown at 26. In the wall-following mode, the robot follows the wall for a time. In the random bounce mode, the robot travels in a straight line until it bumps into an object. It then turns away from the obstacle by a random turn and then continues along in a straight line until the next object is encountered.

Accordingly, any obstacle sensor subsystem must be inexpensive, simple in design, reliable, must not consume too much power, and must avoid certain obstacles but properly recognize and traverse obstacles which do not pose a threat to the operation of the robot.

Although the following disclosure relates to cleaning robots, the invention hereof is not limited to such devices and may be useful in other devices or systems wherein one or more of the design criteria listed above are important.

In one embodiment, depicted in FIG. 5A, sensor subsystem 50, includes optical emitter 52 which emits a directed beam 54 having a defined field of emission explained supra. Sensor subsystem 50 also includes photon detector 56 having a defined field of view which intersects the field of emission of emitter 52 at or for a given region. Surface 58 may be a floor or a wall depending on the arrangement of sensor subsystem 50 with respect to the housing of the robot.

In general, for obstacle avoidance, circuitry is added to the robot and connected to detector 56 to redirect the robot when surface 58 does not occupy the region defining the intersection of the field of emission of emitter 52 and the field of view of detector 56. For wall-following, the circuitry redirects the robot when the wall occupies the region defined by the intersection of the field of emission of emitter 52 and the field of view of detector 56. Emitter collimator tube 60 forms directed beam 54 with a predefined field of emission and detector collimator tube 62 defines the field of view of the detector 56. In alternative embodiments, collimator tubes 60, 62 are not used.

FIG. 5A depicts one embodiment of the invention where the emitter 52 and detector 56 are parallel to each other and perpendicular to a surface. This orientation makes the signal strength at the detector more dependant on the distance to obstacle. However, in this orientation, the difference between a white or highly reflective surface a long distance away from subsystem 50 and a black or non-reflective surface closer to subsystem 50 cannot be easily detected by the control circuitry. Moreover, the effects of specular scattering are not always easily compensated for adequately when the beam from emitter 52 is directed normal to the plane of surface 58. Notwithstanding the foregoing, this parallel configuration of emitter 52 and detector 56 can be utilized advantageously with the wall-following mode depicted in FIGS. 21A and 21B, described in more detail below.

In another embodiment, depicted in FIG. 6A, emitter collimator 60′ and detector collimator 62′ are both angled with respect to surface 58 and with respect to each other as shown, which is intended to reduce the signal strength dependence on the wall reflectivity. In this way, the region 70, FIG. 7, in which the field of emission of emitter 52′ as shown at 72 and the field of view of detector of 56′ as shown at 74 intersect is finite to more adequately address specular scattering and surfaces of different reflectivity. In this design, the emitter is typically an infrared emitter and the detector is typically an infrared radiation detector. The infrared energy directed at the floor decreases rapidly as the sensor-to-floor distance increases while the infrared energy received by the detector changes linearly with surface reflectivity. Note, however, that an angled relationship between the emitter and detector is not required for diffuse surfaces. Optional lenses 61 and 63 may also be employed to better control the size and/or shape of region 70.

FIGS. 5B and 6B are graphs comparing the signal strength to distance from an object for the emitter/detector configurations depicted in FIGS. 5A and 6B, respectively. In FIG. 5B, depicting the relationship for a parallel configuration, the signal strength is proportional to the distance, and approaches a linear relationship for all four surfaces tested (white cardboard, brown cardboard, bare wood, and clear plastic). Accordingly, sensors arranged to detect walls or other essentially vertical obstacles are well-suited to the parallel configuration, as it allows surfaces further distance away to be effectively detected.

FIG. 6B, on the other hand, depicts the relationship for an angled configuration of the emitter/detector. In this orientation, the signal strength falls off rapidly at a closer distance, regardless of surface type, for all three surfaces tested (brown cardboard, white cardboard, and clear plastic). This occurs when the surface being detected is no longer present in the intersecting region of the emitter signal and detector field of view. Accordingly, the angled orientation and resulting overlap region are desirable for cliff detection subsystems. In that application, a difference in surface height must be detected clearly, allowing the robot to redirect accordingly, saving the robot from damage. Although the parallel configuration and angled configurations are better suited to wall- and cliff-detection, respectively, the invention contemplates using either configuration for either application.

The sensor subsystem is calibrated such that when floor or surface 58′, FIG. 8, is the “normal” or expected distance with respect to the robot, there is a full or a nearly full overlap between the field of emission of the emitter and the field of view of the detector as shown. When the floor or surface is too far away such that the robot can not successfully traverse an obstacle, there is no or only a minimal overlap between the field of emission of the emitter and the field of view of the detector as shown in FIG. 9. The emitter beam and the detector field of view are collimated such that they fully overlap only in a small region near the expected position of the floor. The detector threshold is then set so that the darkest available floor material is detected when the beam and the field of view fully overlap. As the robot approaches a cliff, the overlap decreases until the reflected intensity is below the preset threshold. This triggers cliff avoidance behavior. Highly reflective floor material delays the onset of cliff detection only slightly. By arranging the emitter and detector at 45°. with respect to the floor, the region of overlap as a function of height is minimized. Equal incidence and reflection angles ensure that the cliff detector functions regardless of whether the floor material is specular or diffuse. The size of the overlap region can be selected by choosing the degree of collimation and the nominal distance to the floor. In this way, the logic interface between the sensor subsystem and the control circuitry of the robot is greatly simplified.

By tuning the system to simply redirect the robot when there is no detectable overlap, i.e., when the detector fails to emit a signal, the logic interface required between the sensor subsystem and the control electronics (e.g., a microprocessor) is simple to design and requires no or little signal conditioning. The emitted IR beam may be modulated and the return beam filtered with a matching filter in order to provide robust operation in the presence of spurious signals, such as sunlight, IR-based remote control units, fluorescent lights, and the like. Conversely, for the wall sensor embodiment, the system is tuned to redirect the robot when there is a detectable overlap.

FIGS. 10-11 provide in graphical form an example of the differences in the area of overlap depending on the height (d) of the sensor subsystem from a surface. The field of emission of the emitter and the field of view of the detector were set to be equal and non-overlapping at a distance (d) of 1.3 inches and each was an ellipse 0.940 inches along the major diameter and 0.650 inches along minor diameter. A full overlap occurred at d=0.85 inches where the resulting overlapping ellipses converge into a single ellipse 0.426 inches along the minor diameter and 0.600 inches along the major diameter. Those skilled in the art will understand how to adjust the field of emission and the field of view and the intersection region between the two to meet the specific design criteria of any robotic device in question. Thus, FIGS. 10 and 11 provide illustrative examples only.

In one embodiment, as shown in FIG. 12, in housing 80 of the sensor subsystem, a rectangular 22 mm by 53 mm by 3 mm diameter plastic emitter collimator tube 82 and 3 mm diameter plastic detector collimator tube 84 were placed 13.772 mm from the bottom of housing 80 which was flush with the bottom of the shell of the robot. The collimators 82, 84 may be either a separate component, or may be integrally formed in the robot housing. This configuration defined field of view and field of emission cones of 20° placed at a 60° angle from each other. The angle between the respective collimator tubes was 60° and they were spaced 31.24 mm apart. This configuration defined a region of intersection between the field of emission and the field of view 29.00 mm long beginning at the bottom of the robot.

In the design shown in FIG. 13, the sensor subsystem is shown integrated with robot shell or housing 90 with a wheel (not shown) which supports the bottom 92 of shell 90 one-half inch above surface or floor 94. The region of overlap of the field of view and the field of emission was 0.688 inches, 0.393 inches above the surface. Thus, if stair 96 has a drop greater than 0.393 inches, no signal will be output by the detector and the robot redirected accordingly. In one embodiment, the emitter includes an infrared light source and the detector includes an infrared photon detector each disposed in round plastic angled collimators. The emitter, however, may also be a laser or any other source of light.

For wall detection, emitter 102 and detector 100 are arranged as shown in FIG. 14. The optical axes of the emitter and detector are parallel to the floor on which the robot travels. The field of emission of the emitter and the field of view of the detector are both 22 degree cones. A three millimeter diameter tube produces a cone of this specification when the active element is mounted 0.604 inches from the open end as shown. The optical axes of the emitter and detector intersect at an angle of 80 degrees. The volume of intersection 103 occurs at a point about 2.6 inches ahead of the point of tangency between the robot shell 106 and the wall 104 when the robot is traveling parallel to the wall. The line bisecting the intersection of the optical axes of the emitter and detector is perpendicular to the wall. This ensures that reflections from specular walls are directed from the emitter into the detector.

In another embodiment, depicted in FIG. 15, detector 116 is positioned above emitter 112 and lens 118 with two areas of different curvature 115 and 114 used to focus light from emitter 112 to the same spot as the field of view of detector 116 at only one height above surface 120 so that if the height changes, there is no or at least not a complete overlap between the field of view of detector 116 and emitter 112 as defined by curvature areas 115 and 114. In this situation, the rapid change of reflected intensity with height is provided by focusing two lenses on a single spot. When the floor is in the nominal position relative to the sensor subsystem, the emitter places all its energy on a small spot. The detector is focused on the same spot. As the floor falls away from the nominal position, light reflected into the detector (now doubly out of focus) decreases rapidly. By carefully selecting the lens-to-floor distance and the focal lengths of the two lenses, it is possible for the emitter and detector to be located at different points but have a common focus on the floor. Lens may also be used in connection with the embodiments of FIGS. 5A-7 to better control the shape and/or size of the region of intersection.

The logic of the circuitry associated with the cliff sensor embodiment modulates the emitter at a frequency of several kilohertz and detects any signal from the detector, step 150, FIG. 16, which is tuned to that frequency. When a signal is not output by the detector, step 152, the expected surface is not present and no overlap is detected. In response, an avoidance algorithm is initiated, step 154, to cause the robot to avoid any interfering obstacle. When a reflected signal is detected, processing continues to step 150.

In the wall detection mode, the logic of the circuitry associated with the sensor subsystem modulates the emitter and detects signals from the detector as before, step 170, FIG. 17 until a reflection is detected, step 172. A wall is then next to the robot and the controlling circuitry causes the robot to turn away from the wall, step 174 and then turn back, step 176 until a reflection (the wall) is again detected, step 178. By continuously decreasing the radius of curvature of the robot, step 180, the path of the robot along the wall in the wall-following mode is made smoother.

As shown in FIG. 18, robot housing 200 includes three wheels 202, 204, and 206 and is designed to only move forward in the direction shown by vector 208. When a wall is first detected (step 172, FIG. 17), the robot turns away from the wall in the direction of vector 210 and then turns back towards the wall rotating first about radius R1 and then about radius R2 and then about smoothly decreasing radius points (steps 178-180, FIG. 17) until the wall is again detected. This discussion assumes the detector is on the right of robot housing 200.

As shown in FIG. 19, if only one constant radius of curvature was chosen, the robot's travel path along the wall would be a series of abrupt motions. In contrast, by continuously reducing the radius of curvature as the robot moves forward back to the wall in accordance with the subject invention, the robot's travel path along the wall is relatively smooth as shown in FIG. 20A.

FIGS. 20B-20G depict a sequence corresponding to a corner-turning behavior of an autonomous robot 600. The corner-turning behavior allows the robot 600 to turn smoothly about an outside corner 612 without colliding with the corner 612 or the wall 614. Avoiding unnecessary collisions helps to improve cleaning efficiency and enhances users' perception of the robot's effectiveness.

The robot 600 depicted in FIGS. 20B-20G includes at least one wall sensor 602 and two drive wheels, described with respect to the wall 614 as a outside wheel 604 and a inside wheel 606. The wheels are aligned on a common axis 610. The signal 608 may be either a reflected signal projected by a corresponding emitter (in the sensor 602) or may be the signal received as a result of the ambient light, obstacle reflectivity, or other factors. In this embodiment, the sensor 602 is oriented approximately perpendicular to both the robot's general direction of motion MG and the wall 614. The sensor is located a distance X forward of the common axis 610 of the robot's drive wheels 604, 606. In this embodiment, X equals approximately three inches, but may be any distance based on the size of the robot 600, the robot's application, or other factors.

During the wall-following operation depicted in FIGS. 20A and 20B, the robot 600 servos on the analog signal from the sensor 602. That is, while moving generally forward along MG along the wall 614, the robot 600 turns slightly toward or away from the wall as the signal 608 decreases or increases, respectively. FIG. 20C depicts the condition when the robot 600 reaches an outside corner 612 and the signal 608 suddenly decreases to a low or zero value. When this occurs, the robot 600 triggers its corner-turning behavior. In an alternative embodiment, or in addition to the corner-turning behavior described below, the robot may turn immediately in an effort to bump the wall 614, allowing it to confirm the presence or absence of the wall 614. If the signal 608 remains low or at zero, but the bump sensor continues to activate, the robot would be able to self-diagnose a failed wall sensor 602.

FIG. 20D depicts the initial step of corner-turning behavior, when the robot 600 first ceases servoing on the wall (i.e., moving generally forward MG—the robot's last position while servoing is shown by dashed outline 600a) and moves straight MS ahead. The robot moves straight ahead MS a distance equal to the distance X between the servo sensor 602 and the drive wheel axis 610 (in this embodiment, approximately three inches). The drive wheel axis 610 now approximately intersects the corner 612. At this stage the robot 600 begins to rotate R about a point P located to the outside of the inside wheel 606 near the corner 612, as depicted in FIG. 20E. The distance from the inside wheel 606 to the point P can be selected in various ways. In one embodiment, the point P is approximately one inch from the inside drive wheel 606. This distance allows the robot 600 to turn, without collision, about an outside corner 612 of any angle or even a standard-width door. In the case of a door the robot 600 would make a 180-degree turn.

