US20130118524A1 - Autonomous Surface Cleaning Robot for Wet Cleaning - Google Patents
Autonomous Surface Cleaning Robot for Wet Cleaning Download PDFInfo
- Publication number
- US20130118524A1 US20130118524A1 US13/719,552 US201213719552A US2013118524A1 US 20130118524 A1 US20130118524 A1 US 20130118524A1 US 201213719552 A US201213719552 A US 201213719552A US 2013118524 A1 US2013118524 A1 US 2013118524A1
- Authority
- US
- United States
- Prior art keywords
- cleaning
- chassis
- cleaning fluid
- nozzle
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A22—BUTCHERING; MEAT TREATMENT; PROCESSING POULTRY OR FISH
- A22C—PROCESSING MEAT, POULTRY, OR FISH
- A22C17/00—Other devices for processing meat or bones
- A22C17/0006—Cutting or shaping meat
- A22C17/0013—Boards or blocks for cutting or chopping meat
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
- A47L11/292—Floor-scrubbing machines characterised by means for taking-up dirty liquid having rotary tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/28—Floor-scrubbing machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/29—Floor-scrubbing machines characterised by means for taking-up dirty liquid
- A47L11/30—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
- A47L11/302—Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction having rotary tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/34—Machines for treating carpets in position by liquid, foam, or vapour, e.g. by steam
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
- A47L11/4008—Arrangements of switches, indicators or the like
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4013—Contaminants collecting devices, i.e. hoppers, tanks or the like
- A47L11/4016—Contaminants collecting devices, i.e. hoppers, tanks or the like specially adapted for collecting fluids
- A47L11/4019—Fill level sensors; Security means to prevent overflow, e.g. float valves
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4041—Roll shaped surface treating tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4044—Vacuuming or pick-up tools; Squeegees
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
- A47L11/4069—Driving or transmission means for the cleaning tools
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4072—Arrangement of castors or wheels
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4083—Liquid supply reservoirs; Preparation of the agents, e.g. mixing devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/408—Means for supplying cleaning or surface treating agents
- A47L11/4088—Supply pumps; Spraying devices; Supply conduits
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L5/00—Structural features of suction cleaners
- A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
- A47L5/14—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum cleaning by blowing-off, also combined with suction cleaning
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L7/00—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids
- A47L7/0004—Suction cleaners adapted to take up liquids, e.g. wet or dry vacuum cleaners
- A47L7/0009—Suction cleaners adapted to take up liquids, e.g. wet or dry vacuum cleaners with means mounted on the nozzle; nozzles specially adapted for the recovery of liquid
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L7/00—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids
- A47L7/0004—Suction cleaners adapted to take up liquids, e.g. wet or dry vacuum cleaners
- A47L7/0023—Recovery tanks
- A47L7/0028—Security means, e.g. float valves or level switches for preventing overflow
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L7/00—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids
- A47L7/0004—Suction cleaners adapted to take up liquids, e.g. wet or dry vacuum cleaners
- A47L7/0023—Recovery tanks
- A47L7/0038—Recovery tanks with means for emptying the tanks
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L7/00—Suction cleaners adapted for additional purposes; Tables with suction openings for cleaning purposes; Containers for cleaning articles by suction; Suction cleaners adapted to cleaning of brushes; Suction cleaners adapted to taking-up liquids
- A47L7/0004—Suction cleaners adapted to take up liquids, e.g. wet or dry vacuum cleaners
- A47L7/0042—Gaskets; Sealing means
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Food Science & Technology (AREA)
- Cleaning In General (AREA)
Abstract
An autonomous floor cleaning robot includes a transport drive and control system arranged for autonomous movement of the robot over a floor for performing cleaning operations. The robot chassis carries a first cleaning zone comprising cleaning elements arranged to suction loose particulates up from the cleaning surface and a second cleaning zone comprising cleaning elements arraigned to apply a cleaning fluid onto the surface and to thereafter collect the cleaning fluid up from the surface after it has been used to clean the surface. The robot chassis carries a supply of cleaning fluid and a waste container for storing waste materials collected up from the cleaning surface.
Description
- This application claims priority under 35 U.S.C. §119(e) to U.S. Provisional Application Ser. No. 60/654,838, the entire disclosure of which is herein incorporated by reference it its entirety. This application also claims priority under 35 U.S.C. §120 to U.S. application Ser. No. 11/134,212, U.S. application Ser. No. 11/134,213, and U.S. application Ser. No. 11/133,796, the entire disclosures of which are herein incorporated by reference in their entireties. This application relates to and herein incorporates by reference in their entireties the disclosures of the application entitled “Autonomous Surface Cleaning Robot for Wet and Dry Cleaning,” by Casey et al., filed on even date herewith, and identified by attorney docket no. IRO-017CP1; and the application entitled “Autonomous Surface Cleaning Robot for Dry Cleaning,” by Gilbert et al., filed on even date herewith, and identified by attorney docket no. IRO-017CP2.
- The present invention relates to cleaning devices, and more particularly, to an autonomous surface cleaning robot. In particular, the surface cleaning robot includes two separate cleaning zones with a first cleaning zone configured to collect loose particulates from the surface and with a second cleaning zone configured to apply a cleaning fluid onto the surface, scrub the surface and thereafter collect a waste liquid from the surface. The surface cleaning robot may also include at least two containers, carried thereby, to store cleaning fluid and waste materials.
- Autonomous robot floor cleaning devices having a low enough end user price to penetrate the home floor cleaning market are known in the art. For example, and U.S. Pat. No. 6,883,201 by Jones et al. entitled Autonomous Floor Cleaning Robot, the disclosure of which is herein incorporated by reference it its entirety, discloses an autonomous robot. The robot disclosed therein includes a chassis, a battery power subsystem, a motive drive subsystem operative to propel the autonomous floor cleaning robot over a floor surface for cleaning operations, a command and control subsystem operative to control the cleaning operations and the motive subsystem, a rotating brush assembly for sweeping up or collecting loose particulates from the surface, a vacuum subsystem for suctioning up or collecting loose particulates on the surface, and a removable debris receptacle for collecting the particulates and storing the loose particulates on the robot during operation. Models similar to the device disclosed in the '201 patent are commercially marketed by IROBOT CORPORATION under the trade names ROOMBA RED and ROOMBA DISCOVERY. These devices are operable to clean hard floor surfaces, e.g. bare floors, as well as carpeted floors, and to freely move from one surface type to the other unattended and without interrupting the cleaning process.
- In particular, the '201 patent describes a first cleaning zone configured to collect loose particulates in a receptacle. The first cleaning zone includes a pair of counter-rotating brushes engaging the surface to be cleaned. The counter-rotating brushes are configured with brush bristles that move at an angular velocity with respect to floor surface as the robot is transported over the surface in a forward transport direction. The angular movement of the brush bristles with respect to the floor surface tends to flick loose particulates laying on the surface into the receptacle which is arranged to receive flicked particulates.
- The '201 patent further describes a second cleaning zone configured to collect loose particulates in the receptacle and positioned aft of the first cleaning zone such that the second cleaning zone performs a second cleaning of the surface as the robot is transported over the surface in the forward direction. The second cleaning zone includes a vacuum device configured to suction up any remaining particulates and deposit them into the receptacle.
- In other examples, home use autonomous cleaning devices are disclosed in each of U.S. Pat. No. 6,748,297, and U.S. Patent Application Publication No. 2003/0192144, both by Song et al. and both assigned to Samsung Gwangiu Electronics Co. The disclosures of the '297 patent and '144 published application are herein incorporated by reference it their entireties. In these examples, autonomous cleaning robots are configured with similar cleaning elements that utilize rotating brushes and a vacuum device to flick and suction up loose particulates and deposit them in a receptacle.
- While each of the above examples provide affordable autonomous floor clearing robots for collecting loose particulates, there is heretofore no teaching of an affordable autonomous floor cleaning robot for applying a cleaning fluid onto the floor to wet clean floors in the home. A need exists in the art for such a device and that need is addressed by the present invention, the various functions, features, and benefits thereof described in more detail herein.
- Wet floor cleaning in the home has long been done manually using a wet mop or sponge attached to the end of a handle. The mop or sponge is dipped into a container filled with a cleaning fluid, to absorb an amount of the cleaning fluid in the mop or sponge, and then moved over the surface to apply a cleaning fluid onto the surface. The cleaning fluid interacts with contaminants on the surface and may dissolve or otherwise emulsify contaminants into the cleaning fluid. The cleaning fluid is therefore transformed into a waste liquid that includes the cleaning fluid and contaminants held in suspension within the cleaning fluid. Thereafter, the sponge or mop is used to absorb the waste liquid from the surface. While clean water is somewhat effective for use as a cleaning fluid applied to floors, most cleaning is done with a cleaning fluid that is a mixture of clean water and soap or detergent that reacts with contaminants to emulsify the contaminants into the water. In addition, it is known to clean floor surfaces with water and detergent mixed with other agents such as a solvent, a fragrance, a disinfectant, a drying agent, abrasive particulates and the like to increase the effectiveness of the cleaning process.
- The sponge or mop may also be used as a scrubbing element for scrubbing the floor surface, and especially in areas where contaminants are particularly difficult to remove from the floor. The scrubbing action serves to agitate the cleaning fluid for mixing with contaminants as well as to apply a friction force for loosening contaminants from the floor surface. Agitation enhances the dissolving and emulsifying action of the cleaning fluid and the friction force helps to break bonds between the surface and contaminants.
- One problem with the manual floor cleaning methods of the prior art is that after cleaning an area of the floor surface, the waste liquid must be rinsed from the mop or sponge, and this usually done by dipping the mop or sponge back into the container filled with cleaning fluid. The rinsing step contaminates the cleaning fluid with waste liquid and the cleaning fluid becomes more contaminated each time the mop or sponge is rinsed. As a result, the effectiveness of the cleaning fluid deteriorates as more of the floor surface area is cleaned.
- While the traditional manual method is effective for floor cleaning, it is labor intensive and time consuming. Moreover, its cleaning effectiveness decreases as the cleaning fluid becomes contaminated. A need exists in the art for an improved method for wet cleaning a floor surface to provide an affordable wet floor cleaning device for automating wet floor cleaning in the home.
- In many large buildings, such as hospitals, large retail stores, cafeterias, and the like, there is a need to wet clean the floors on a daily or nightly basis, and this problem has been addressed by the development of industrial floor cleaning robots capable of wet cleaning floors. An example of one industrial wet floor cleaning device is disclosed in U.S. Pat. No. 5,279,672 by Betker et al., and assigned to Windsor Industries Inc. The disclosure of the '672 patent is herein incorporated by reference it its entirety. Betker et al. disclose an autonomous floor cleaning device having a drive assembly providing a motive force to autonomously move the wet cleaning device along a cleaning path. The device provides a cleaning fluid dispenser for dispensing cleaning fluid onto the floor; rotating scrub brushes in contact with the floor surface for scrubbing the floor with the cleaning fluid, and a waste liquid recovery system, comprising a squeegee and a vacuum system for recovering the waste liquid from the floor surface. While the device disclosed by Betker et al. is usable to autonomously wet clean large floor areas, it is not suitable for the home market, and further, lacks many features, capabilities, and functionality of the present invention as described further herein. In particular, the industrial autonomous cleaning device disclosed by Betker et al. is too large, costly and complex for use in the home and consumes too much electrical power to provide a practical solution for the home wet floor cleaning market.
- Recently, improvements in conventional manual wet floor cleaning in the home are disclosed in U.S. Pat. No. 5,968,281 by Wright et al., and assigned to Royal Appliance Mfg., entitled Method for Mopping and Drying a Floor. The disclosure of the '281 patent is herein incorporated by reference it its entirety. Disclosed therein is a low cost wet mopping system for manual use in the home market. The wet mopping system disclosed by Wright et al. comprises a manual floor cleaning device having a handle with a cleaning fluid supply container supported on the handle. The device includes a cleaning fluid dispensing nozzle supported on the handle for spraying cleaning fluid onto the floor and a floor scrubber sponge attached to the end of the handle for contact with the floor. The device also includes a mechanical device for wringing waste liquid out of the scrubbing sponge. A squeegee and an associated suction device are supported on the end of the handle and used to collect waste liquid up from the floor surface and deposit the waste liquid into a waste liquid container, supported on the handle separate from the cleaning solution reservoir. The device also includes a battery power source for powering the suction device. While Wright et al. describes a self contained wet cleaning device as well as an improved wet cleaning method that separates waste liquid from cleaning fluid the device is manually operated and lacks robotic functionality and other benefits and features identified in the present disclosure.
- The present invention overcomes the problems cited in the prior by providing, inter alia, low cost autonomous robot capable of wet cleaning floors and affordable for home use. The problems of the prior art are addressed by the present invention which provides an autonomous cleaning robot comprising a chassis and a transport drive system configured to autonomously transport cleaning elements over a cleaning surface. The robot is supported on the cleaning surface by wheels in rolling contact with the cleaning surface and the robot includes controls and drive elements configured to control the robot to generally traverse the cleaning surface in a forward direction defined by a fore-aft axis. The robot is further defined by a transverse axis perpendicular to the fore-aft axis.
- The robot chassis carries a first cleaning zone A comprising cleaning elements arranged to collect loose particulates from the cleaning surface across a cleaning width. The cleaning elements of the first cleaning zone utilize a jet port disposed on a transverse edge of the robot and configured to blow a jet of air across a cleaning width of the robot towards the opposite transverse edge. A vacuum intake port is disposed on the robot opposed to the jet port to suction up loose particulates blown across the cleaning width by the jet port. The cleaning elements of the first cleaning zone may suction up loose particulates, utilize brushes to sweep the loose particulates into receptacle or otherwise remove the loose particulates from the surface.
- The robot chassis may also carries a second cleaning zone B comprising cleaning elements arraigned to apply a cleaning fluid onto the surface. The second cleaning zone also includes cleaning elements configure to collect the cleaning fluid up from the surface after it has been used to clean the surface and may further include elements for scrubbing the cleaning surface and for smearing the cleaning fluid more uniformly over the cleaning surface.
- The robot includes a motive drive subsystem controlled by a master control module and powered by a self-contained power module for performing autonomous movement over the cleaning surface. In one aspect, the invention relates to an autonomous cleaning robot having a chassis supported for transport over a cleaning surface, the chassis being defined by a fore-aft axis and a perpendicular transverse axis; a first collecting apparatus attached to the chassis and configured to collect loose particulates from the cleaning surface across a cleaning width, the cleaning width being disposed generally parallel with the transverse axis; a liquid applicator, attached to the chassis and configured to apply a cleaning fluid onto the cleaning surface; and, wherein the arrangement of the first collecting apparatus with respect to the liquid applicator causes the first collecting apparatus to precede the liquid applicator over the cleaning surface when transporting the chassis in a forward direction.
- In one embodiment of the above aspect, the autonomous cleaning robot also includes a smearing element attached to the chassis and configured to smear the cleaning fluid applied onto the cleaning surface to more uniformly spread the cleaning fluid over the cleaning surface; wherein the arrangement of the liquid applicator with respect to the smearing element causes the liquid applicator to precede the smearing element over the cleaning surface when transporting the chassis in a forward direction. In another embodiment, the robot includes a scrubbing element configured to scrub the cleaning surface; wherein the arrangement of the liquid applicator with respect to the scrubbing element causes the liquid applicator to precede the scrubbing element over the cleaning surface when transporting the chassis in the forward direction. In certain embodiments, the robot also includes a second collecting apparatus configured to collect waste liquid from the cleaning surface, the waste liquid comprising the cleaning fluid applied by the liquid applicator plus any contaminants, removed from the cleaning surface by the clean fluid; wherein the arrangement of the scrubbing element with respect to the second collecting apparatus causes the scrubbing element to precede the second collecting apparatus over the cleaning surface as the chassis is transported in the forward direction.