The robot 600 continues to rotate in a direction R about the rotation point P until one of three events occurs. FIG. 20F (showing with a dashed outline 600b, the position of the robot at rotation initiation) depicts the first scenario, where the signal 608 from the sensor 602 becomes high. Here, the robot 600 assumes it has found a wall 614. The robot 600 resumes the wall-following behavior, servoing on the wall 614, and moving generally forward MG, as depicted in FIG. 20G. In a second scenario, the robot's bump sensor activates while rotating, at which time the robot may realign itself to the wall and begin following or, depending on other behaviors, the robot may abandon wall-following. The third scenario occurs if the robot turns nearly a complete circle or other predetermined angle without encountering a wall. The robot will assume it has “lost” the wall and can abandon wall-following mode.

The method used in one embodiment for following the wall is explained with reference to FIG. 21A and provides a smooth wall-following operation even with a one-bit sensor. (Here the one-bit sensor detects only the presence of absence of the wall within a particular volume rather than the distance between wall and sensor.) Other methods of detecting a wall or object can be used, such as bump sensing or sonar sensors.

Once the wall-following operational mode, or wall-following behavior of one embodiment is initiated (step 1301), the robot first sets its initial value for the steering at r0. The wall-following behavior then initiates the emit-detect routine in the wall-follower sensor (step 1310). The existence of a reflection for the IR transmitter portion of the sensor translates into the existence of an object within a predetermined distance from the sensor. The wall-following behavior then determines whether there has been a transition from a reflection (object within range) to a non-reflection (object outside of range) (step 1320). If there has been a transition (in other words, the wall is now out of range), the value of r is set to its most negative value and the robot will veer slightly to the right (step 1325). The robot then begins the emit-detect sequence again (step 1310). If there has not been a transition from a reflection to a non-reflection, the wall-following behavior then determines whether there has been a transition from non-reflection to reflection (step 1330). If there has been such a transition, the value of r is set to its most positive value and the robot will veer slightly left (step 1335). In one embodiment, veering or turning is accomplished by driving the wheel opposite the direction of turn at a greater rate than the other wheel (i.e., the left wheel when veering right, the right wheel when veering left). In an alternative embodiment, both wheels may drive at the same rate, and a rearward or forward caster may direct the turn.

In the absence of either type of transition event, the wall-following behavior reduces the absolute value of r (step 1340) and begins the emit-detect sequence (step 1310) anew. By decreasing the absolute value of r, the robot 10 begins to turn more sharply in whatever direction it is currently heading. In one embodiment, the rate of decreasing the absolute value of r is a constant rate dependant on the distance traveled.

FIG. 21B, depicts another embodiment of the obstacle-following algorithm 1500 of the invention. The microprocessor takes sensor readings (step 1505) and monitors the strength of the signal detected by the wall-following sensor (S) against constantly updated and adjusted threshold values (T) (step 1510). The threshold adjustment algorithm is depicted in FIG. 21C, described below. In general, in order to follow along an obstacle, the robot is running a behavior that turns away from the wall if the sensor reading is greater than the threshold value (step 1515), and turns toward the wall if the sensor reading is less than the threshold value (step 1520). In certain embodiments, the value of the difference between S and T can be used to set the radius of the robot's turn, thereby reducing oscillations in wall-follow mode.

FIG. 21C depicts an embodiment of the threshold-adjustment subroutine utilized with the obstacle-following algorithm depicted in FIG. 21B. In this embodiment, the synchronous detection scheme 1400 inputs directly into the A/D port on the microprocessor of the robot. This allows sensor values (not merely the presence or absence of a wall, as described in FIG. 21A) to be used. The synchronous detection allows readings to be taken with and without the emitter powered, which allows the system to take into account ambient light.

FIG. 21C depicts the steps of setting and adjusting the threshold value (T). The program 1400 may run while the robot is in wall-following (or obstacle-following) mode. In the depicted embodiment, the robot is moving forward (step 1405) in any operational mode. The term “forward,” is used here to describe any operational mode or behavior that is not the wall- or obstacle-following mode described herein. Such modes or behaviors include spiral, straightline, and bounce (or random) as described in U.S. Pat. No. 6,809,490, even though that movement does not consist solely of movement in a single direction. Entering wall-following mode occurs after the robot has sensed an obstacle through its optical or tactile sensors (step 1410). It is therefore assumed, at the time program 1400 begins, the robot is adjacent to a wall or obstacle. When the robot enters wall-following mode, it first sets the threshold value to a minimum level, Tmin (step 1415), and aligns the robot initially along the wall and begins moving along the wall (step 1420). The system then takes sensor readings (step 1425). In one embodiment, the detection scheme (step 1425) involves taking four readings and averaging the results. Additional filtering of the sensor input can be used to remove localized changes in the wall surface (e.g., spots of dirt, patches of missing or altered paint, dents, etc.)

The system then looks for either of two conditions to reset the threshold (T): (i) a bump event (i.e. contact with the wall) (step 1430) or (ii) if S times C1 exceeds T (step 1435), where in one embodiment C1 is 0.5. In general, C1 should be between 0 and 1, where a higher value causes the robot to follow closer to the wall. If T is to be reset, it is set to SC1 (step 1440). If neither condition is met, the system continues to move along the wall (step 1420) and take additional sensor readings (step 1425).

In the embodiment of the threshold-adjustment algorithm depicted in FIG. 21C, the process called “wall-follow-adjuster” 1450 is constantly updating the threshold (T) based on the current signal from the wall sensor (S). The behavior called “wall-follow-align” 1455 initializes the threshold on a bump or sensor detection of a wall or other obstacle (step 1410). Near the beginning of this algorithm, it sets the threshold (step 1415) based on the sensor signal without the check done in the “wall-follow-adjuster” process (i.e., step 1435) that ensures that the new threshold is higher (step 1440).

Other embodiments of the wall-following sensor and system include the ability to vary the power or sensitivity of the emitter or detector. A stronger emitted signal, for example, would allow the robot to effectively follow the contours of a wall or other obstacle at a further distance. Such an embodiment would allow a robot to deliberately mop or vacuum, for example, an entire large room following the contours of the wall from the outer wall to the innermost point. This would be an extremely efficient way to clean large rooms devoid of furniture or other obstructions, such as ballrooms, conference centers, etc.

The sensor system may also take readings at various distances from the wall (e.g., at the wall and after a small amount of movement) to set the threshold. Such an embodiment would be particularly useful to increase the likelihood that the robot never touch obstacles (such as installation art pieces in museums) or walls in architecturally sensitive buildings (such as restored mansions and the like). Other embodiments of the wall detection system use multiple receivers at different distances or angles so as to accommodate differences caused by various reflective surfaces or single surfaces having different reflectivities due to surface coloration, cleanliness, etc. For example, some embodiments may have multiple detectors set at different depths and/or heights within the robot housing.

Other embodiments of the sensor subsystem may utilize an emitter to condition the value of the signal that corresponds to an object. For example, the detection sequence may include emitting a signal from an LED emitter and detecting the signal and corresponding value. The system may then detect a signal again, without emitting a corresponding signal. This would allow the robot to effectively minimize the effect of ambient light or walls of different reflectivities.

The wall-follower mode can be continued for a predetermined or random time, a predetermined or random distance, or until some additional criteria are met (e.g., bump sensor is activated, etc.). In one embodiment, the robot continues to follow the wall indefinitely. In another embodiment, minimum and maximum travel distances are determined, whereby the robot will remain in wall-following behavior until the robot has either traveled the maximum distance or traveled at least the minimum distance and encountered an obstacle. This implementation of wall-following behavior ensures the robot spends an appropriate amount of time in wall-following behavior as compared to its other operational modes, thereby decreasing systemic neglect and distributing coverage to all areas. By increasing wall-following, the robot is able to move in more spaces, but the robot is less efficient at cleaning any one space. In addition, by exiting the wall-following behavior after obstacle detection, the robot increases the users' perceived effectiveness.

FIG. 22 is a flow-chart illustration showing an embodiment of determining when to exit wall-following behavior. The robot first determines the minimum distance to follow the wall (dmin) and the maximum distance to follow the wall (dmax). While in wall (or obstacle) following mode, the control system tracks the distance the robot has traveled in that mode (dwf). If dwf is greater than dmax (step 1350), then the robot exits wall-following mode (step 1380). If, however, dwf is less than dmax (step 1350) and dwf is less than dmax (step 1360), the robot remains in wall-following mode (step 1385). If dwf is greater than dmin (step 1360) and an obstacle is encountered (step 1370), the robot exits wall-following mode (step 1380).

Theoretically, the optimal distance for the robot to travel in wall-following behavior is a function of room size and configuration and robot size. In a preferred embodiment, the minimum and maximum distance to remain in wall-following are set based upon the approximate room size, the robot's width and a random component, where by the average minimum travel distance is 2 w/p, where w is the width of the work element of the robot and p is the probability that the robot will enter wall-following behavior in a given interaction with an obstacle. By way of example, in one embodiment, w is approximately between 15 cm and 25 cm, and p is 0.095 (where the robot encounters 6 to 15 obstacles, or an average of 10.5 obstacles, before entering an obstacle following mode). The minimum distance is then set randomly as a distance between approximately 115 cm and 350 cm; the maximum distance is then set randomly as a distance between approximately 170 cm and 520 cm. In certain embodiments the ratio between the minimum distance to the maximum distance is 2:3. For the sake of perceived efficiency, the robot's initial operation in an obstacle-following mode can be set to be longer than its later operations in obstacle following mode. In addition, users may place the robot along the longest wall when starting the robot, which improves actual as well as perceived coverage.

The distance that the robot travels in wall-following mode can also be set by the robot depending on the number and frequency of objects encountered (as determined by other sensors), which is a measure of room “clutter.” If more objects are encountered, the robot would wall follow for a greater distance in order to get into all the areas of the floor. Conversely, if few obstacles are encountered, the robot would wall follow less in order to not over-cover the edges of the space in favor of passes through the center of the space. An initial wall-following distance can also be included to allow the robot to follow the wall a longer or shorter distance during its initial period where the wall-following behavior has control.

In one embodiment, the robot may also leave wall-following mode if the robot turns more than, for example, 270 degrees and is unable to locate the wall (or object) or if the robot has turned a total of 360 degrees since entering the wall-following mode.

In certain embodiments, when the wall-following behavior is active and there is a bump, the align behavior becomes active. The align behavior turns the robot counter-clockwise to align the robot with the wall. The robot always turns a minimum angle. The robot monitors its wall sensor and if it detects a wall and then the wall detection goes away, the robot stops turning. This is because at the end of the wall follower range, the robot is well aligned to start wall-following. If the robot has not seen its wall detector go on and then off by the time it reaches its maximum angle, it stops anyway. This prevents the robot from turning around in circles when the wall is out of range of its wall sensor. When the most recent bump is within the side 60 degrees of the bumper on the dominant side, the minimum angle is set to 14 degrees and the maximum angle is 19 degrees. Otherwise, if the bump is within 30 degrees of the front of the bumper on the dominant side or on the non-dominant side, the minimum angle is 20 degrees and the maximum angle is 44 degrees. When the align behavior has completed turning, it cedes control to the wall-following behavior.

For reasons of cleaning thoroughness and navigation, the ability to follow walls is essential for cleaning robots. Dust and dirt tend to accumulate at room edges. The robot therefore follows walls that it encounters to insure that this special area is well cleaned. Also, the ability to follow walls enables a navigation strategy that promotes full coverage. Using this strategy, the robot can avoid becoming trapped in small areas. Such entrapments could otherwise cause the robot to neglect other, possibly larger, areas.

But, it is important that the detected distance of the robot from the wall does not vary according to the reflectivity of the wall. Proper cleaning would not occur if the robot positioned itself very close to a dark-colored wall but several inches away from a light-colored wall. By using the dual collimation system of the subject invention, the field of view of the infrared emitter and detector are restricted in such a way that there is a limited, selectable volume where the cones of visibility intersect. Geometrically, the sensor is arranged so that it can detect both diffuse and specular reflection. Additionally, a manual shutter may be utilized on or in the robot housing to further limit the intersection of the cones of visibility or adjust the magnitude of the detected signal. This arrangement allows the designer to select with precision the distance at which the robot follows the wall independent of the reflectivity of the wall.

One robot system 300, FIG. 23, in accordance with this invention includes a circuit embodied in microprocessor 302 which controls drive motion subsystem 304 of robot 300 in both the random movement and wall-following modes to drive and turn the robot accordingly. Sensor subsystem 308 represents the designs discussed above with respect to FIGS. 5A-15. The detectors of each such subsystem provide an output signal to microprocessor 302 as discussed supra which is programmed according to the logic discussed with reference to FIGS. 16-17 to provide the appropriate signals to drive subsystem 304. Modulator circuitry 310 drives the emitters of the sensor subsystem 308 under the control of processor 302 as discussed above.

There may be three or more cliff-detector subsystems, as shown in FIG. 24, at locations 316, 318, and 320 spaced about the forward bottom portion of the robot and aimed downward and only one or two or more wall detector subsystems at locations 322 and 324 spaced about the forward portion of the robot housing and aimed outwardly.

In one embodiment, depicted in FIG. 25, a 12-inch diameter, three-wheeled, differentially-steered robot 340, is a sweeper-type cleaning robot equipped with sweeping brush 342 and includes four cliff-detector subsystems 342, 344, 346, and 348 and one wall-detector subsystem 352, FIG. 26. The output of the detectors of each subsystem are typically connected together by “OR” circuitry logic so that when any one detector detects a signal it is communicated to the processor.

FIG. 27A shows one embodiment of a detector circuit. RI (384), CR1 (382), R2 (388), R3 (390), C1 (392), and U1:D (394) form a voltage reference used to prevent saturation of intermediate gain stages. In this embodiment, R1 (384) and CR1 (382) create from the input voltage (386) approximately 5.1V that is divided by voltage divider R2 (388), R3 (390) to create a voltage of approximately 1.8V. This is buffered by U1:D (394) configured as a unity gain follower. C1 (392) is provided to reduce noise. The photo-transistor (not shown) used in this embodiment requires a biasing current, provided from the above-described reference voltage through R7 (396). R10 (398), R13 (402), and U1:A (400) implement an amplifier with a gain of approximately −10. C4 (404) is provided for compensation and to reduce noise.