- In certain embodiments of the above aspect, the robot includes a first waste storage container attached to the chassis and arranged to receive the loose particulates therein, and/or a second waste storage container attached to the chassis and arranged to receive the waste liquid therein. Some embodiments of the autonomous robot of the above aspect include a cleaning fluid storage container attached to the chassis and configured to store a supply of the cleaning fluid therein and to deliver the cleaning fluid to the liquid applicator. In some embodiments, the cleaning fluid comprises water and/or water mixed with any one of soap, solvent, fragrance, disinfectant, emulsifier, drying agent and abrasive particulates. In some embodiments, the first and second waste containers are configured to be removable from the chassis by a user and to be emptied by the user, and/or said cleaning fluid storage container is configured to be removable from the chassis by a user and to be filled by the user. Certain embodiments include a combined waste storage container attached to the chassis and configured to receive the loose particulates from the first collecting apparatus and to receive the waste liquid from the second collecting apparatus therein. In other embodiments the waste storage container is configured to be removable from the chassis by a user and to be emptied by the user. Still other embodiments include a cleaning fluid storage container, attached to the chassis and configured to store a supply of the cleaning fluid therein and to deliver the cleaning fluid to the liquid applicator, and in some cases, said cleaning fluid storage container is configured to be user removable from the chassis and to be filled by the user.
- In some embodiments of the above aspect, the autonomous cleaning robot according to claim 4 further includes an integrated liquid storage container, attached to the chassis, and formed with two separate container portions comprising; a waste storage container portion configured to receive the loose particulates from the first collecting apparatus and the waste liquid from the second collecting apparatus therein; and, a cleaning fluid storage container portion configured to store a supply of the cleaning fluid therein and to deliver the cleaning fluid to the liquid applicator. In other embodiments, the autonomous cleaning robot of the above aspect includes the integrated liquid storage container configured to be removable from the chassis by a user and for the cleaning fluid storage container to be filled by and for the waste storage container to be emptied by the user. In some embodiments of the above aspect, the robot includes a second collecting apparatus configured to collect waste liquid from the cleaning surface, the waste liquid comprising the cleaning fluid applied by the liquid applicator plus any contaminants, removed from the cleaning surface by the cleaning fluid; and, wherein the arrangement of the liquid applicator with respect to the second collecting apparatus causes the liquid applicator to precede the second collecting apparatus over the cleaning surface as the chassis is transported in the forward direction. Certain embodiments of the above aspect include a smearing element attached to the chassis and configured to smear the cleaning fluid applied onto the cleaning surface to more uniformly spread the cleaning fluid over the cleaning surface; and, wherein the arrangement of the liquid applicator with respect to the smearing element causes the liquid applicator to precede the smearing element over the cleaning surface when transporting the chassis in a forward direction.
- In some embodiments, the robot includes a waste storage container attached to the chassis and configured to receive the loose particulates from the first collecting apparatus and to receive the waste liquid from the second collecting apparatus therein, and in certain cases, the waste storage container is configured to be removable from the chassis by a user and to be emptied by the user. Some embodiments of the robot include a cleaning fluid storage container, attached to the chassis and configured to store a supply of the cleaning fluid therein and to deliver the cleaning fluid to the liquid applicator, and in some cases, said cleaning fluid storage container is configured to be removable from the chassis by a user and to be filled by the user. In other embodiments, the robot of the above aspect includes an integrated liquid storage container, attached to the chassis, and formed with two separate container portions comprising; a waste storage container portion configured to receive the loose particulates from the first collecting apparatus and to receive the waste liquid from the second collecting apparatus therein; and, a cleaning fluid storage container configured to store a supply of the cleaning fluid therein and to deliver the cleaning fluid to the liquid applicator. In certain embodiments, said integrated liquid storage container is configured to be removable from the chassis by a user and for the cleaning fluid storage container to be filled by and for the waste storage container to be emptied by the user.
- Some embodiments of the above aspect include a motive drive subsystem attached to chassis for transporting the chassis over the cleaning surface; a power module attached to the chassis for delivering electrical power to each of a plurality of power consuming subsystems attached to the chassis; and, a master control module attached to the chassis for controlling the motive drive module, the first collecting apparatus, and the liquid applicator, to autonomously transport the robot over the cleaning surface and to autonomously clean the cleaning surface. Some embodiments may also include a sensor module configured to sense conditions external to the robot and to sense conditions internal to the robot and to generate electrical sensor signals in response to sensing said conditions; a signal line for communicating the electrical sensor signals to the master control module; and, a controller incorporated within the master control module for implementing predefined operating modes of the robot in response to said conditions.
- Some embodiments include a user control module configured to receive an input command from a user and to generate an electrical input signal in response to the input command; a signal line for communicating the electrical input signal to the master control module; and, a controller incorporated within the master control module for implementing predefined operating modes of the robot in response to the input command. In certain embodiments, the autonomous cleaning robot includes an interface module attached to the chassis and configured to provide an interface between an element external to the robot and at least one element attached to the chassis. In some embodiments, the element external to the robot comprises one of a battery-charging device and a data processor. Some embodiments include an interface module attached to the chassis and configured to provide an interface between an element external to the robot and at least one element attached to the chassis. In some embodiments, the element external to the robot comprises one of a battery-charging device, a data processor, a device for autonomously filling the cleaning fluid storage container with cleaning fluid, and a device for autonomously emptying the waste liquid container.
- Certain embodiments of robots of the above aspect include an air jet port, attached to the chassis disposed at a first edge of the cleaning width and configured to blow a jet of air across the cleaning width proximate to the cleaning surface, to thereby force loose particulates on the cleaning surface to move away from the first edge in a direction generally parallel with the transverse axis; an air intake port, attached to the chassis and disposed at a second edge of the cleaning width, opposed from the first edge and proximate to the cleaning surface for suctioning up the loose particulates; a waste storage container configured to receive the loose particulates from the air intake port; and a fan assembly configured to generate a negative pressure within the waste storage container. In some embodiments, the fan assembly is further configured to generate a positive air pressure at the air jet port.
- In other embodiments the second collecting apparatus includes a squeegee attached to the chassis and formed with a longitudinal ridge disposed proximate to the cleaning surface and extending across the cleaning width for providing a liquid collection volume at a forward edge of the ridge, said longitudinal ridge collecting waste liquid within the liquid collection volume as the chassis is transported in the forward direction; a vacuum chamber partially formed by the squeegee disposed proximate to the longitudinal ridge and extending across the cleaning width; a plurality of suction ports passing through the squeegee for providing a plurality of fluid passages for fluidly connecting the liquid collection volume and the vacuum chamber; and a vacuum for generating a negative air pressure within the vacuum chamber for drawing waste liquid collected within the liquid collection volume into the vacuum chamber. Some additional embodiments also include a waste storage container configured to receive the waste liquid from the vacuum chamber, at least one fluid conduit fluidly connecting the vacuum chamber and the waste storage container; and a fan assembly configured to generate a negative air pressure within the waste storage container and the vacuum chamber to thereby suction waste liquid up from the cleaning surface and deposit the waste liquid in the waste storage container. Other embodiments of the second collecting apparatus incorporate a squeegee attached to the chassis and formed with a longitudinal ridge disposed proximate to the cleaning surface and extending across the cleaning width for providing a liquid collection volume at a forward edge of the ridge, said longitudinal ridge collecting waste liquid within the liquid collection volume as the chassis is transported in the forward direction; a vacuum chamber partially formed by the squeegee disposed proximate to the longitudinal ridge and extending across the cleaning width; a plurality of suction ports passing through the squeegee for providing a plurality of fluid passages for fluidly connecting the liquid collection volume and the vacuum chamber; and a vacuum for generating a negative air pressure within the vacuum chamber for drawing waste liquid collected within the liquid collection volume into the vacuum chamber.
- Still other embodiments of the above aspect include a waste storage container W configured to receive the waste liquid from the vacuum chamber, at least one fluid conduit fluidly connecting the vacuum chamber and the waste storage container; and, a fan assembly configured to generate a negative air pressure within the waste storage container and the vacuum chamber to thereby suction waste liquid from the cleaning surface and deposit the waste liquid in the waste storage container. In some embodiments, the fan assembly is configured to generate a positive air pressure at the air jet port.
- In another aspect, the invention relates to an autonomous cleaning robot for transporting cleaning elements over a cleaning surface including a chassis, supported in rolling contact with the cleaning surface for transporting the chassis in a forward direction defined by a fore-aft axis, the chassis being further defined by a transverse axis; a first cleaning zone comprising cleaning elements attached to the chassis and arranged to collect loose particulates from the cleaning surface across a cleaning width, the cleaning width being disposed generally perpendicular with the fore-aft axis; a second cleaning zone comprising cleaning elements attached to the chassis and arranged to apply a cleaning fluid onto the cleaning surface and to collect a waste liquid from the cleaning surface across the cleaning width, said waste liquid comprising the cleaning fluid plus any contaminants removed from the cleaning surface by the cleaning fluid; and a motive drive subsystem controlled by a master control module and powered by a power module, the motive drive subsystem, master control module and power module each being electrically interconnected and attached to the chassis configured to autonomously transporting the robot over the cleaning surface and to clean the cleaning surface. In some embodiments of this aspect, the robot is configured with a circular cross-section having a vertical center axis and wherein said fore-aft axis, said transverse axis and said vertical axis are mutually perpendicular and wherein the motive drive subsystem is configured to rotate the robot about the center vertical axis for changing the orientation of the forward travel direction.
- In another aspect, the invention relates to a surface cleaning apparatus having a chassis defined by a fore-aft axis and a perpendicular transverse axis, the chassis being supported for transport over the surface along the fore-aft axis, the chassis including a first collecting apparatus attached thereto and configured to collect loose particulates from the surface over a cleaning width disposed generally parallel with the transverse axis, the first collecting apparatus including an air jet port configured to expel a jet of air across the cleaning width; an air intake port configured to draw air and loose particulates in; wherein the air jet port and the air intake port are disposed at opposing ends of the cleaning width with the air jet port expelling the jet of air generally parallel with the surface and generally directed toward the air intake port. In an embodiment of the above aspect, the first collecting apparatus further includes a channel formed with generally opposed forward and aft edges, extending generally parallel with the transverse axis across the cleaning width, and generally opposed left and right edges, extending generally orthogonal to said forward and aft edges; wherein the air jet port is disposed at one of said left and right edges and the air intake port is disposed at the other of said left and right edges. In other embodiments, the surface cleaning apparatus further includes a first compliant doctor blade disposed across the cleaning width and fixedly attached to a bottom surface of the chassis proximate to said aft edge and extending from said bottom surface to the surface for guiding the jet of air and loose particulates across the cleaning width.
- In other embodiments of the above aspect, the surface cleaning apparatus further includes a second compliant doctor blade fixedly attached to said bottom surface and extending from said bottom surface to the surface, for guiding the jet of air and loose particulates into the air intake port. In still other embodiments, the apparatus includes a rotary fan motor having a fixed housing and a rotating shaft extending therefrom; a fan impeller configured to move air when rotated about a rotation axis, said fan impeller being fixedly attached to the rotating shaft for rotation about the rotation axis by the fan motor; a housing for housing the fan impeller in a hollow cavity formed therein and for fixedly supporting the motor fixed housing thereon, the housing being further configured with an air intake port through which air is drawn in to the cavity, and an air exit port through which air is expelled out of the cavity when the impeller is rotated; and a first fluid conduit fluidly connected between the fan air intake port and the air intake port of said first collecting apparatus; therein each of the elements is attached to the chassis. In some embodiments, the apparatus includes a waste storage container attached to the chassis and fluidly interposed within said first fluid conduit between the fan air intake port and the air intake port. In some embodiments, the waste storage container is configured to be removable from the chassis by a user and to be emptied by the user.
- Still other embodiments include an air filter element interposed within said first fluid conduit between the waste storage container and the fan air intake port for filtering loose contaminates from air being drawn in through the fan air intake port, and may also include a second fluid conduit fluidly connected between the fan exit port and the air jet port of said first collecting apparatus. In other embodiments, the surface cleaning apparatus further includes a second collecting apparatus attached to the chassis and disposed aft of the first collecting apparatus for collecting liquid from the surface over the cleaning width. In some embodiments, the second collecting zone includes a squeegee fixedly attached to the chassis aft of the first collecting apparatus and extending from a bottom surface of the chassis to the surface across the cleaning width for collecting liquid in a liquid collection volume formed between the squeegee and the surface, the squeegee further forming a vacuum chamber and providing a plurality of suction ports disposed across the cleaning width and fluidly connecting the vacuum chamber and the liquid collection volume; and a vacuum for generating a negative air pressure inside the vacuum chamber to thereby draw liquid into the vacuum chamber through the plurality of suction ports fluidly connected with the collection volume.
- Other embodiments of the surface cleaning apparatus of the above aspect include a rotary fan motor having a fixed housing and a rotating shaft extending therefrom; a fan impeller configured to move air when rotated about a rotation axis, said fan impeller being fixedly attached to the rotating shaft for rotation about the rotation axis by the fan motor; a housing for housing the fan impeller in a hollow cavity formed therein and for fixedly supporting the motor fixed housing thereon, the housing being further configured with an air intake port through which air is drawn in to the cavity, and an air exit port through which air is expelled out of the cavity when the impeller is rotated; a first fluid conduit fluidly connected between the fan air intake port and the air intake port of said first collecting apparatus; and a third fluid conduit fluidly connected between the fan air intake port and the vacuum chamber; wherein these elements are attached to the chassis. The surface cleaning apparatus may also include a second fluid conduit fluidly connected between the fan exit port and the air jet port of said first collecting apparatus, and/or a waste storage container attached to the chassis and configured to store the liquid collected from the surface. Still other embodiments utilize a waste storage container attached to the chassis and configured to store the liquid collected from the surface, said waste storage container being fluidly interposed within said third fluid conduit. In some embodiments, the cleaning apparatus includes a waste storage container attached to the chassis and configured to store the liquid collected from the surface, said waste storage container being fluidly interposed within said first and said third fluid conduits. In certain cases, said waste storage container includes a sealed waste container for storing loose particulates collected by the first collecting apparatus and for storing liquid collected by the second collecting apparatus and having at least one access port formed therein for emptying waste from the container; and a plenum incorporated into a top wall of the sealed container such that the plenum is disposed vertically above the sealed waste container during operation of the cleaning apparatus; and wherein the plenum is configured with ports for fluidly interposing within each of said first, said second and said third fluid conduits.
- In some embodiments, the waste storage container is configured to be removable from the chassis by a user and to be emptied by the user. Certain other embodiments include a cleaning fluid applicator assembly, attached to the chassis between the first collecting apparatus and the second collecting apparatus for applying a cleaning fluid onto the surface across the cleaning width; and a sealed cleaning fluid storage container for holding a supply of the cleaning fluid therein the storage container including at least one access port formed therein for filling the container with the cleaning fluid. In other embodiments, said sealed waste container and said sealed cleaning fluid container are integrated into a liquid storage container module and wherein the integrated liquid storage container module is configured to be removable from the chassis by a user for filling with cleaning fluid and for emptying waste therefrom. In some embodiments, the surface cleaning apparatus further includes a smearing element attached the chassis aft of the liquid applicator assembly and configured to smear the cleaning fluid across the cleaning width; and a scrubbing element attached to the chassis aft of the smearing element for scrubbing the surface across the cleaning width. In some embodiments, the surface cleaning apparatus further comprises a motive drive subsystem controlled by a master control module and power by a power module, each attached to the chassis, for autonomously transporting the surface cleaning apparatus over the surface.