C2 (404) is used to block any DC component of the signal, while R8 (407), R12 (408), and U1:B (406) implement an amplifier with a gain of approximately −100. CR2 (410), R5 (414), and C3 (416) implement a peak detector/rectifier. R11 (412) provides a discharge path for C3 (416). The output of this peak detector is then compared to the above mentioned reference voltage by U1:C (420). R4 (422) provide hystersis. R9 (424) is a current limiting resistor used so that the output of U1:C (420) may be used to drive an indicator LED (not shown). Jumper JU1 (426) provides a convenient test point for debugging.

An oscillator circuit as shown in FIG. 28 is used to modulate the emitter IR LED at a frequency of several kHz. The exact frequency may be selected by adjusting R23 (468). Those skilled in the art will immediately deduce other ways of obtaining the same function. The simple filter/amplifier circuit of FIG. 27A is used to receive and amplify the output of a photo-transistor (not shown). A peak detector/integrator is used to convert the AC input to a threshold measurement. If sufficient energy in the selected bandwidth is received, the output signal is present at (428) is driven to a logical high state. Those skilled in the art will immediately recognize other ways of achieving the same ends. Components R14 (440), R17 (446), and U2:B (448) create a buffered bias voltage equal to approximately one-half of the input voltage (442). U2:A (456), R19 (460), R23 (468), and C5 (470) create a simple oscillator of a form commonly used. R18 (458), Q1 (462), and R21 (466) convert the voltage-mode oscillations of the oscillator described to current-mode oscillations in order that the emitter LED (connected to 464) be relatively constant current regardless of power supply voltage (442). The actual current impressed through the circuit may be altered to meet the requirements of the chosen LED by varying the value of R21 (466).

FIG. 27B depicts an embodiment of circuitry 700 that implements the wall-following behavior described in connection with FIG. 21B above. For this application, the four-stage circuit depicted in FIG. 27A can be replaced by a direct connection of a phototransistor light detector 702 to the analog input of the microcontroller 704. This significantly reduces the space required to implement the sensor system and reduces its cost, thus enabling more sensors to be used (for example, as additional proximity sensors around the circumference of a robot). In the depicted embodiment, an analog-to-digital conversion takes place within the microcontroller 704, and all signal processing is accomplished in the digital domain. This allows for maximum flexibility in the development of sensing algorithms.

This embodiment of the invention achieves a high response to the signal of interest, while minimizing the response to unwanted signals, by sampling the photodetector 702 at specific intervals synchronized with the modulated output of the infrared emitter 706. In this embodiment, moving-window averages of four IR-on and four IR-off samples are taken. In the figure, samples 1, 3, 5, and 7 are summed to produce an average IR-on value; samples 2, 4, 6, and 8 are summed to produce an average IR-off value. The difference between those averages represents the signal of interest. Because of the synchronous sampling, stray light, whether DC or modulated, has little effect on the measured signal.

In FIG. 29, a connector J1 (500) is used to connect the system to a means of supplying power (e.g., a battery). Fuse F1 (501) is included to limit excessive current flow in the event of a short circuit or other defect. Capacitors C6 (506) and C7 (510), FIG. 30 are provided for decoupling of other electronics (U1 and U2). Connector J2 (514), FIG. 31 provides a means of attachment for the IR LED transmitter (not shown). Connector J3 (520), FIG. 32 provides a means of attachment for the IR photo-transistor (not shown). Connector J4 (530), FIG. 33 provides a means of attachment for an indicator LED (to indicate the presence or absence of an obstacle, a means of attachment for a battery (not shown), and a means of attachment for a recharging power supply (not shown). Jumper JU2, FIG. 34, provides a convenient GROUND point for test equipment, etc. U3 (536) and R22 (538), FIG. 35 implements a constant-current source used in recharging an attached NiCad battery. U3 maintains a constant 5 volts between pins 3 and 2.5 volts divided by 22 Ohms (R22) creates a current of approximately 230 mA.

In other embodiments, a fiber optic source and detector may be used which operate similar to the sensor subsystems described above. The difference is that collimation is provided by the acceptance angle of two fiber optic cables. The fiber arrangement allows the emitter and detector to be located on a circuit board rather than mounted near the wheel of the robot. The cliff detector and wall detector can also be implemented using a laser as the source of the beam. The laser provides a very small spot size and may be useful in certain applications where the overall expense is not a priority design consideration. Infrared systems are desirable when cost is a primary design constraint. Infrared sensors can be designed to work well with all floor types. They are inexpensive and can be fitted into constrained spaces. In alternative embodiments audible or ultrasonic signals may be utilized for the emitter and/or detector.

Although specific features of the invention are shown in some drawings and not in others, this is for convenience only as each feature may be combined with any or all of the other features in accordance with the invention. The words “including,” “comprising,” “having,” and “with” as used herein are to be interpreted broadly and comprehensively and are not limited to any physical interconnection. Moreover, any embodiments disclosed in the subject application are not to be taken as the only possible embodiments.