- In other embodiments, the surface cleaning apparatus further includes a sensor module configured to sense conditions and to generate electrical sensor signals in response to sensing said conditions; a signal line for communicating the electrical sensor signals to the master control module; and a controller incorporated within the master control module for implementing predefined operating modes in response to sensing said conditions. Still other embodiments include a motive drive subsystem controlled by a master control module and power by a power module, each attached to the chassis, for autonomously transporting the surface cleaning apparatus over the surface. Other embodiments of the surface cleaning apparatus further include a sensor module configured to sense conditions and to generate electrical sensor signals in response to sensing said conditions; a signal line for communicating the electrical sensor signals to the master control module; and a controller incorporated within the master control module for implementing predefined operating modes in response to sensing said conditions.
- In yet another aspect, the invention relates to a surface cleaning apparatus having an autonomous transport drive subsystem controlled by a master control module, a sensor module for sensing conditions, a power module and cleaning elements all supported on a chassis and powered by the power module for moving the chassis over the surface in accordance with predefined operating modes and in response to conditions sensed by the sensor module, the elements being configured with a cleaning width disposed generally orthogonal to a forward transport direction and wherein the cleaning elements comprise; a first collecting apparatus for collecting loose particulates from the surface across the cleaning width, said first collecting apparatus A being positioned on the chassis to advance over the surface first as the chassis is transported in a forward transport direction; a cleaning fluid applicator for applying cleaning fluid onto the surface across the cleaning width, said cleaning fluid applicator being positioned on the chassis to advance over the surface second as the chassis is transported in a forward transport direction; a smearing element for smearing the cleaning fluid applied onto the surface across the cleaning width, said smearing element being positioned on the chassis to advance over the surface third as the chassis is transported in a forward transport direction; an active scrubbing element for actively scrubbing the surface across the cleaning width, said active scrubbing element being positioned on the chassis to advance over the surface fourth as the chassis is transported in a forward transport direction; a second collecting apparatus for collecting waste liquid from the surface, said second collecting apparatus being positioned on the chassis to advance over the surface fifth as the chassis is transported in a forward transport direction; and, an integrated storage container module comprising a waste storage container for storing loose particulates collected by said first collecting apparatus and waste liquid collected by said second collecting apparatus, a cleaning fluid supply container for storing a supply of the cleaning fluid, and wherein the integrated storage container module is configured to be removed from the chassis by a user, filled with cleaning fluid and emptied of waste and then reinstalled onto the chassis by the user.
- In yet an additional aspect, the invention relates to a surface cleaning apparatus having a chassis defined by a fore-aft axis and a perpendicular transverse axis for supporting cleaning elements thereon and for transporting the cleaning elements over the surface along the fore-aft axis and wherein the cleaning elements are disposed to clean across a cleaning width disposed generally orthogonal to the fore-aft axis with a left end and a right end defining opposing edges of the cleaning width; and a liquid applicator comprising at least one nozzle disposed at one of said left end and said right end for ejecting cleaning fluid therefrom, said cleaning fluid being ejected with sufficient volume and pressure to distribute cleaning fluid across the cleaning width. In certain embodiments of the above aspect, the cleaning fluid comprises water and/or any one of soap, solvent, fragrance, disinfectant, emulsifier, drying agent and abrasive particulates.
- In some embodiments of the above aspect, the apparatus includes a smearing element attached to the chassis aft of the position of the at least one nozzle and extending from the chassis to the surface across the cleaning width for smearing the cleaning fluid, and may include a scrubbing element attached to the chassis aft of the position of the at least one nozzle and extending from the chassis to the surface across the cleaning width for scrubbing the surface. In some embodiments, the scrubbing element is attached to the chassis aft of the position of the at least one nozzle and extending from the chassis to the surface across the cleaning width for scrubbing the surface. The cleaning apparatus may also include a collecting apparatus attached to the chassis aft of the position of the at least one nozzle and extending from the chassis to the surface across the cleaning width for collecting waste liquid from the surface. In some embodiments, the liquid applicator a first nozzle disposed at the left end for ejecting cleaning fluid therefrom, said cleaning fluid being ejected from the first nozzle with sufficient volume and pressure to distribute cleaning fluid across the cleaning width, a second nozzle disposed at the right end for ejecting cleaning fluid therefrom, said cleaning fluid being ejected from the second nozzle with sufficient volume and pressure to distribute cleaning fluid across the cleaning width; and wherein the first nozzle and the second nozzle are co-located on the fore-aft axis.
- In certain embodiments of the above aspect each of the first and second nozzles ejects a discrete burst cleaning fluid in accordance with a burst frequency and wherein the burst frequency of the first nozzle is substantially opposite in phase with respect to the burst frequency of the second nozzle. In some embodiments, the surface cleaning apparatus also includes an autonomous transport drive subsystem, a sensor module for sensing conditions and a power module all supported by the chassis and controlled by a master control module to autonomously move the cleaning elements substantially over the entire surface over the surface in accordance with predefined operating modes and in response to conditions sensed by the sensor module. Still other embodiments utilize an autonomous transport drive subsystem, a sensor module for sensing conditions and a power module all supported by the chassis and controlled by a master control module to autonomously move the cleaning elements substantially over the entire surface over the surface in accordance with predefined operating modes and in response to conditions sensed by the sensor module.
- Other embodiments of the above aspect include an autonomous transport drive subsystem, a sensor module for sensing conditions and a power module all supported by the chassis and controlled by a master control module to autonomously move the cleaning elements substantially over the entire surface over the surface in accordance with predefined operating modes and in response to conditions sensed by the sensor module. In some embodiments, the master control module is configured to vary the burst frequency in accordance with a desired rate for applying cleaning fluid onto surface, and in some cases, the master control module is configured to vary the burst frequency to apply cleaning fluid onto the surface at a substantially uniform volume of approximately 2 ml per square foot.
- In some embodiments, the surface cleaning apparatus also includes a liquid storage container, carried on the chassis, for storing a supply of the cleaning fluid therein; a diaphragm pump assembly configured with a first a first pump portion for drawing cleaning fluid from the container and for delivering the cleaning fluid to the at least one nozzle; and a mechanical actuator for mechanically actuating the first pump portion. Still other embodiments include an autonomous transport drive subsystem, a sensor module for sensing conditions and a power module all supported by the chassis and controlled by a master control module to autonomously move the cleaning elements substantially over the entire surface over the surface in accordance with predefined operating modes and in response to conditions sensed by the sensor module; a liquid storage container, carried on the chassis, for storing a supply of the cleaning fluid therein; a diaphragm pump assembly having a first a first pump portion for drawing cleaning fluid from the container and for delivering the cleaning fluid to the first nozzle and a second pump portion for drawing cleaning fluid from the container and for delivering the cleaning fluid to the second nozzle; and a mechanical actuator for mechanically actuating the first pump portion and the second pump portion.
- In certain embodiments of the above aspect, the diaphragm pump assembly includes a flexible element mounted between a non-flexible upper chamber element and a non-flexible lower chamber element, said flexible element being formed with a first pump chamber and a first actuator nipple attached thereto and a second pump chamber and a second actuator nipple attached thereto; an actuator link pivotally attached to the pump assembly for pivoting between a first actuator position and a second actuator position, the actuator link being fixedly attached to each of said first and said second actuator nipples and wherein movement of the actuator link toward the first actuator position decreases the volume the first pump chamber and increases the volume of the second pump chamber and further wherein movement of the actuator link toward the second actuator position increases the volume the first pump chamber and decreases the volume of the second pump chamber; a cam element configured with a circumferential cam profile and supported to move the actuator link between the first actuator position and the second actuator position; and a cam rotary drive, controlled by the master controller, for rotating the cam element in accordance with a cam rotary drive pattern.