Jones, Joseph L., Cross, Matthew, Ozick, Daniel, Casey, Christopher

Patent Priority Assignee Title
Patent Priority Assignee Title
2136324,
2353621,
2770825,
3119369,
3166138,
3333564,
3375375,
3381652,
3457575,
3550714,
3569727,
3674316,
3678882,
3744586,
3756667,
3809004,
3816004,
3845831,
3853086,
3863285,
3888181,
3937174, Dec 21 1972 Sweeper having at least one side brush
3952361, Oct 05 1973 R. G. Dixon & Company Limited Floor treating machines
3989311, May 14 1970 Particle monitoring apparatus
3989931, May 19 1975 Rockwell International Corporation Pulse count generator for wide range digital phase detector
4012681, Jan 03 1975 Curtis Instruments, Inc. Battery control system for battery operated vehicles
4070170, Aug 20 1975 Aktiebolaget Electrolux Combination dust container for vacuum cleaner and signalling device
4099284, Feb 20 1976 Tanita Corporation Hand sweeper for carpets
4119900, Dec 21 1973 MITEC Moderne Industrietechnik GmbH Method and system for the automatic orientation and control of a robot
4175589, Jul 28 1976 Hitachi, Ltd. Fluid pressure drive device
4175892, May 14 1970 Particle monitor
4196727, May 19 1978 PROFESSIONAL MEDICAL PRODUCTS, INC , A DE CORP See-through anesthesia mask
4198727, Jan 19 1978 Baseboard dusters for vacuum cleaners
4199838, Sep 15 1977 Aktiebolaget Electrolux Indicating device for vacuum cleaners
4209254, Feb 03 1978 Thomson-CSF System for monitoring the movements of one or more point sources of luminous radiation
4297578, Jan 09 1980 Airborne dust monitor
4306329, Dec 31 1978 Nintendo Co., Ltd. Self-propelled cleaning device with wireless remote-control
4309758, Aug 01 1978 Imperial Chemical Industries Limited Driverless vehicle autoguided by light signals and three non-directional detectors
4328545, Aug 01 1978 Imperial Chemical Industries Limited Driverless vehicle autoguide by light signals and two directional detectors
4367403, Jan 21 1980 RCA Corporation Array positioning system with out-of-focus solar cells
4369543, Apr 14 1980 Remote-control radio vacuum cleaner
4401909, Apr 03 1981 FLEET CREDIT CORPORATION, A CORP OF RI Grain sensor using a piezoelectric element
4416033, Oct 08 1981 HOOVER COMPANY, THE Full bag indicator
4445245, Aug 23 1982 Surface sweeper
4465370,
4477998, May 31 1983 Fantastic wall-climbing toy
4481692, Mar 29 1983 INTERLAVA AG, A SWISS CORP Operating-condition indicator for vacuum cleaners
4482960, Nov 20 1981 LMI TECHNOLOGIES INC Robot tractors
4492058, Feb 14 1980 Adolph E., Goldfarb Ultracompact miniature toy vehicle with four-wheel drive and unusual climbing capability
4513469, Jun 13 1983 Radio controlled vacuum cleaner
4518437, Jul 05 1982 Sommer, Schenk AG Method and apparatus for cleaning a water tank
4534637, Dec 12 1981 Canon Kabushiki Kaisha Camera with active optical range finder
4556313, Oct 18 1982 United States of America as represented by the Secretary of the Army Short range optical rangefinder
4575211, Apr 18 1983 Canon Kabushiki Kaisha Distance measuring device
4580311, Feb 08 1984 INTERLAVA AG, A SWISS CORP Protective device for dust collecting devices
4601082, Feb 08 1984 INTERLAVA AG, A SWISS CORP Vacuum cleaner
4618213, Mar 17 1977 Applied Elastomerics, Incorporated Gelatinous elastomeric optical lens, light pipe, comprising a specific block copolymer and an oil plasticizer
4620285, Apr 24 1984 NEC Corporation Sonar ranging/light detection system for use in a robot
4624026, Sep 10 1982 Tennant Company Surface maintenance machine with rotary lip
4626995, Mar 26 1984 NDC AUTOMATION, INC Apparatus and method for optical guidance system for automatic guided vehicle
4628454, Jul 13 1982 Kubota, Ltd. Automatic running work vehicle
4638445, Jun 08 1984 Autonomous mobile robot
4644156, Jan 18 1984 ALPS Electric Co., Ltd. Code wheel for reflective optical rotary encoders
4649504, May 22 1984 CAE Electronics, Ltd. Optical position and orientation measurement techniques
4652917, Oct 28 1981 Honeywell Inc. Remote attitude sensor using single camera and spiral patterns
4654492, Apr 12 1984 BBC Aktiengesellschaft Brown, Boveri & Cie Switch drive
4654924, Dec 31 1985 Panasonic Corporation of North America Microcomputer control system for a canister vacuum cleaner
4660969, Aug 08 1984 Canon Kabushiki Kaisha Device for searching objects within wide visual field
4662854, Jul 12 1985 Union Electric Corp. Self-propellable toy and arrangement for and method of controlling the movement thereof
4674048, Oct 26 1983 Automax Kabushiki-Kaisha Multiple robot control system using grid coordinate system for tracking and completing travel over a mapped region containing obstructions
4679152, Feb 20 1985 NEC Corporation Navigation system and method for a mobile robot
4680827, Sep 28 1985 Interlava AG Vacuum cleaner
4696074, Nov 21 1984 SI MA C S P A - MACCHINE ALIMENTARI, VIA GARIBALDI N 20, CAPITAL LIRAS Multi-purpose household appliance particularly for cleaning floors, carpets, laid carpetings, and the like
4700301, Mar 12 1981 Method of automatically steering agricultural type vehicles
4700427, Oct 17 1985 Method of automatically steering self-propelled floor-cleaning machines and floor-cleaning machine for practicing the method
4703820, May 31 1984 Imperial Chemical Industries, PLC Vehicle guidance means
4710020, May 16 1986 E T M REALTY TRUST Beacon proximity detection system for a vehicle
4716621, Jul 26 1985 Dulevo S.p.A. Floor and bounded surface sweeper machine
4728801, May 07 1986 Thorn EMI Protech Limited Light scattering smoke detector having conical and concave surfaces
4733343, Feb 18 1985 Toyoda Koki Kabushiki Kaisha Machine tool numerical controller with a trouble stop function
4733430, Dec 09 1986 Panasonic Corporation of North America Vacuum cleaner with operating condition indicator system
4733431, Dec 09 1986 Matsushita Appliance Corporation Vacuum cleaner with performance monitoring system
4735136, Dec 23 1986 Whirlpool Corporation Full receptacle indicator for compactor
4735138, Mar 25 1986 Neopost Limited Electromechanical drives for franking machines
4748336, May 01 1985 Nippondenso Co., Ltd. Optical dust detector assembly for use in an automotive vehicle
4748833, Oct 21 1980 501 Nagasawa Manufacturing Co., Ltd. Button operated combination lock
4756049, Jun 21 1985 Murata Kaiki Kabushiki Kaisha Self-propelled cleaning truck
4767213, Feb 05 1986 Interlava AG Optical indication and operation monitoring unit for vacuum cleaners
4769700, Nov 20 1981 LMI TECHNOLOGIES INC Robot tractors
4777416, May 16 1986 E T M REALTY TRUST Recharge docking system for mobile robot
4782550, Feb 12 1988 VON SCHRADER MANUFACTURING COMPANY, LLP Automatic surface-treating apparatus
4796198, Oct 17 1986 The United States of America as represented by the United States Method for laser-based two-dimensional navigation system in a structured environment
4806751, Sep 30 1985 ALPS Electric Co., Ltd. Code wheel for a reflective type optical rotary encoder
4811228, Sep 17 1985 NATIONSBANK OF NORTH CAROLINA, N A Method of navigating an automated guided vehicle
4813906, Oct 19 1985 Tomy Kogyo Co., Inc. Pivotable running toy
4815157, Oct 28 1986 Kabushiki Kaisha Hoky; KABUSHIKI KISHA HOKY ALSO TRADING AS HOKY CORPORATION , 498, KOMAGIDAI, NAGAREYAMA-SHI, CHIBA 270-01, JAPAN Floor cleaner
4817000, Mar 10 1986 SI Handling Systems, Inc. Automatic guided vehicle system
4818875, Mar 30 1987 The Foxboro Company Portable battery-operated ambient air analyzer
4829442, May 16 1986 E T M REALTY TRUST Beacon navigation system and method for guiding a vehicle
4829626, Oct 01 1986 Allaway Oy Method for controlling a vacuum cleaner or a central vacuum cleaner
4832098, Apr 16 1984 MICHELIN RECHERCHE ET TECHNIQUE S A Non-pneumatic tire with supporting and cushioning members
4851661, Feb 26 1988 The United States of America as represented by the Secretary of the Navy Programmable near-infrared ranging system
4854000, May 23 1988 Cleaner of remote-control type
4854006, Mar 30 1987 MATSUSHITA ELECTRIC INDUSTRIAL CO , LTD , 1006, OAZA-KADOMA, KADOMA-SHI, OSAKA-FU, 571 JAPAN Floor nozzle for vacuum cleaner
4855915, Mar 13 1987 Autoguided vehicle using reflective materials
4857912, Jul 27 1988 The United States of America as represented by the Secretary of the Navy; UNITED STATES OF AMERICA, THE, AS REPRESENTED BY THE SECRETARY OF THE NAVY Intelligent security assessment system
4858132, Sep 11 1987 NATIONSBANK OF NORTH CAROLINA, N A Optical navigation system for an automatic guided vehicle, and method
4867570, Dec 10 1985 Canon Kabushiki Kaisha Three-dimensional information processing method and apparatus for obtaining three-dimensional information of object by projecting a plurality of pattern beams onto object
4880474, Oct 08 1986 Hitachi, Ltd. Method and apparatus for operating vacuum cleaner
4887415, Jun 10 1988 Automated lawn mower or floor polisher
4891762, Feb 09 1988 Method and apparatus for tracking, mapping and recognition of spatial patterns
4893025, Dec 30 1988 University of Southern California Distributed proximity sensor system having embedded light emitters and detectors
4901394, Apr 20 1988 Matsushita Electric Industrial Co., Ltd. Floor nozzle for electric cleaner
4905151, Mar 07 1988 Transitions Research Corporation One dimensional image visual system for a moving vehicle
4912643, Oct 30 1986 Institute for Industrial Research and Standards Position sensing apparatus
4918441, Dec 22 1988 BLUE LEAF I P , INC Non-contact sensing unit for row crop harvester guidance system
4919224, May 09 1988 Industrial Technology Research Institute Automatic working vehicular system
4919489, Apr 20 1988 Grumman Aerospace Corporation Cog-augmented wheel for obstacle negotiation
4920060, Oct 14 1986 Hercules Incorporated Device and process for mixing a sample and a diluent
4920605, Oct 16 1987 MATSUSHITA ELECTRIC INDUSTRIAL CO , LTD Electric cleaner
4933864, Oct 04 1988 Transitions Research Corporation Mobile robot navigation employing ceiling light fixtures
4937912, Feb 09 1988 Interlava AG Mounting device for sensors and pick-ups
4953253, May 30 1987 Kabushiki Kaisha Toshiba Canister vacuum cleaner with automatic operation control
4954962, Sep 06 1988 Pyxis Corporation Visual navigation and obstacle avoidance structured light system
4955714, Jun 26 1986 STAR GAZE INTERNATIONAL, INC System for simulating the appearance of the night sky inside a room
4956891, Feb 21 1990 Tennant Company Floor cleaner
4961303, Jul 10 1989 BLUE LEAF I P , INC Apparatus for opening conditioning rolls
4961304, Oct 20 1989 CNH America LLC; BLUE LEAF I P , INC Cotton flow monitoring system for a cotton harvester
4962453, Feb 07 1989 TRANSITIONS RESEARCH CORPORATION, A CT CORP Autonomous vehicle for working on a surface and method of controlling same
4971591, Apr 25 1989 Vehicle with vacuum traction
4973912, Apr 15 1988 Daimler-Benz Aktiengesellschaft Method for contactless measurement of a resistance arranged in the secondary circuit of a transformer and device for carrying out the method
4974283, Dec 16 1987 HAKO-WERKE GMBH & CO Hand-guided sweeping machine
4977618, Apr 21 1988 Photonics Corporation Infrared data communications
4977639, Aug 15 1988 MITSUBISHI DENKI KABUSHIKI KAISHA, A CORP OF JAPAN; MITSUBISHI ELECTRIC HOME APPLIANCE CO , LTD Floor detector for vacuum cleaners
4986663, Dec 21 1988 SOCIETA CAVI PIRELLI S P A , A CORP OF ITALY Method and apparatus for determining the position of a mobile body
5001635, Jan 08 1988 Sanyo Electric Co., Ltd. Vehicle
5002145, Jan 29 1988 NEC Corporation Method and apparatus for controlling automated guided vehicle
5012886, Dec 11 1986 Azurtec Self-guided mobile unit and cleaning apparatus such as a vacuum cleaner comprising such a unit
5018240, Apr 27 1990 Cimex Limited Carpet cleaner
5020186, Jan 24 1990 Black & Decker Inc. Vacuum cleaners
5022812, Sep 26 1988 Northrop Grumman Systems Corporation Small all terrain mobile robot
5023788, Apr 25 1989 TOKIMEC INC Control apparatus of working robot to flatten and finish the concreted floor
5024529, Jan 29 1988 Electro Scientific Industries, Inc Method and system for high-speed, high-resolution, 3-D imaging of an object at a vision station
5032775, Jun 07 1989 Kabushiki Kaisha Toshiba Control apparatus for plane working robot
5033151, Dec 16 1988 Interlava AG Control and/or indication device for the operation of vacuum cleaners
5033291, Dec 11 1989 Tekscan, Inc. Flexible tactile sensor for measuring foot pressure distributions and for gaskets
5040116, Sep 06 1988 Transitions Research Corporation Visual navigation and obstacle avoidance structured light system
5045769, Nov 14 1989 UNITED STATES OF AMERICA, THE, AS REPRESENTED BY THE SECRETARY OF THE NAVY Intelligent battery charging system
5049802, Mar 01 1990 FMC Corporation Charging system for a vehicle
5051906, Jun 07 1989 CAREFUSION 303, INC Mobile robot navigation employing retroreflective ceiling features
5062819, Jan 28 1991 Toy vehicle apparatus
5084934, Jan 24 1990 Black & Decker Inc. Vacuum cleaners
5086535, Oct 22 1990 Racine Industries, Inc. Machine and method using graphic data for treating a surface
5090321, Jun 28 1985 ICI Australia Ltd Detonator actuator
5093955, Aug 29 1990 Tennant Company Combined sweeper and scrubber
5094311, Feb 22 1991 FANUC ROBOTICS NORTH AMERICA, INC Limited mobility transporter
5105502, Dec 06 1988 Matsushita Electric Industrial Co., Ltd. Vacuum cleaner with function to adjust sensitivity of dust sensor
5105550, Mar 25 1991 Wilson Sporting Goods Co. Apparatus for measuring golf clubs
5109566, Jun 28 1990 Matsushita Electric Industrial Co., Ltd. Self-running cleaning apparatus
5115538, Jan 24 1990 Black & Decker Inc. Vacuum cleaners
5127128, Jul 27 1989 Goldstar Co., Ltd. Cleaner head
5136675, Dec 20 1990 Lockheed Martin Corporation Slewable projection system with fiber-optic elements
5136750, Nov 07 1988 Matsushita Electric Industrial Co., Ltd. Vacuum cleaner with device for adjusting sensitivity of dust sensor
5142985, Jun 04 1990 ALLIANT TECHSYSTEMS INC Optical detection device
5144471, Jun 27 1989 Victor Company of Japan, Ltd. Optical scanning system for scanning object with light beam and displaying apparatus
5144714, Feb 22 1990 MATSUSHITA ELECTRIC INDUSTRIAL CO , LTD Vacuum cleaner
5144715, Aug 18 1989 Matsushita Electric Industrial Co., Ltd. Vacuum cleaner and method of determining type of floor surface being cleaned thereby
5152028, Dec 15 1989 Matsushita Electric Industrial Co., Ltd. Upright vacuum cleaner
5152202, Jul 03 1991 CAMOZZI PNEUMATICS, INC ; INGERSOLL MACHINE TOOLS, INC Turning machine with pivoted armature
5155684, Oct 25 1988 Tennant Company Guiding an unmanned vehicle by reference to overhead features
5163202, Mar 24 1988 Matsushita Electric Industrial Co. Ltd. Dust detector for vacuum cleaner
5163320, Dec 13 1989 Bridgestone Corporation Tire inspection device
5164579, Apr 30 1979 DIFFRACTO LTD Method and apparatus for electro-optically determining the dimension, location and attitude of objects including light spot centroid determination
5165064, Mar 22 1991 Cyberotics, Inc.; CYBEROTICS, INC , A CORP OF MA Mobile robot guidance and navigation system
5170352, May 07 1990 FMC Corporation Multi-purpose autonomous vehicle with path plotting
5173881, Mar 19 1991 Vehicular proximity sensing system
5182833, May 11 1989 Matsushita Electric Industrial Co., Ltd. Vacuum cleaner
5202742, Oct 03 1990 Aisin Seiki Kabushiki Kaisha Laser radar for a vehicle lateral guidance system
5204814, Nov 13 1990 CUTTING EDGE ROBOTICS, INC Autonomous lawn mower
5206500, May 28 1992 AMERICAN CAPITAL FINANCIAL SERVICES, INC , AS SUCCESSOR ADMINISTRATIVE AGENT Pulsed-laser detection with pulse stretcher and noise averaging
5208521, Sep 07 1991 Fuji Jukogyo Kabushiki Kaisha Control system for a self-moving vehicle
5216777, Nov 26 1990 MATSUSHITA ELECTRIC INDUSTRIAL CO LTD Fuzzy control apparatus generating a plurality of membership functions for determining a drive condition of an electric vacuum cleaner
5227985, Aug 19 1991 University of Maryland; UNIVERSITY OF MARYLAND A NON-PROFIT ORGANIZATION OF MD Computer vision system for position monitoring in three dimensions using non-coplanar light sources attached to a monitored object
5233682, Apr 10 1990 Matsushita Electric Industrial Co., Ltd. Vacuum cleaner with fuzzy control
5239720, Oct 24 1991 Advance Machine Company Mobile surface cleaning machine
5251358, Nov 26 1990 Matsushita Electric Industrial Co., Ltd. Vacuum cleaner with fuzzy logic
5261139, Nov 23 1992 Raised baseboard brush for powered floor sweeper
5276618, Feb 26 1992 The United States of America as represented by the Secretary of the Navy; UNITED STATES OF AMERICA, THE, AS REPRESENTED BY THE SECRETARY OF THE NAVY Doorway transit navigational referencing system
5276939, Feb 14 1991 Sanyo Electric Co., Ltd. Electric vacuum cleaner with suction power responsive to nozzle conditions
5277064, Apr 08 1992 General Motors Corporation; Delco Electronics Corp. Thick film accelerometer
5279672, Jun 29 1992 KARCHER NORTH AMERICA, INC Automatic controlled cleaning machine
5284452, Jan 15 1993 Atlantic Richfield Company Mooring buoy with hawser tension indicator system
5284522, Jun 28 1990 Matsushita Electric Industrial Co., Ltd. Self-running cleaning control method
5293955, Dec 30 1991 GOLDSTAR CO , LTD Obstacle sensing apparatus for a self-propelled cleaning robot
5303448, Jul 08 1992 Tennant Company Hopper and filter chamber for direct forward throw sweeper
5307273, Aug 27 1991 GOLDSTAR CO , LTD Apparatus and method for recognizing carpets and stairs by cleaning robot
5309592, Jun 23 1992 XARAZ PROPERTIES LLC Cleaning robot
5310379, Feb 03 1993 Mattel, Inc Multiple configuration toy vehicle
5315227, Jan 29 1993 Solar recharge station for electric vehicles
5319827, Aug 14 1991 Gold Star Co., Ltd. Device of sensing dust for a vacuum cleaner
5319828, Nov 04 1992 Tennant Company Low profile scrubber
5321614, Jun 06 1991 FLOORBOTICS, INC Navigational control apparatus and method for autonomus vehicles
5323483, Jun 25 1991 Goldstar Co., Ltd. Apparatus and method for controlling speed of suction motor in vacuum cleaner
5324948, Oct 27 1992 Energy, United States Department of Autonomous mobile robot for radiologic surveys
5341186, Jan 13 1992 Olympus Optical Co., Ltd. Active autofocusing type rangefinder optical system
5341540, Jun 07 1989 Onet, S.A. Process and autonomous apparatus for the automatic cleaning of ground areas through the performance of programmed tasks
5341549, Sep 23 1991 W SCHLAFHORST AG & CO Apparatus for removing yarn remnants
5345649, Apr 21 1993 Fan brake for textile cleaning machine
5353224, Dec 07 1990 GOLDSTAR CO , LTD , A CORP OF KOREA Method for automatically controlling a travelling and cleaning operation of vacuum cleaners
5363305, Jul 02 1990 NEC Corporation Navigation system for a mobile robot
5363935, May 14 1993 Carnegie Mellon University Reconfigurable mobile vehicle with magnetic tracks
5369347, Mar 25 1992 SAMSUNG KWANG-JU ELECTRONICS CO , LTD Self-driven robotic cleaning apparatus and driving method thereof
5369838, Nov 16 1992 Advance Machine Company Automatic floor scrubber
5386862, Oct 02 1992 The Goodyear Tire & Rubber Company Pneumatic tire having improved wet traction
5399951, May 12 1992 UNIVERSITE JOSEPH FOURIER Robot for guiding movements and control method thereof
5400244, Jun 25 1991 Kabushiki Kaisha Toshiba Running control system for mobile robot provided with multiple sensor information integration system
5404612, Aug 18 1993 Yashima Electric Co., Ltd. Vacuum cleaner
5410479, Aug 17 1992 Ultrasonic furrow or crop row following sensor
5435405, May 14 1993 Carnegie Mellon University Reconfigurable mobile vehicle with magnetic tracks
5440216, Jun 08 1993 SAMSUNG KWANG-JU ELECTRONICS CO , LTD Robot cleaner
5442358, Aug 16 1991 Kaman Aerospace Corporation Imaging lidar transmitter downlink for command guidance of underwater vehicle
5444965, Sep 24 1990 Continuous and autonomous mowing system
5446356, Sep 09 1993 Samsung Electronics Co., Ltd. Mobile robot
5451135, Apr 02 1993 Carnegie Mellon University Collapsible mobile vehicle
5454129, Sep 01 1994 Self-powered pool vacuum with remote controlled capabilities
5455982, Apr 22 1994 Advance Machine Company Hard and soft floor surface cleaning apparatus
5465525, Dec 29 1993 Tomokiyo White Ant Co. Ltd. Intellectual working robot of self controlling and running
5465619, Sep 08 1993 Xerox Corporation Capacitive sensor
5467273, Jan 12 1992 RAFAEL LTD Large area movement robot
5471560, Jan 09 1987 Honeywell Inc. Method of construction of hierarchically organized procedural node information structure including a method for extracting procedural knowledge from an expert, and procedural node information structure constructed thereby
5491670, Jan 21 1993 System and method for sonic positioning
5497529, Jul 20 1993 Electrical apparatus for cleaning surfaces by suction in dwelling premises
5498948, Oct 14 1994 GM Global Technology Operations LLC Self-aligning inductive charger
5502638, Feb 10 1992 Honda Giken Kogyo Kabushiki Kaisha System for obstacle avoidance path planning for multiple-degree-of-freedom mechanism
5505072, Nov 15 1994 Tekscan, Inc. Scanning circuit for pressure responsive array
5507067, May 12 1994 ELX HOLDINGS, L L C ; Electrolux LLC Electronic vacuum cleaner control system
5510893, Aug 18 1993 Digital Stream Corporation Optical-type position and posture detecting device
5511147, Jan 12 1994 UTI Corporation Graphical interface for robot
5515572, May 12 1994 ELX HOLDINGS, L L C ; Electrolux LLC Electronic vacuum cleaner control system
5534762, Sep 27 1993 SAMSUNG KWANG-JU ELECTRONICS CO , LTD Self-propelled cleaning robot operable in a cordless mode and a cord mode
5537017, May 22 1992 Siemens Aktiengesellschaft Self-propelled device and process for exploring an area with the device
5537711, May 05 1995 Electric board cleaner
5539953, Jan 22 1992 Floor nozzle for vacuum cleaners
5542146, May 12 1994 ELX HOLDINGS, L L C ; Electrolux LLC Electronic vacuum cleaner control system
5542148, Jan 26 1995 TYMCO, Inc. Broom assisted pick-up head
5546631, Oct 31 1994 Waterless container cleaner monitoring system
5548511, Oct 29 1992 Axxon Robotics, LLC Method for controlling self-running cleaning apparatus
5551525, Aug 19 1994 Vanderbilt University Climber robot
5553349, Feb 21 1994 Aktiebolaget Electrolux Vacuum cleaner nozzle
5555587, Jul 20 1995 The Scott Fetzer Company Floor mopping machine
5560077, Nov 25 1994 Vacuum dustpan apparatus
5568589, Sep 30 1992 Self-propelled cleaning machine with fuzzy logic control
5608306, Mar 15 1994 ERICSSON-GE MOBILE COMMUNICATIONS, INC Rechargeable battery pack with identification circuit, real time clock and authentication capability
5608894, Mar 18 1994 Fujitsu Limited Execution control system
5608944, Jun 05 1995 Healthy Gain Investments Limited Vacuum cleaner with dirt detection
5610488, Nov 05 1991 Seiko Epson Corporation Micro robot
5611106, Jan 19 1996 Tennant Company Carpet maintainer
5611108, Apr 25 1994 KARCHER NORTH AMERICA, INC Floor cleaning apparatus with slidable flap
5613261, Apr 14 1994 MONEUAL, INC Cleaner
5613269, Oct 26 1992 MIWA SCIENCE LABORATORY INC Recirculating type cleaner
5621291, Mar 31 1994 Samsung Electronics Co., Ltd. Drive control method of robotic vacuum cleaner
5622236, Oct 30 1992 S. C. Johnson & Son, Inc. Guidance system for self-advancing vehicle
5634237, Mar 29 1995 Self-guided, self-propelled, convertible cleaning apparatus
5634239, May 16 1995 Aktiebolaget Electrolux Vacuum cleaner nozzle
5636402, Jun 15 1994 MONEUAL, INC Apparatus spreading fluid on floor while moving
5642299, Sep 01 1993 HARDIN, LARRY C Electro-optical range finding and speed detection system
5646494, Mar 29 1994 SAMSUNG KWANG-JU ELECTRONICS CO , LTD Charge induction apparatus of robot cleaner and method thereof
5647554, Jan 23 1990 Sanyo Electric Co., Ltd. Electric working apparatus supplied with electric power through power supply cord
5650702, Jul 07 1994 S C JOHNSON & SON, INC Controlling system for self-propelled floor cleaning vehicles
5652489, Aug 26 1994 MONEUAL, INC Mobile robot control system
5682313, Jun 06 1994 Aktiebolaget Electrolux Method for localization of beacons for an autonomous device
5682839, Jul 15 1993 Perimeter Technologies Incorporated Electronic animal confinement system
5696675, Jul 01 1994 MONEUAL, INC Route making system for a mobile robot
5698861, Aug 01 1994 KONAMI DIGITAL ENTERTAINMENT CO , LTD System for detecting a position of a movable object without contact
5709007, Jun 10 1996 Remote control vacuum cleaner
5710506, Feb 07 1995 BENCHMARQ MICROELECTRONICS,INC Lead acid charger
5714119, Mar 24 1994 YOSHIHIRO KIUCHI Sterilizer
5717169, Oct 13 1994 Schlumberger Technology Corporation Method and apparatus for inspecting well bore casing
5717484, Mar 22 1994 MONEUAL, INC Position detecting system
5720077, May 30 1994 Minolta Co., Ltd. Running robot carrying out prescribed work using working member and method of working using the same
5732401, Mar 29 1996 INTELLITECS INTERNATIONAL, INC BY MERGER INTO GLH DWC, INC AND CHANGE OF NAME Activity based cost tracking systems
5735959, Jun 15 1994 MONEUAL, INC Apparatus spreading fluid on floor while moving
5745235, Mar 26 1996 Egemin Naamloze Vennootschap Measuring system for testing the position of a vehicle and sensing device therefore
5752871, Nov 30 1995 Tomy Co., Ltd. Running body
5756904, Aug 30 1996 Tekscan, Inc Pressure responsive sensor having controlled scanning speed
5761762, Jul 13 1995 Eishin Technology Co., Ltd. Cleaner and bowling maintenance machine using the same
5764888, Jul 19 1996 Dallas Semiconductor Corporation Electronic micro identification circuit that is inherently bonded to someone or something
5767437, Mar 20 1997 Digital remote pyrotactic firing mechanism
5767960, Jun 14 1996 Ascension Technology Corporation; ROPER ASCENSION ACQUISITION, INC Optical 6D measurement system with three fan-shaped beams rotating around one axis
5777596, Nov 13 1995 AVAGO TECHNOLOGIES GENERAL IP SINGAPORE PTE LTD Touch sensitive flat panel display
5778486, Oct 31 1995 Daewoo Electronics Co., Ltd. Indicator device for a vacuum cleaner dust container which has an additional pressure controller
5781697, Jun 02 1995 Samsung Electronics Co., Ltd. Method and apparatus for automatic running control of a robot
5781960, Apr 25 1996 Aktiebolaget Electrolux Nozzle arrangement for a self-guiding vacuum cleaner
5786602, Apr 30 1979 DIFFRACTO LTD Method and apparatus for electro-optically determining the dimension, location and attitude of objects
5787545, Jul 04 1994 Automatic machine and device for floor dusting
5793900, Dec 29 1995 Stanford University Generating categorical depth maps using passive defocus sensing
5794297, Mar 31 1994 Techtronic Floor Care Technology Limited Cleaning members for cleaning areas near walls used in floor cleaner
5812267, Jul 10 1996 NAVY, THE UNITED STATES OF AMERICA, AS REPRESENTED BY THE SECRETARY Optically based position location system for an autonomous guided vehicle
5814808, Aug 28 1995 PANASONIC ELECTRIC WORKS CO , LTD Optical displacement measuring system using a triangulation including a processing of position signals in a time sharing manner
5815880, Aug 08 1995 MONEUAL, INC Cleaning robot
5815884, Nov 27 1996 Yashima Electric Co., Ltd. Dust indication system for vacuum cleaner
5819008, Oct 18 1995 KENKYUSHO, RIKAGAKU Mobile robot sensor system
5819360, Sep 19 1995 Windshied washer apparatus with flow control coordinated with a wiper displacement range
5819936, May 31 1995 Eastman Kodak Company Film container having centering rib elements