- In another aspect, the invention relates to a method for cleaning a surface with a cleaning apparatus, the method including the steps of transporting a chassis over the surface in a forward transport direction defined by a defined by a fore-aft axis, said chassis including cleaning elements supported thereon, and wherein the cleaning elements have a cleaning width disposed generally orthogonal to the fore-aft axis and wherein the cleaning width has a left end and an opposing right end; and ejecting a volume of cleaning fluid from a first nozzle attached to the chassis at one of said left end and said right end, said first nozzle being configured to eject cleaning fluid therefrom, said cleaning fluid being ejected with sufficient volume and pressure to distribute cleaning fluid across the cleaning width. In certain embodiments, the method may also include ejecting a volume of cleaning fluid from a second nozzle attached to the chassis at the other of said left end and said right end and co-located on the fore-aft axis with respect to the first nozzle, said second nozzle being configured to eject cleaning fluid therefrom, said cleaning fluid being ejected with sufficient volume and pressure to distribute cleaning fluid across the cleaning width; and ejecting cleaning fluid from each of the first nozzle and the second nozzle in discrete bursts of cleaning fluid in accordance with a burst frequency and wherein the burst frequency of the first nozzle is substantially opposite in phase with respect to the burst frequency of the second nozzle.
- In still other embodiments, the method includes smearing the cleaning fluid across the cleaning width using a smearing element attached to the chassis aft of the co-located position of the first nozzle and the second nozzle, said smearing element extending across the cleaning width. Other embodiments may include scrubbing the surface across the cleaning width using a scrubbing element attached to the chassis aft of the co-located position of the first nozzle and the second nozzle, said scrubbing element extending across the cleaning width. Still other embodiments include collecting waste liquid from the surface across the cleaning width using a collecting apparatus attached to the chassis aft of the co-located position of the first nozzle and the second nozzle, said collecting apparatus extending across the cleaning width. In some embodiments of the method of the above aspect, the chassis further includes an autonomous transport drive subsystem, a sensor module for sensing conditions and a power module all supported thereon and controlled by a master control module and wherein transporting the chassis over the surface further includes controlling the transport drive subsystem in accordance with predefined operating modes and in response to conditions sensed by the sensor module to transport the cleaning elements substantially over the entire surface.
- The features of the present invention will best be understood from a detailed description of the invention and a preferred embodiment thereof selected for the purposes of illustration and shown in the accompanying drawings in which:
-
FIG. 1 depicts an isometric view of a top surface of an autonomous cleaning robot according to the present invention. -
FIG. 2 depicts an isometric view of a bottom surface of a chassis of an autonomous cleaning robot according to the present invention. -
FIG. 3 depicts an exploded view of a robot chassis having robot subsystems attached thereto according to the present invention. -
FIG. 4 depicts a schematic block diagram showing the interrelationship of subsystems of an autonomous cleaning robot according to the present invention. -
FIG. 5 depicts a schematic representation of a liquid applicator assembly according to the present invention. -
FIG. 6 depicts a schematic section view taken through a stop valve assembly installed within a cleaning fluid supply tank according to the present invention. -
FIG. 7 depicts a schematic section view taken through a pump assembly according to the present invention. -
FIG. 8 depicts a schematic top view of a flexible element used as a diaphragm pump according to the present invention. -
FIG. 9 depicts a schematic top view of a nonflexible chamber element used in the pump assembly according to the present invention. -
FIG. 10 depicts a schematic exploded isometric view of a scrubbing module according to the present invention. -
FIG. 11 depicts an isometric rotatable scrubbing brush according to the present invention. -
FIG. 12A depicts a schematic section view taken through a second collecting apparatus used for collecting waste liquid according to the present invention. -
FIG. 12B depicts a schematic section view of an alternative collecting apparatus used for collecting waste liquid according to the present invention. -
FIG. 13 is a schematic block diagram showing elements of a drive module used to rotate the scrubbing brush according to the present invention. -
FIG. 14 is a schematic representation of an air moving system according to the present invention. -
FIG. 15 depicts a schematic exploded isometric view of a fan assembly according to the present invention. -
FIG. 16 depicts a schematic exploded isometric view showing elements of an integrated liquid storage module according to the present invention. -
FIG. 17 depicts an external view of the integrated liquid storage module removed from the cleaning robot according to the present invention. -
FIG. 18 depicts a schematic exploded view of a nose wheel module according to the present invention. -
FIG. 19 depicts a schematic section view taken through a nose wheel assembly according to the present invention. -
FIG. 20 depicts a schematic exploded view of a drive wheel assembly according to the present invention. - Referring now to the drawings where like reference numerals identify corresponding or similar elements throughout the several views,
FIG. 1 depicts an isometric view showing the external surfaces of anautonomous cleaning robot 100 according to a preferred embodiment of the present invention. Therobot 100 is configured with a cylindrical volume having a generallycircular cross-section 102 with a top surface and a bottom surface that is substantially parallel and opposed to the top surface. Thecircular cross-section 102 is defined by three mutually perpendicular axes; a centralvertical axis 104, a fore-aft axis 106, and atransverse axis 108. Therobot 100 is movably supported with respect to a surface to be cleaned, hereinafter, the cleaning surface. The cleaning surface is substantially horizontal. Therobot 100 is generally supported in rolling contact with the cleaning surface by a plurality of wheels or other rolling elements attached to achassis 200. In a preferred embodiment, the fore-aft axis 108 defines a transport axis along which the robot is advanced over the cleaning surface. The robot is generally advanced in a forward or fore travel direction, designated F, during cleaning operations. The opposite travel direction, (i.e. opposed by 180°), is designated A for aft. The robot is generally not advanced in the aft direction during cleaning operations but may be advanced in the aft direction to avoid an object or maneuver out of a corner or the like. Cleaning operations may continue or be suspended during aft transport. Thetransverse axis 108 is further defined by the labels R for right and L for left, as viewed from the top view ofFIG. 1 . In subsequent figures, the R and L direction remain consistent with the top view, but may be reversed on the printed page. In a preferred embodiment of the present invention, the diameter of the robotcircular cross-section 102 is approximately 370 mm (14.57 inches) and the height of therobot 100 above the cleaning surface of approximately 85 mm (3.3 inches). However, theautonomous cleaning robot 100 of the present invention may be built with other cross-sectional diameter and height dimensions, as well as with other cross-sectional shapes, e.g. square, rectangular and triangular, and volumetric shapes, e.g. cube, bar, and pyramidal. - The
robot 100 may include a user input control panel, not shown, disposed on an external surface, e.g. the top surface, with one or more user manipulated actuators disposed on the control panel. Actuation of a control panel actuator by a user generates an electrical signal, which is interpreted to initiate a command. The control panel may also include one or more mode status indicators such as visual or audio indicators perceptible by a user. In one example, a user may set the robot onto the cleaning surface and actuate a control panel actuator to start a cleaning operation. In another example, a user may actuate a control panel actuator to stop a cleaning operation. - Referring now to
FIG. 2 , theautonomous robot 100 includes a plurality of cleaning modules supported on achassis 200 for cleaning the substantially horizontal cleaning surface as the robot is transported over the cleaning surface. The cleaning modules extend below therobot chassis 200 to contact or otherwise operate on the cleaning surface during cleaning operations. More specifically, therobot 100 is configured with a first cleaning zone A for collecting loose particulates from the cleaning surface and for storing the loose particulates in a receptacle carried by the robot. Therobot 100 is further configured with a second cleaning zone B that at least applies a cleaning fluid onto the cleaning surface. The cleaning fluid may be clean water alone or clean water mixed with other ingredients to enhance cleaning. The application of the cleaning fluid serves to dissolve, emulsify or otherwise react with contaminants on the cleaning surface to separate contaminants therefrom. Contaminants may become suspended or otherwise combined with the cleaning fluid. After the cleaning fluid has been applied onto the surface, it mixes with contaminants and becomes waste material, e.g. a liquid waste material with contaminants suspended or otherwise contained therein. - The underside of the