5820821, Mar 24 1994 KIUCHI, YOSHIHIRO Sterilizer
5821730, Aug 18 1997 ICC-NEXERGY, INC Low cost battery sensing technique
5825981, Mar 11 1996 Komatsu Ltd. Robot system and robot control device
5828770, Feb 20 1996 BANK OF MONTREAL System for determining the spatial position and angular orientation of an object
5831597, May 24 1996 PROSISA OVERSEAS, INC Computer input device for use in conjunction with a mouse input device
5839156, Dec 19 1995 SAMSUNG KWANG-JU ELECTRONICS CO , LTD Remote controllable automatic moving vacuum cleaner
5839532, Mar 22 1995 Honda Giken Kogyo Kabushiki Kaisha Vacuum wall walking apparatus
5841259, Aug 07 1993 SAMSUNG KWANG-JU ELECTRONICS CO , LTD Vacuum cleaner and control method thereof
5867800, Mar 29 1994 Aktiebolaget Electrolux Method and device for sensing of obstacles for an autonomous device
5869910, Feb 11 1994 Power supply system for self-contained mobile robots
5896611, May 04 1996 Ing. Haaga Werkzeugbau KG Sweeping machine
5903124, Sep 30 1996 MONEUAL, INC Apparatus for positioning moving body allowing precise positioning of moving body
5905209, Jul 22 1997 Tekscan, Inc. Output circuit for pressure sensor
5907886, Feb 16 1996 Branofilter GmbH Detector device for filter bags for vacuum cleaners
5910700, Mar 20 1998 Dust sensor apparatus
5916008, Jun 20 1997 T. K. Wong & Associates, Ltd. Wall descending toy with retractable wheel and cover
5924167, Jun 07 1996 Royal Appliance Mfg. Co. Cordless wet mop and vacuum assembly
5926909, Aug 28 1996 Remote control vacuum cleaner and charging system
5933102, Sep 24 1997 TouchSensor Technologies, LLC Capacitive sensitive switch method and system
5933913, Jun 07 1996 Royal Appliance Mfg. Co. Cordless wet mop and vacuum assembly
5935179, Apr 30 1996 Aktiebolaget Electrolux System and device for a self orienting device
5940346, Dec 13 1996 Arizona State University Modular robotic platform with acoustic navigation system
5940927, Apr 30 1996 Aktiebolaget Electrolux Autonomous surface cleaning apparatus
5940930, May 12 1997 SAMSUNG KWANG-JU ELECTRONICS CO , LTD Remote controlled vacuum cleaner
5942869, Feb 13 1997 Honda Giken Kogyo Kabushiki Kaisha Mobile robot control device
5943730, Nov 24 1997 Tennant Company Scrubber vac-fan seal
5943733, Mar 31 1995 Dulevo International S.p.A. Sucking and filtering vehicle for dust and trash collecting
5947225, Apr 14 1995 MONEUAL, INC Automatic vehicle
5950408, Jul 25 1997 MTD Products Inc; MTD Products, Inc Bag-full indicator mechanism
5959423, Jun 08 1995 MONEUAL, INC Mobile work robot system
5968281, Jun 07 1996 Royal Appliance Mfg. Co. Method for mopping and drying a floor
5974348, Dec 13 1996 System and method for performing mobile robotic work operations
5974365, Oct 23 1997 The United States of America as represented by the Secretary of the Army System for measuring the location and orientation of an object
5983448, Jun 07 1996 ROYAL APPLIANCE MFG CO Cordless wet mop and vacuum assembly
5984880, Jan 20 1998 Tactile feedback controlled by various medium
5987383, Apr 28 1997 Trimble Navigation Form line following guidance system
5989700, Jan 05 1996 Tekscan Incorporated; Tekscan, Incorporated Pressure sensitive ink means, and methods of use
5991951, Jun 03 1996 MONEUAL, INC Running and working robot not susceptible to damage at a coupling unit between running unit and working unit
5995884, Mar 07 1997 Computer peripheral floor cleaning system and navigation method
5998953, Aug 22 1997 MONEUAL, INC Control apparatus of mobile that applies fluid on floor
5998971, Dec 10 1997 NEC Corporation Apparatus and method for coulometric metering of battery state of charge
6000088, Jun 07 1996 Royal Appliance Mfg. Co. Cordless wet mop and vacuum assembly
6009358, Jun 25 1997 The Toro Company Programmable lawn mower
6021545, Apr 21 1995 VORWERK & CO , INTERHOLDING GMBH Vacuum cleaner attachment for the wet cleaning of surfaces
6023813, Apr 07 1998 Spectrum Industrial Products, Inc. Powered floor scrubber and buffer
6023814, Sep 15 1997 YASHIMA ELECTRIC CO , LTD Vacuum cleaner
6025687, Sep 26 1997 MONEUAL, INC Mobile unit and controller for mobile unit
6026539, Mar 04 1998 BISSELL Homecare, Inc Upright vacuum cleaner with full bag and clogged filter indicators thereon
6030465, Jun 26 1996 Panasonic Corporation of North America Extractor with twin, counterrotating agitators
6032542, Jul 07 1997 Tekscan, Inc. Prepressured force/pressure sensor and method for the fabrication thereof
6036572, Mar 04 1998 Drive for toy with suction cup feet
6038501, Feb 27 1997 MONEUAL, INC Autonomous vehicle capable of traveling/stopping in parallel to wall and controlling method thereof
6040669, Oct 22 1996 Robert Bosch GmbH Control device for an optical sensor
6041471, Apr 09 1998 MADVAC INC Mobile walk-behind sweeper
6041472, Nov 06 1995 BISSELL Homecare, Inc Upright water extraction cleaning machine
6046800, Jan 31 1997 Kabushiki Kaisha Topcon Position detection surveying device
6049620, Dec 15 1995 Apple Inc Capacitive fingerprint sensor with adjustable gain
6052821, Jun 26 1996 U S PHILIPS CORPORATION Trellis coded QAM using rate compatible, punctured, convolutional codes
6055042, Dec 16 1997 Caterpillar Inc.; Caterpillar Inc Method and apparatus for detecting obstacles using multiple sensors for range selective detection
6055702, Sep 09 1998 Yashima Electric Co., Ltd. Vacuum cleaner
6061868, Oct 26 1996 ALFRED KAERCHER GMBH & CO KG Traveling floor cleaning appliance
6065182, Jun 07 1996 ROYAL APPLIANCE MFG CO Cordless wet mop and vacuum assembly
6073432, Jul 25 1997 MTD Products Inc Bag-full indicator mechanism
6076025, Jan 29 1997 Honda Giken Kogyo K.K. Mobile robot steering method and control device
6076026, Sep 30 1997 TEMIC AUTOMOTIVE OF NORTH AMERICA, INC Method and device for vehicle control events data recording and securing
6076226, Jan 27 1997 Robert J., Schaap Controlled self operated vacuum cleaning system
6076227, Aug 25 1997 U.S. Philips Corporation Electrical surface treatment device with an acoustic surface type detector
6081257, Feb 15 1996 Airbus Helicopters Deutschland GmbH Control stick rotatably positionable in three axes
6088020, Aug 12 1998 HANGER SOLUTIONS, LLC Haptic device
6094775, Mar 05 1997 BSH Bosch und Siemens Hausgerate GmbH Multifunctional vacuum cleaning appliance
6099091, Jan 20 1998 Pentair Pool Products, INC Traction enhanced wheel apparatus
6101670, Dec 31 1998 Dust collection tester for a vacuum cleaner
6101671, Jun 07 1996 ROYAL APPLIANCE MFG CO Wet mop and vacuum assembly
6108031, May 08 1997 Harris Corporation Virtual reality teleoperated remote control vehicle
6108076, Dec 21 1998 Trimble Navigation Limited Method and apparatus for accurately positioning a tool on a mobile machine using on-board laser and positioning system
6108269, Oct 01 1998 Garmin Corporation Method for elimination of passive noise interference in sonar
6108597, Mar 06 1996 GMD-Forschungszentrum Informationstechnik GmbH Autonomous mobile robot system for sensor-based and map-based navigation in pipe networks
6112143, Aug 06 1998 Caterpillar Inc. Method and apparatus for establishing a perimeter defining an area to be traversed by a mobile machine
6112996, Jun 03 1996 Minolta Co., Ltd. IC card and autonomous running and working robot having an IC card mounting apparatus
6119057, Mar 21 1997 MONEUAL, INC Autonomous vehicle with an easily set work area and easily switched mode
6122798, Aug 29 1997 Sanyo Electric Co., Ltd. Dust suction head for electric vacuum cleaner
6124694, Mar 18 1999 DIVERSEY, INC Wide area navigation for a robot scrubber
6125498, Dec 05 1997 BISSELL Homecare, Inc Handheld extraction cleaner
6131237, Jul 09 1997 BISSELL Homecare, Inc Upright extraction cleaning machine
6138063, Feb 28 1997 MONEUAL, INC Autonomous vehicle always facing target direction at end of run and control method thereof
6142252, Jul 11 1996 MONEUAL, INC Autonomous vehicle that runs while recognizing work area configuration, and method of selecting route
6146278, Jan 10 1997 KONAMI DIGITAL ENTERTAINMENT CO , LTD Shooting video game machine
6154279, Apr 09 1998 NEWMAN, JOHN W Method and apparatus for determining shapes of countersunk holes
6154694, May 11 1998 Kabushiki Kaisha Tokai Rika Denki Seisakusho Data carrier system
6160479, May 07 1996 Assa Abloy IP AB Method for the determination of the distance and the angular position of an object
6167332, Jan 28 1999 International Business Machines Corporation Method and apparatus suitable for optimizing an operation of a self-guided vehicle
6167587, Jul 09 1997 BISSELL Homecare, Inc Upright extraction cleaning machine
6192548, Jul 09 1997 BISSELL Homecare, Inc. Upright extraction cleaning machine with flow rate indicator
6216307, Sep 25 1998 CMA Manufacturing Co. Hand held cleaning device
6220865, Jan 22 1996 Vincent J., Macri Instruction for groups of users interactively controlling groups of images to make idiosyncratic, simulated, physical movements
6226830, Aug 20 1997 Philips Electronics North America Corporation Vacuum cleaner with obstacle avoidance
6230362, Jul 09 1997 BISSELL Homecare, Inc. Upright extraction cleaning machine
6237741, Mar 12 1998 Cavanna S.p.A. Process for controlling the operation of machines for processing articles, for example for packaging food products, and the machine thereof
6240342, Feb 03 1998 Siemens Aktiengesellschaft Path planning process for a mobile surface treatment unit
6243913, Oct 27 1997 ALFRED KAERCHER GMBH & CO KG Cleaning device
6255793, May 30 1995 F ROBOTICS ACQUISITIONS LTD Navigation method and system for autonomous machines with markers defining the working area
6259979, Oct 17 1997 KOLLMORGEN AUTOMATION AB Method and device for association of anonymous reflectors to detected angle positions
6261379, Jun 01 1999 Polar Light Limited Floating agitator housing for a vacuum cleaner head
6263539, Dec 23 1999 Carpet/floor cleaning wand and machine
6263989, Mar 27 1998 FLIR DETECTION, INC Robotic platform
6272936, Feb 20 1998 Tekscan, Inc Pressure sensor
6278918, Feb 28 2000 CNH America LLC; BLUE LEAF I P , INC Region of interest selection for a vision guidance system
6282526, Jan 20 1999 The United States of America as represented by the Secretary of the Navy; NAVY, UNITED STATES OF AMERICA, THE, AS REPRESENTED BY THE SECRETARY OF THE Fuzzy logic based system and method for information processing with uncertain input data
6283034, Jul 30 1999 Remotely armed ammunition
6285778, Sep 19 1991 Yazaki Corporation Vehicle surroundings monitor with obstacle avoidance lighting
6285930, Feb 28 2000 CNH America LLC; BLUE LEAF I P , INC Tracking improvement for a vision guidance system
6300737, Sep 19 1997 HUSQVARNA AB Electronic bordering system
6321337,
6321515, Mar 18 1997 HUSQVARNA AB Self-propelled lawn mower
6323570, Apr 05 1999 Matsushita Electric Industrial Co., Ltd. Rotary brush device and vacuum cleaner using the same
6324714, May 08 1998 ALFRED KAERCHER GMBH & CO KG Sweeping machine
6327741, Jan 27 1997 Robert J., Schaap Controlled self operated vacuum cleaning system
6332400, Jan 24 2000 The United States of America as represented by the Secretary of the Navy Initiating device for use with telemetry systems
6339735, Dec 29 1998 MTD Products Inc Method for operating a robot
6362875, Dec 10 1999 Cognex Technology and Investment Corporation Machine vision system and method for inspection, homing, guidance and docking with respect to remote objects
6370453, Jul 31 1998 TECHNISCHE FACHHOCHSCHULE BERLIN Service robot for the automatic suction of dust from floor surfaces
6374155, Nov 24 1999 Vision Robotics Corporation Autonomous multi-platform robot system
6381802, Apr 24 2000 Samsung Kwangju Electronics Co., Ltd. Brush assembly of a vacuum cleaner
6385515, Jun 15 2000 CNH America LLC; BLUE LEAF I P , INC Trajectory path planner for a vision guidance system
6388013, Jan 04 2001 Equistar Chemicals, LP Polyolefin fiber compositions
6389329, Nov 27 1997 Mobile robots and their control system
6400048, Apr 03 1998 MATSUSHITA ELECTRIC INDUSTRIAL CO , LTD Rotary brush device and vacuum cleaner using the same
6401294, Jul 09 1997 BISSELL Homecare, Inc. Upright extracton cleaning machine with handle mounting
6408226, Apr 24 2001 National Technology & Engineering Solutions of Sandia, LLC Cooperative system and method using mobile robots for testing a cooperative search controller
6412141, Jul 09 1997 BISSELL Homecare, Inc. Upright extraction cleaning machine
6415203, May 10 1999 Sony Corporation Toboy device and method for controlling the same
6421870, Feb 04 2000 Tennant Company Stacked tools for overthrow sweeping
6427285, Oct 17 1996 Nilfisk-Advance, Inc. Floor surface cleaning machine
6430471, Dec 17 1998 MONEUAL, INC Control system for controlling a mobile robot via communications line
6431296, Mar 27 1998 FLIR DETECTION, INC Robotic platform
6437227, Oct 11 1999 Nokia Mobile Phones LTD Method for recognizing and selecting a tone sequence, particularly a piece of music
6437465, Apr 03 1998 Matsushita Electric Industrial Co., Ltd. Rotary brush device and vacuum cleaner using the same
6438456, Apr 24 2001 Sandia Corporation Portable control device for networked mobile robots
6438793, Jul 09 1997 BISSELL Homecare, Inc. Upright extraction cleaning machine
6442476, Apr 15 1998 COMMONWEALTH SCIENTIFIC AND INSUSTRIAL RESEARCH ORGANISATION; Research Organisation Method of tracking and sensing position of objects
6443509, Mar 21 2000 MTD Products Inc Tactile sensor
6444003, Jan 08 2001 Filter apparatus for sweeper truck hopper
6446302, Jun 14 1999 BISSEL INC ; BISSELL INC Extraction cleaning machine with cleaning control
6454036, May 15 2000 'Bots, Inc. Autonomous vehicle navigation system and method
6457206, Oct 20 2000 GOOGLE LLC Remote-controlled vacuum cleaner
6459955, Nov 18 1999 The Procter & Gamble Company Home cleaning robot
6463368, Aug 10 1998 Siemens Aktiengesellschaft Method and device for determining a path around a defined reference position
6465982, Jan 08 1998 HUSQVARNA AB Electronic search system
6473167, Jun 14 2001 Ascension Technology Corporation; ROPER ASCENSION ACQUISITION, INC Position and orientation determination using stationary fan beam sources and rotating mirrors to sweep fan beams
6480762, Sep 27 1999 Olympus Corporation Medical apparatus supporting system
6481515, May 30 2000 Procter & Gamble Company, The Autonomous mobile surface treating apparatus
6490539, Feb 28 2000 CNH America LLC; BLUE LEAF I P , INC Region of interest selection for varying distances between crop rows for a vision guidance system
6491127, Aug 14 1998 Nomadic Technologies Powered caster wheel module for use on omnidirectional drive systems
6493612, Dec 18 1998 Dyson Technology Limited Sensors arrangement
6493613, Dec 29 1998 MTD Products Inc Method for operating a robot
6496754, Nov 17 2000 Samsung Kwangju Electronics Co., Ltd. Mobile robot and course adjusting method thereof
6496755, Nov 24 1999 Vision Robotics Corporation Autonomous multi-platform robot system
6502657, Sep 22 2000 The Charles Stark Draper Laboratory, Inc. Transformable vehicle
6504610, Jan 22 1997 Siemens Aktiengesellschaft Method and system for positioning an autonomous mobile unit for docking
6507773, Jun 14 2001 SHARPER IMAGE ACQUISITION LLC, A DELAWARE LIMITED LIABILITY COMPANY Multi-functional robot with remote and video system
6525509, Jan 08 1998 HUSQVARNA AB Docking system for a self-propelled working tool
6532404, Nov 27 1997 Mobile robots and their control system
6535793, May 01 2000 iRobot Corporation Method and system for remote control of mobile robot
6540607, Apr 26 2001 WARNER BROS ENTERTAINMENT INC Video game position and orientation detection system
6548982, Nov 19 1999 Regents of the University of Minnesota Miniature robotic vehicles and methods of controlling same
6553612, Dec 18 1998 Dyson Technology Limited Vacuum cleaner
6556722, May 30 1997 British Broadcasting Corporation Position determination
6556892, Apr 03 2000 Sony Corporation Control device and control method for robot
6557104, May 02 1997 KINGLITE HOLDINGS INC Method and apparatus for secure processing of cryptographic keys
6563130, Oct 21 1998 Canadian Space Agency Distance tracking control system for single pass topographical mapping
6571415, Dec 01 2000 Healthy Gain Investments Limited Random motion cleaner
6571422, Aug 01 2000 Healthy Gain Investments Limited Vacuum cleaner with a microprocessor-based dirt detection circuit
6572711, Dec 01 2000 Healthy Gain Investments Limited Multi-purpose position sensitive floor cleaning device
6574536, Jan 29 1996 MONEUAL, INC Moving apparatus for efficiently moving on floor with obstacle
6580246, Aug 13 2001 DIVERSEY, INC Robot touch shield
6584376, Aug 31 1999 Swisscom AG Mobile robot and method for controlling a mobile robot
6586908, Jan 08 1998 HUSQVARNA AB Docking system for a self-propelled working tool
6587573, Mar 20 2000 Gentex Corporation System for controlling exterior vehicle lights
6590222, Dec 18 1998 Dyson Technology Limited Light detection apparatus
6594551, Jun 14 2001 Sharper Image Corporation Robot for expressing moods
6594844, Jan 24 2000 iRobot Corporation Robot obstacle detection system
6601265, Dec 18 1998 Dyson Technology Limited Vacuum cleaner
6604021, Jun 21 2001 ADVANCED TELECOMMUNICATIONS RESEARCH INSTITUTE INTERNATIONAL Communication robot
6604022, Jun 14 2001 Sharper Image Corporation Robot for autonomous operation
6605156, Jul 23 1999 Dyson Technology Limited Robotic floor cleaning device
6611120, Apr 18 2001 Samsung Gwangju Electronics Co., Ltd. Robot cleaning system using mobile communication network
6611734, Jun 14 2001 SHARPER IMAGE ACQUISITION LLC, A DELAWARE LIMITED LIABILITY COMPANY Robot capable of gripping objects
6611738, Jul 12 1999 MC ROBOTICS Multifunctional mobile appliance
6615108, May 11 1998 MTD Products Inc Area coverage with an autonomous robot
6615885, Oct 31 2000 FLIR DETECTION, INC Resilient wheel structure
6622465, Jul 10 2001 Deere & Company Apparatus and method for a material collection fill indicator
6624744, Oct 05 2001 WILSON, WILLIAM NEIL Golf cart keyless control system
6625843, Aug 02 2000 KOREA HYDRO & NUCLEAR POWER CO , LTD Remote-controlled mobile cleaning apparatus for removal and collection of high radioactive waste debris in hot-cell
6629028, Jun 29 2000 PAROMTCHIK, IGOR EVGUENYEVITCH Method and system of optical guidance of mobile body
6639659, Apr 24 2001 HEXAGON TECHNOLOGY CENTER GMBH Measuring method for determining the position and the orientation of a moving assembly, and apparatus for implementing said method
6658325, Jan 16 2001 Mobile robotic with web server and digital radio links
6658354, Mar 15 2002 American GNC Corporation Interruption free navigator
6658692, Jan 14 2000 BISSEL INC ; BISSELL INC Small area deep cleaner
6658693, Oct 12 2000 BISSEL INC ; BISSELL INC Hand-held extraction cleaner with turbine-driven brush
6661239, Jan 02 2001 iRobot Corporation Capacitive sensor systems and methods with increased resolution and automatic calibration
6662889, Apr 04 2000 FLIR DETECTION, INC Wheeled platforms
6668951, Mar 27 1998 FLIR DETECTION, INC Robotic platform
6670817, Jun 07 2001 Eastman Kodak Company Capacitive toner level detection
6671592, Dec 18 1998 Dyson Technology Limited Autonomous vehicular appliance, especially vacuum cleaner
6687571, Apr 24 2001 National Technology & Engineering Solutions of Sandia, LLC Cooperating mobile robots
6690134, Jan 24 2001 iRobot Corporation Method and system for robot localization and confinement
6690993, Oct 12 2000 BROOKS AUTOMATION HOLDING, LLC; Brooks Automation US, LLC Reticle storage system
6697147, Jun 29 2002 Samsung Electronics Co., Ltd. Position measurement apparatus and method using laser
6711280, May 25 2001 STAFSUDD, OSCAR M ; KANELLAKOPOULOS, IOANNIS; NELSON, PHYLLIS R ; BAMBOS, NICHOLAS Method and apparatus for intelligent ranging via image subtraction
6732826, Apr 18 2001 Samsung Gwangju Electronics Co., Ltd. Robot cleaner, robot cleaning system and method for controlling same
6737591, May 25 1999 LIVESCRIBE INC Orientation sensing device
6741054, May 02 2000 Vision Robotics Corporation Autonomous floor mopping apparatus
6741364, Aug 13 2002 Harris Corporation Apparatus for determining relative positioning of objects and related methods
6748297, Oct 31 2002 Samsung Gwangju Electronics Co., Ltd. Robot cleaner system having external charging apparatus and method for docking with the charging apparatus
6756703, Feb 27 2002 Trigger switch module
6760647, Jul 25 2000 Axxon Robotics, LLC Socially interactive autonomous robot
6764373, Oct 29 1999 Sony Corporation Charging system for mobile robot, method for searching charging station, mobile robot, connector, and electrical connection structure
6769004, Apr 27 2000 FLIR DETECTION, INC Method and system for incremental stack scanning
6774596, May 28 1999 Dyson Technology Limited Indicator for a robotic machine
6779380, Jan 08 1999 WAP Reinigungssysteme GmbH & Co. Measuring system for the control of residual dust in safety vacuum cleaners
6781338, Jan 24 2001 iRobot Corporation Method and system for robot localization and confinement
6809490, Jun 12 2001 iRobot Corporation Method and system for multi-mode coverage for an autonomous robot
6810305, Feb 16 2001 Procter & Gamble Company, The Obstruction management system for robots
6830120, Jan 25 1996 Neutrogena Corporation Floor working machine with a working implement mounted on a self-propelled vehicle for acting on floor
6832407, Aug 25 2000 Healthy Gain Investments Limited Moisture indicator for wet pick-up suction cleaner
6836701, May 10 2002 Royal Appliance Mfg. Co. Autonomous multi-platform robotic system
6841963, Aug 07 2001 Samsung Gwangju Electronics Co., Ltd. Robot cleaner, system thereof and method for controlling same
6845297, May 01 2000 iRobot Corporation Method and system for remote control of mobile robot
6856811, Feb 01 2002 Warren L., Burdue Autonomous portable communication network
6859010, Mar 14 2003 LG Electronics Inc. Automatic charging system and method of robot cleaner
6859682, Mar 28 2002 FUJIFILM Corporation Pet robot charging system
6860206, Dec 14 2001 FLIR DETECTION, INC Remote digital firing system
6865447, Jun 14 2001 SHARPER IMAGE ACQUISITION LLC, A DELAWARE LIMITED LIABILITY COMPANY Robot capable of detecting an edge
6870792, Aug 03 2000 iRobot Corporation Sonar Scanner
6871115, Oct 11 2002 Taiwan Semiconductor Manufacturing Co., Ltd Method and apparatus for monitoring the operation of a wafer handling robot
6883201, Jan 03 2002 iRobot Corporation Autonomous floor-cleaning robot
6886651, Jan 07 2002 Massachusetts Institute of Technology Material transportation system
6888333, Jul 02 2003 TELADOC HEALTH, INC Holonomic platform for a robot
6901624, Jun 05 2001 MATSUSHITA ELECTRIC INDUSTRIAL CO , LTD Self-moving cleaner
6906702, Mar 19 1999 Canon Kabushiki Kaisha Coordinate input device and its control method, and computer readable memory
6914403, Mar 27 2002 Sony Corporation Electrical charging system, electrical charging controlling method, robot apparatus, electrical charging device, electrical charging controlling program and recording medium
6917854, Feb 21 2000 WITTENSTEIN GMBH & CO KG Method for recognition determination and localization of at least one arbitrary object or space
6925357, Jul 25 2002 TELADOC HEALTH, INC Medical tele-robotic system
6925679, Mar 16 2001 Vision Robotics Corporation Autonomous vacuum cleaner
6929548, Apr 23 2002 Apparatus and a method for more realistic shooting video games on computers or similar devices
6938298, Oct 30 2000 Mobile cleaning robot for floors
6940291, Jan 02 2001 iRobot Corporation Capacitive sensor systems and methods with increased resolution and automatic calibration
6941199, Jul 20 1998 Procter & Gamble Company, The Robotic system
6956348, Jan 28 2004 iRobot Corporation Debris sensor for cleaning apparatus
6957712, Apr 18 2001 Samsung Gwangju Electronics Co., Ltd. Robot cleaner, system employing the same and method for re-connecting to external recharging device
6960986, May 10 2000 Riken Support system using data carrier system
6965209, Jan 24 2001 iRobot Corporation Method and system for robot localization and confinement
6965211, Mar 27 2002 Sony Corporation Electrical charging system, electrical charging controlling method, robot apparatus, electrical charging device, electrical charging controlling program and recording medium
6968592, Mar 27 2001 Hitachi, Ltd. Self-running vacuum cleaner
6971140, Oct 22 2002 LG Electronics Inc. Brush assembly of cleaner
6975246, May 13 2003 Elbit Systems of America, LLC Collision avoidance using limited range gated video
6980229, Oct 16 2001 Information Decision Technologies, LLC System for precise rotational and positional tracking
6985556, Dec 27 2002 GE Medical Systems Global Technology Company, LLC Proximity detector and radiography system
6993954, Jul 27 2004 Tekscan, Inc Sensor equilibration and calibration system and method
6999850, Nov 17 2000 Sensors for robotic devices
7013527, Jun 08 1999 DIVERSEY, INC Floor cleaning apparatus with control circuitry
7024278, Sep 13 2002 iRobot Corporation Navigational control system for a robotic device
7024280, Jun 14 2001 SHARPER IMAGE ACQUISITION LLC, A DELAWARE LIMITED LIABILITY COMPANY Robot capable of detecting an edge
7027893, Aug 25 2003 ATI Industrial Automation, Inc. Robotic tool coupler rapid-connect bus
7030768, Sep 30 2003 Water softener monitoring device
7031805, Feb 06 2003 Samsung Gwangju Electronics Co., Ltd. Robot cleaner system having external recharging apparatus and method for docking robot cleaner with external recharging apparatus
7032469, Nov 12 2002 Raytheon Company Three axes line-of-sight transducer
7053578, Jul 08 2002 ALFRED KAERCHER GMBH & CO KG Floor treatment system
7054716, Sep 06 2002 Royal Appliance Mfg. Co. Sentry robot system
7057120, Apr 09 2003 Malikie Innovations Limited Shock absorbent roller thumb wheel
7057643, May 30 2001 Minolta Co., Ltd. Image capturing system, image capturing apparatus, and manual operating apparatus
7065430, Mar 28 2002 FUJIFILM Corporation Receiving apparatus
7066291, Dec 04 2000 UNIBAP AB Robot system
7069124, Oct 28 2002 Workhorse Technologies, LLC Robotic modeling of voids
7079923, Sep 26 2001 MTD Products Inc Robotic vacuum cleaner
7085623, Aug 15 2002 ASM International NV Method and system for using short ranged wireless enabled computers as a service tool
7085624, Nov 03 2001 Dyson Technology Limited Autonomous machine
7113847, May 07 2002 Royal Appliance Mfg. Co.; ROYAL APPLIANCE MFG CO Robotic vacuum with removable portable vacuum and semi-automated environment mapping
7133746, Jul 11 2003 MTD Products Inc Autonomous machine for docking with a docking station and method for docking
7142198, Dec 10 2001 SAMSUNG ELECTRONICS CO , LTD Method and apparatus for remote pointing
7148458, Mar 29 2004 iRobot Corporation Circuit for estimating position and orientation of a mobile object
7155308, Jan 24 2000 iRobot Corporation Robot obstacle detection system
7167775, Sep 26 2001 MTD Products Inc Robotic vacuum cleaner
7171285, Apr 03 2003 LG Electronics Inc. Mobile robot using image sensor and method for measuring moving distance thereof
7173391, Jun 12 2001 iRobot Corporation Method and system for multi-mode coverage for an autonomous robot
7174238, Sep 02 2003 Mobile robotic system with web server and digital radio links
7188000, Sep 13 2002 iRobot Corporation Navigational control system for a robotic device
7193384, Jul 29 2003 Innovation First, Inc. System, apparatus and method for managing and controlling robot competitions