robot 100 is shown inFIG. 2 which depicts a first cleaning zone A disposed forward of the second cleaning zone B with respect to the fore-aft axis 106. Accordingly, the first cleaning zone A precedes the second cleaning zone B over the cleaning surface when therobot 100 travels in the forward direction. The first and second cleaning zones are configured with a cleaning width W that is generally oriented parallel or nearly parallel with thetransverse axis 108. The cleaning width W defines the cleaning width or cleaning footprint of the robot. As therobot 100 advances over the cleaning surface in the forward direction, the cleaning width is the width of cleaning surface cleaned by the robot in a single pass. Ideally, the cleaning width extends across the full transverse width of therobot 100 to optimize cleaning efficiency; however, in a practical implementation, the cleaning width is slightly narrower that the robot transverse width due to spatial constraints on therobot chassis 200. - According to the present invention, the
robot 100 traverses the cleaning surface in a forward direction over a cleaning path with both cleaning zones operating simultaneously. In a preferred embodiment, the nominal forward velocity of the robot is approximately 4.75 inches per second however; the robot and cleaning devices may be configured to clean at faster and slower forward velocities. The first cleaning zone A precedes the second cleaning zone B over the cleaning surface and collects loose particulates from the cleaning surface across the cleaning width W. The second cleaning zone B applies cleaning fluid onto the cleaning surface across the cleaning width W. The second cleaning zone may also be configured to smear the cleaning fluid applied onto the cleaning surface to smooth the cleaning fluid into a more uniform layer and to mix the cleaning fluid with contaminants on the cleaning surface. The second cleaning zone B may also be configured to scrub the cleaning surface across the cleaning width. The scrubbing action agitates the cleaning fluid to mix it with contaminants. The scrubbing action also applies a shearing force against contaminants to thereby dislodge contaminants from the cleaning surface. The second cleaning zone B may also be configured to collect waste liquid from cleaning surface across the cleaning width. According to the invention, a single pass of the robot over a cleaning path first collects loose particulates up from the cleaning surface across the cleaning width and thereafter applies a cleaning fluid onto the cleaning surface generally across the cleaning width W to interact with contaminants remaining on the cleaning surface and may further apply a scrubbing action to dislodge contaminants from the cleaning surface. A single pass of therobot 100 over a cleaning path may also smear the cleaning fluid more uniformly on the cleaning surface. A single pass of the robot over a cleaning path may also collect waste liquid up from the cleaning surface. - In general, the cleaning
robot 100 is configured to clean uncarpeted indoor hard floor surface, e.g. floors covered with tiles, wood, vinyl, linoleum, smooth stone or concrete and other manufactured floor covering layers that are not overly abrasive and that do not readily absorb liquid. Other embodiments, however, may be adapted to clean, process, treat, or otherwise traverse abrasive, liquid-absorbing, and other surfaces. In addition, in a preferred embodiment of the present invention, therobot 100 is configured to autonomously transport over the floors of small enclosed furnished rooms such as are typical of residential homes and smaller commercial establishments. Therobot 100 is not required to operate over predefined cleaning paths but may move over substantially all of the cleaning surface area under the control of various transport algorithms designed to operate irrespective of the enclosure shape or obstacle distribution. In particular, therobot 100 of the present invention moves over cleaning paths in accordance with preprogrammed procedures implemented in hardware, software, firmware, or combinations thereof to implement a variety of modes, such as three basic operational modes, i.e., movement patterns, that can be categorized as: (1) a “spot-coverage” mode; (2) a “wall/obstacle following” mode; and (3) a “bounce” mode. In addition, therobot 100 is preprogrammed to initiate actions based upon signals received from sensors incorporated therein, where such actions include, but are not limited to, implementing one of the movement patterns above, an emergency stop of therobot 100, or issuing an audible alert. These operational modes of the robot of the present invention are specifically described in U.S. Pat. No. 6,809,490, by Jones et al., entitled, Method and System for Multi-Mode Coverage for an Autonomous Robot, the entire disclosure of which is herein incorporated by reference it its entirety. - In a preferred embodiment, the
robot 100 is configured to clean approximately 150 square feet of cleaning surface in a single cleaning operation. The duration of the cleaning operation is approximately 45 minutes. Accordingly, the robot systems are configured for unattended autonomous cleaning for 45 minutes or more without the need to recharge a power supply, refill the supply of cleaning fluid or empty the waste materials collected by the robot. - As shown in
FIGS. 2 and 3 therobot 100 includes a plurality of subsystems mounted to arobot chassis 200. The major robot subsystems are shown schematically inFIG. 4 which depicts amaster control module 300 interconnected for two-way communication with each of a plurality of other robot subsystems. The interconnection of the robot subsystems is provided via network of interconnected wires and or conductive elements, e.g. conductive paths formed on an integrated printed circuit board or the like, as is well known. Themaster control module 300 at least includes a programmable or preprogrammed digital data processor, e.g. a microprocessor, for performing program steps, algorithms and or mathematical and logical operations as may be required. Themaster control module 300 also includes a digital data memory in communication with the data processor for storing program steps and other digital data therein. Themaster control module 300 also includes one or more clock elements for generating timing signals as may be required. - A
power module 310 delivers electrical power to all of the major robot subsystems. The power module includes a self-contained power source attached to therobot chassis 200, e.g. a rechargeable battery, such as a nickel metal hydride battery, or the like. In addition, the power source is configured to be recharged by any one of various recharging elements and or recharging modes, or the battery may be replaced by a user when it becomes discharged or unusable. Themaster control module 300 may also interface with thepower module 310 to control the distribution of power, to monitor power use and to initiate power conservation modes as required. - The
robot 100 may also include one or more interface modules orelements 320. Eachinterface module 320 is attached to the robot chassis to provide an interconnecting element or port for interconnecting with one or more external devices. Interconnecting elements and ports are preferably accessible on an external surface of the robot. Themaster control module 300 may also interface with theinterface modules 320 to control the interaction of therobot 100 with an external device. In particular, one interface module element is provided for charging the rechargeable battery via an external power supply or power source such as a conventional AC or DC power outlet. Another interface module element may be configured for one or two way communications over a wireless network and further interface module elements may be configured to interface with one or more mechanical devices to exchange liquids and loose particulates therewith, e.g. for filling a cleaning fluid reservoir or for draining or emptying a waste material container. - Accordingly, the
interface module 320 may comprise a plurality of interface ports and connecting elements for interfacing with active external elements for exchanging operating commands, digital data and other electrical signals therewith. Theinterface module 320 may further interface with one or more mechanical devices for exchanging liquid and or solid materials therewith. Theinterface module 320 may also interface with an external power supply for charging therobot power module 310. Active external devices for interfacing with therobot 100 may include, but are not limited to, a floor standing docking station, a hand held remote control device, a local or remote computer, a modem, a portable memory device for exchanging code and or data with the robot and a network interface for interfacing therobot 100 with any device connected to the network. In addition, theinterface module 320 may include passive elements such as hooks and or latching mechanisms for attaching therobot 100 to a wall for storage or for attaching the robot to a carrying case or the like. - In particular, an active external device according to one aspect of the present invention confines the
robot 100 in a cleaning space such as a room by emitting radiation in a virtual wall pattern. Therobot 100 is configured to detect the virtual wall pattern and is programmed to treat the virtual wall pattern as a room wall so that the robot does not pass through the virtual wall pattern. This particular aspect of the present invention is specifically described in U.S. Pat. No. 6,690,134 by Jones et al., entitled Method and System for Robot Localization and Confinement, the entire disclosure of which is herein incorporated by reference it its entirety. - Another active external device according to a further aspect of the present invention comprises a robot base station used to interface with the robot. The base station may comprise a fixed unit connected with a household power supply, e.g. and AC power wall outlet and or other household facilities such as a water supply pipe, a waste drain pipe and a network interface. According to invention, the