7196487, Aug 19 2004 iRobot Corporation Method and system for robot localization and confinement
7201786, Dec 19 2003 Healthy Gain Investments Limited Dust bin and filter for robotic vacuum cleaner
7206677, Mar 15 2001 Aktiebolaget Electrolux Efficient navigation of autonomous carriers
7211980, Jul 05 2006 Humatics Corporation Robotic follow system and method
7246405, Oct 09 2003 HUNAN GRAND-PRO ROBOT TECHNOLOGY CO , LTD Self-moving vacuum cleaner with moveable intake nozzle
7248951, Mar 15 2001 Aktiebolaget Electrolux Method and device for determining position of an autonomous apparatus
7275280, Feb 28 2001 Aktiebolaget Electrolux Wheel support arrangement for an autonomous cleaning apparatus
7283892, Apr 03 2006 SERVO-ROBOT INC Hybrid compact sensing apparatus for adaptive robotic processes
7288912, Jan 28 2004 iRobot Corporation Debris sensor for cleaning apparatus
7318248, Nov 13 2006 HUNAN GRAND-PRO ROBOT TECHNOLOGY CO , LTD Cleaner having structures for jumping obstacles
7320149, Nov 22 2002 BISSEL INC ; BISSELL INC Robotic extraction cleaner with dusting pad
7324870, Jan 06 2004 Samsung Electronics Co., Ltd. Cleaning robot and control method thereof
7328196, Dec 31 2003 Vanderbilt University Architecture for multiple interacting robot intelligences
7332890, Jan 21 2004 iRobot Corporation Autonomous robot auto-docking and energy management systems and methods
7352153, Jun 25 2004 HUNAN GRAND-PRO ROBOT TECHNOLOGY CO , LTD Mobile robotic system and battery charging method therefor
7359766, Dec 22 2003 LG Electronics Inc. Robot cleaner and operating method thereof
7360277, Mar 24 2004 Techtronic Floor Care Technology Limited Vacuum cleaner fan unit and access aperture
7363108, Feb 05 2003 Sony Corporation Robot and control method for controlling robot expressions
7388879, Aug 28 2000 Sony Corporation Communication device and communication method network system and robot apparatus
7389166, Jun 28 2005 S C JOHNSON & SON, INC Methods to prevent wheel slip in an autonomous floor cleaner
7408157, Sep 27 2006 HUNAN GRAND-PRO ROBOT TECHNOLOGY CO , LTD Infrared sensor
7418762, Mar 05 2003 Hitachi, LTD; HITACHI HOME & LIFE SOLUTIONS Self-propelled cleaning device and charger using the same
7430455, Jan 24 2000 iRobot Corporation Obstacle following sensor scheme for a mobile robot
7430462, Oct 20 2004 Infinite Electronics Inc. Automatic charging station for autonomous mobile machine
7441298, Dec 02 2005 iRobot Corporation Coverage robot mobility
7444206, Sep 26 2001 MTD Products Inc Robotic vacuum cleaner
7448113, Jan 03 2002 IRobert Autonomous floor cleaning robot
7459871, Jan 28 2004 iRobot Corporation Debris sensor for cleaning apparatus
7467026, Sep 22 2003 Honda Motor Co. Ltd. Autonomously moving robot management system
7474941, Jul 24 2003 Samsung Gwangju Electronics Co., Ltd. Robot cleaner
7503096, Dec 27 2005 E-Supply International Co., Ltd. Dust-collectable mobile robotic vacuum cleaner
7515991, Mar 17 2003 Hitachi, Ltd.; Hitachi Home and Life Solutions, Inc. Self-propelled cleaning device and method of operation thereof
7555363, Sep 02 2005 VORWERK & CO INTERHOLDING GMBH Multi-function robotic device
7557703, Jul 11 2005 Honda Motor Co., Ltd. Position management system and position management program
7568259, Dec 13 2005 HUNAN GRAND-PRO ROBOT TECHNOLOGY CO , LTD Robotic floor cleaner
7571511, Jan 03 2002 iRobot Corporation Autonomous floor-cleaning robot
7578020, Jun 28 2005 S C JOHNSON & SON, INC Surface treating device with top load cartridge-based cleaning system
7600521, Sep 23 2004 LG Electronics Inc. System for automatically exchanging cleaning tools of robot cleaner, and method therefor
7603744, Apr 02 2004 Royal Appliance Mfg. Co. Robotic appliance with on-board joystick sensor and associated methods of operation
7617557, Apr 02 2004 Royal Appliance Mfg. Co. Powered cleaning appliance
7620476, Feb 18 2005 iRobot Corporation Autonomous surface cleaning robot for dry cleaning
7636982, Jan 03 2002 iRobot Corporation Autonomous floor cleaning robot
7647144, Feb 28 2001 Aktiebolaget Electrolux Obstacle sensing system for an autonomous cleaning apparatus
7650666, Dec 22 2005 KYUNGMIN MECHATRONICS CO , LTD Robot cleaner
7660650, Oct 08 2003 FIGLA CO , LTD Self-propelled working robot having horizontally movable work assembly retracting in different speed based on contact sensor input on the assembly
7663333, Jun 12 2001 iRobot Corporation Method and system for multi-mode coverage for an autonomous robot
7693605, Jul 30 2004 LG Electronics Inc. Apparatus and method for calling mobile robot
7706917, Jul 07 2004 iRobot Corporation Celestial navigation system for an autonomous robot
7765635, Sep 05 2006 LG Electronics Inc. Cleaning robot
7801645, Mar 14 2003 Sharper Image Acquisition LLC Robotic vacuum cleaner with edge and object detection system
7805220, Mar 14 2003 Sharper Image Acquisition LLC Robot vacuum with internal mapping system
7809944, May 02 2001 Sony Corporation Method and apparatus for providing information for decrypting content, and program executed on information processor
7849555, Apr 24 2006 Samsung Electronics Co., Ltd. Robot cleaning system and dust removing method of the same
7853645, Oct 07 1997 AUTOMATION MIDDLEWARE SOLUTIONS, INC Remote generation and distribution of command programs for programmable devices
7920941, Feb 27 2004 SAMSUNG ELECTRONICS CO , LTD Dust detection method and apparatus for cleaning robot
7937800, Apr 21 2004 HUNAN GRAND-PRO ROBOT TECHNOLOGY CO , LTD Robotic vacuum cleaner
7957836, Aug 05 2004 SAMSUNG ELECTRONICS CO , LTD Method used by robot for simultaneous localization and map-building
20010004719,
20010013929,
20010020200,
20010025183,
20010037163,
20010043509,
20010045883,
20010047231,
20010047895,
20020011367,
20020011813,
20020016649,
20020021219,
20020027652,
20020036779,
20020081937,
20020095239,
20020097400,
20020104963,
20020108209,
20020112742,
20020113973,
20020116089,
20020120364,
20020124343,
20020153185,
20020156556,
20020159051,
20020166193,
20020169521,
20020173877,
20020189871,
20030009259,
20030019071,
20030023356,
20030024986,
20030025472,
20030028286,
20030030399,
20030058262,
20030060928,
20030067451,
20030097875,
20030120389,
20030124312,
20030126352,
20030137268,
20030146384,
20030192144,
20030193657,
20030216834,
20030221114,
20030229421,
20030229474,
20030233171,
20030233177,
20030233870,
20030233930,
20040016077,
20040020000,
20040030448,
20040030449,
20040030450,
20040030451,
20040030570,
20040030571,
20040031113,
20040049877,
20040055163,
20040068351,
20040068415,
20040068416,
20040074038,
20040076324,
20040083570,
20040088079,
20040093122,
20040098167,
20040111184,
20040111821,
20040113777,
20040117064,
20040117846,
20040118998,
20040128028,
20040133316,
20040134336,
20040134337,
20040143919,
20040148419,
20040148731,
20040153212,
20040156541,
20040158357,
20040181706,
20040187249,
20040187457,
20040196451,
20040200505,
20040204792,
20040210345,
20040210347,
20040211444,
20040221790,
20040236468,
20040244138,
20040255425,
20050000543,
20050010330,
20050010331,
20050021181,
20050067994,
20050085947,
20050137749,
20050144751,
20050150074,
20050150519,
20050154795,
20050156562,
20050165508,
20050166354,
20050166355,
20050172445,
20050183229,
20050183230,
20050187678,
20050192707,
20050204717,
20050209736,
20050211880,
20050212929,
20050213082,
20050213109,
20050217042,
20050218852,
20050222933,
20050229340,
20050229355,
20050235451,
20050251292,
20050255425,
20050258154,
20050273967,
20050288819,
20060000050,
20060010638,
20060020369,
20060020370,
20060021168,
20060025134,
20060037170,
20060044546,
20060060216,
20060061657,
20060064828,
20060087273,
20060089765,
20060100741,
20060119839,
20060143295,
20060146776,
20060190133,
20060190146,
20060196003,
20060220900,
20060259194,
20060259494,
20060288519,
20060293787,
20070006404,
20070017061,
20070028574,
20070032904,
20070043459,
20070061041,
20070114975,
20070150096,
20070157415,
20070157420,
20070179670,
20070226949,
20070234492,
20070244610,
20070250212,
20070266508,
20080007203,
20080039974,
20080052846,
20080091304,
20080184518,
20080276407,
20080281470,
20080282494,
20080294288,
20080302586,
20080307590,
20090007366,
20090038089,
20090049640,
20090055022,
20090102296,
20090292393,
20100011529,
20100049365,
20100063628,
20100107355,
20100257690,
20100257691,
20100263158,
AU2003275566,
D258901, Oct 16 1978 Wheeled figure toy
D278732, Aug 25 1981 TOMY KOGYO CO , INC , A JAPAN CORP Animal-like figure toy
D292223, May 17 1985 Showscan Film Corporation Toy robot or the like
D298766, Apr 11 1986 Playtime Products, Inc. Toy robot
D318500, Aug 08 1988 Monster Robots Inc.; MONSTER ROBOTS INC Monster toy robot
D345707, Dec 18 1992 U.S. Philips Corporation Dust sensor device
D375592, Aug 29 1995 Aktiebolaget Electrolux Vacuum cleaner
D464091, Oct 10 2000 Sharper Image Corporation Robot with two trays
D471243, Feb 09 2001 iRobot Corporation Robot
D474312, Jan 11 2002 Healthy Gain Investments Limited Robotic vacuum cleaner
D478884, Aug 23 2002 Motorola, Inc. Base for a cordless telephone
D510066, May 05 2004 iRobot Corporation Base station for robot
DE102004041021,
DE102005046813,
DE10242257,
DE10357636,
DE19849978,
DE199311014,
DE2128842,
DE3317376,
DE3404202,
DE3536907,
DE4338841,
DE4414683,
DK199803389,
EP792726,
EP1018315,
EP1172719,
EP1228734,
EP1331537,
EP1380246,
EP1553472,
EP1642522,
EP265542,
EP281085,
EP294101,
EP307381,
EP358628,
EP433697,
EP437024,
EP479273,
EP554978,
EP615719,
EP845237,
EP861629,
EP930040,
ES2238196,
FR2601443,
FR2828589,
GB2128842,
GB2225221,
GB2267360,
GB2283838,
GB2284957,
GB2300082,
GB2404330,
GB2417354,
GB702426,
JP10055215,
JP10117973,
JP10118963,
JP10177414,
JP10214114,
JP10295595,
JP11015941,
JP11102220,
JP11162454,
JP11174145,
JP11175149,
JP11178764,
JP11178765,
JP11212642,
JP11213157,
JP11248806,
JP11282532,
JP11282533,
JP11295412,
JP11508810,
JP11510935,
JP1162454,
JP20000275321,
JP20000353014,
JP2000047728,
JP2000056006,
JP2000056831,
JP2000066722,
JP2000075925,
JP2001022443,
JP2001067588,
JP2001087182,
JP2001121455,
JP2001125641,
JP2001216482,
JP2001258807,
JP2001265437,
JP2001275908,
JP2001289939,
JP2001306170,
JP2001320781,
JP2001525567,
JP2002204768,
JP2002204769,
JP2002247510,
JP2002323925,
JP2002333920,
JP2002355206,
JP2002360471,
JP2002360479,
JP2002360482,
JP2002366227,
JP2002369778,
JP2002532178,
JP200278650,
JP2003010076,
JP2003010088,
JP2003015740,
JP2003028528,
JP2003036116,
JP2003047579,
JP2003052596,
JP2003061882,
JP2003084994,
JP200310076,
JP2003167628,
JP2003180586,
JP2003180587,
JP2003186539,
JP2003190064,
JP2003241836,
JP2003262520,
JP2003285288,
JP2003304992,
JP2003310489,
JP2003310509,
JP2003330543,
JP200338401,
JP200338402,
JP2003505127,
JP20035296,
JP2004123040,
JP2004148021,
JP2004160102,
JP2004166968,
JP2004174228,
JP2004198330,
JP2004219185,
JP2005118354,
JP2005135400,
JP2005211360,
JP2005224265,
JP2005230032,
JP2005245916,
JP2005296511,
JP2005352707,
JP2006043071,
JP2006155274,
JP2006164223,
JP2006227673,
JP2006247467,
JP2006260161,
JP2006293662,
JP2006296697,
JP2007034866,
JP2007213180,
JP2009015611,
JP20100198552,
JP2026312,
JP2283343,
JP2555263,
JP26312,
JP3051023,
JP3197758,
JP3201903,
JP3356170,
JP3375843,
JP4019586,
JP4074285,
JP4084921,
JP5023269,
JP5040519,
JP5042076,
JP5046239,
JP5046246,
JP5054620,
JP5150827,
JP5150829,
JP5257527,
JP5257533,
JP5285861,
JP53021869,
JP53110257,
JP57064217,
JP59005315,
JP59033511,
JP59094005,
JP59099308,
JP59112311,
JP59120124,
JP59131668,
JP59164973,
JP59184917,
JP59212924,
JP59226909,
JP6003251,
JP60089213,
JP60211510,
JP60259895,
JP6026312,
JP61023221,
JP6105781,
JP6109712,
JP6137828,
JP62070709,
JP62074018,
JP62120510,
JP62154008,
JP62164431,
JP62189057,
JP62263507,
JP62263508,
JP6293095,
JP63079623,
JP63158032,
JP63183032,
JP63241610,
JP6327598,
JP7059702,
JP7129239,
JP7222705,
JP7270518,
JP7281752,
JP7295636,
JP7313417,
JP8000393,
JP8083125,
JP8089449,
JP8089451,
JP8123548,
JP8152916,
JP816776,
JP8263137,
JP8322774,
JP8335112,
JP9043901,
JP9044240,
JP9047413,
JP9066855,
JP9145309,
JP9160644,
JP9179625,
JP9185410,
JP9206258,
JP9233712,
JP9251318,
JP9265319,
JP9269807,
JP9269810,
JP9319432,
JP9319434,
JP9325812,
JP943901,
28268,
WO4430,
WO36962,
WO38026,
WO38028,
WO38029,
WO78410,
WO106904,
WO106905,
WO180703,
WO191623,
WO2058527,
WO2062194,
WO2067744,
WO2067745,
WO2067752,
WO2074150,
WO2075356,
WO2075469,
WO2075470,
WO2081074,
WO2101477,
WO239864,
WO239868,
WO269774,
WO269775,
WO275350,
WO3015220,
WO3024292,
WO3026474,
WO3040546,
WO3040845,
WO3040846,
WO3062850,
WO3062852,
WO2004004533,
WO2004004534,
WO2004005956,
WO2004006034,
WO2004025947,
WO2004043215,
WO2004058028,
WO2005006935,
WO2005036292,
WO2005055795,
WO2005055796,
WO2005076545,
WO2005077243,
WO2005077244,
WO2005081074,
WO2005082223,
WO2005083541,
WO2005098475,
WO2005098476,
WO2006046400,
WO2006068403,
WO2006073248,
WO2007036490,
WO2007065033,
WO2007137234,
WO9526512,
WO9530887,
WO9617258,
WO9715224,
WO9740734,
WO9741451,
WO9853456,
WO9905580,
WO9916078,
WO9928800,
WO9938056,
WO9938237,
WO9943250,
WO9959042,
/
Executed onAssignorAssigneeConveyanceFrameReelDoc
May 23 2008iRobot Corporation(assignment on the face of the patent)
Date Maintenance Fee Events


Date Maintenance Schedule
Sep 25 20154 years fee payment window open
Mar 25 20166 months grace period start (w surcharge)
Sep 25 2016patent expiry (for year 4)
Sep 25 20182 years to revive unintentionally abandoned end. (for year 4)
Sep 25 20198 years fee payment window open
Mar 25 20206 months grace period start (w surcharge)
Sep 25 2020patent expiry (for year 8)
Sep 25 20222 years to revive unintentionally abandoned end. (for year 8)
Sep 25 202312 years fee payment window open
Mar 25 20246 months grace period start (w surcharge)
Sep 25 2024patent expiry (for year 12)
Sep 25 20262 years to revive unintentionally abandoned end. (for year 12)