robot 100 and the base station are each configured for autonomous docking and the base station may be further configure to charge therobot power module 310 and to service the robot in other ways. A base station and autonomous robot configured for autonomous docking and for recharging the robot power module is specifically described in U.S. patent application Ser. No. 10/762,219, by Cohen, et al., filed on Jan. 21, 2004, entitled Autonomous Robot Auto-Docking and Energy Management Systems and Methods, the entire disclosure of which is herein incorporated by reference it its entirety. - The
autonomous robot 100 includes a self-contained motivetransport drive subsystem 900 which is further detailed below. Thetransport drive 900 includes three wheels extending below thechassis 200 to provide three points of rolling support with respect to the cleaning surface. A nose wheel is attached to therobot chassis 200 at a forward edge thereof, coaxial with the fore-aft axis 106, and a pair of drive wheels attached to thechassis 200 aft of thetransverse axis 108 and rotatable about a drive axis that is parallel with thetransverse axis 108. Each drive wheel is separately driven and controlled to advance the robot in a desired direction. In addition, each drive wheel is configured to provide sufficient drive friction as the robot operates on a cleaning surface that is wet with cleaning fluid. The nose wheel is configured to self align with the direction of travel. The drive wheels may be controlled to move therobot 100 forward or aft in a straight line or along an arcuate path. - The
robot 100 further includes asensor module 340. Thesensor module 340 comprises a plurality of sensors attached to the chassis and or integrated with robot subsystems for sensing external conditions and for sensing internal conditions. In response to sensing various conditions, thesensor module 340 may generate electrical signals and communicate the electrical signals to thecontrol module 300. Individual sensors may perform such functions as detecting walls and other obstacles, detecting drop offs in the cleaning surface, called cliffs, detecting dirt on the floor, detecting low battery power, detecting an empty cleaning fluid container, detecting a full waste container, measuring or detecting drive wheel velocity distance traveled or slippage, detecting nose wheel rotation or cliff drop off, detecting cleaning system problems such rotating brush stalls or vacuum system clogs, detecting inefficient cleaning, cleaning surface type, system status, temperature, and many other conditions. In particular, several aspects of thesensor module 340 of the present invention as well as and its operation, especially as it relates to sensing external elements and conditions are specifically described in U.S. Pat. No. 6,594,844, by Jones, entitled Robot Obstacle Detection System, and U.S. patent application Ser. No. 11/166,986, by Casey et al., filed on Jun. 24, 2005, entitled Obstacle Following Sensor Scheme for a Mobile Robot, the entire disclosures of which are herein incorporated by reference it their entireties. - The
robot 100 may also include auser control module 330. Theuser control module 330 provides one or more user input interfaces that generate an electrical signal in response to a user input and communicate the signal to themaster control module 300. In one embodiment of the present invention, the user control module, described above, provides a user input interface, however, a user may enter commands via a hand held remote control device, a programmable computer or other programmable device or via voice commands. A user may input user commands to initiate actions such as power on/off, start, stop or to change a cleaning mode, set a cleaning duration, program cleaning parameters such as start time and duration, and or many other user initiated commands. User input commands, functions, and components contemplated for use with the present invention are specifically described in U.S. patent application Ser. No. 11/166,891, by Dubrovsky et al., filed on Jun. 24, 2005, entitled Remote Control Scheduler and Method for Autonomous Robotic Device, the entire disclosure of which is herein incorporated by reference it its entirety. - Referring now to
FIG. 2 , a bottom surface of arobot chassis 200 is shown in isometric view. As shown therein, a first cleaning zone A is disposed forward of a second cleaning zone B with respect to the fore-aft axis 106. Accordingly, as therobot 100 is transported in the forward direction the first cleaning zone A precedes the second cleaning zone B over the cleaning surface. Each cleaning zone A and B has a cleaning width W disposed generally parallel with thetransverse axis 108. Ideally, the cleaning width of each cleaning zone is substantially identical however, the actual cleaning width of the cleaning zones A and B may be slightly different. According to a preferred embodiment of the present invention, the cleaning width W is primarily defined by the second cleaning zone B which extends from proximate to the right circumferential edge of a bottom surface of therobot chassis 200 substantially parallel with thetransverse axis 108 and is approximately 296 mm (11.7 inches) long. By locating the cleaning zone B proximate the right circumferential edge, therobot 100 may maneuver its right circumferential edge close to a wall or other obstacle for cleaning the cleaning surface adjacent to the wall or obstacle. Accordingly, the robot movement patterns include algorithms for transporting the right side of therobot 100 adjacent to each wall or obstacle encountered by the robot during a cleaning cycle. Therobot 100 is therefore said to have a dominant right side. Of course, therobot 100 could be configured with a dominant left side instead. The first cleaning zone A is positioned forward of thetransverse axis 108 and has a slightly narrower cleaning width than the second cleaning zone B, simply because of the circumference shape of therobot 100. However, any cleaning surface area not cleaned by the first cleaning zone A is cleaned by the second cleaning zone B. - The first cleaning zone A is configured to collect loose particulates from the cleaning surface. In a preferred embodiment, an air jet is generated by an air moving system which includes an
air jet port 554 disposed on a left edge of the first cleaning zone A. Theair jet port 554 expels a continuous jet or stream of pressurized air therefrom. Theair jet port 554 is oriented to direct the air jet across the cleaning width from left to right. Opposed to theair jet port 554, anair intake port 556 is disposed on a right edge of the first cleaning zone A. The air moving system generates a negative air pressure zone in the conduits connected to theintake port 556, which creates a negative air pressure zone proximate to theintake port 556. The negative air pressure zone suctions loose particulates and air into theair intake port 556 and the air moving system is further configured to deposit the loose particulates into a waste material container carried by therobot 100. Accordingly, pressurized air expelled from theair jet port 554 moves across the cleaning width within the first cleaning zone A and forces loose particulates on the cleaning surface toward a negative air pressure zone proximate to theair intake port 556. The loose particulates are suctioned up from the cleaning surface through theair intake port 556 and deposited into a waste container carried by therobot 100. - The first cleaning zone A is further defined by a nearly rectangular channel formed between the
air jet port 554 and theair intake port 556. The channel is defined by opposing forward and aft walls of a rectangular recessedarea 574, which is a contoured shape formed in the bottom surface of therobot chassis 200. The forward and aft walls are substantially transverse to the fore-aft axis 106. The channel is further defined by a firstcompliant doctor blade 576, attached to therobot chassis 200, e.g. along the aft edge of the recessedarea 574, and extending from the chassis bottom surface to the cleaning surface. The doctor blade is mounted to make contact or near contact with the cleaning surface. Thedoctor blade 576 is preferably formed from a thin flexible and compliant molded material e.g. a 1-2 mm thick bar shaped element molded from neoprene rubber or the like. Thedoctor blade 576, or at least a portion of the doctor blade, may be coated with a low friction material, e.g. a fluoropolymer resin for reducing friction between the doctor blade and the cleaning surface. Thedoctor blade 576 may be attached to therobot chassis 200 by an adhesive bond or by other suitable means. - The channel of the first cleaning zone A provides an increased volume between the cleaning surface and the bottom surface of the
robot chassis 200 local to the first cleaning zone A. The increased volume guides airflow between thejet port 554 and theair intake port 556, and thedoctor blade 576 prevents loose particulates and airflow from escaping the first cleaning zone A in the aft direction. In addition to guiding the air jet and the loose particulates across the cleaning width, thefirst doctor blade 576 may also exert a friction force against contaminants on the cleaning surface to help loosen contaminants from the cleaning surface as the robot moves in the forward direction. The firstcompliant doctor blade 576 is configured to be sufficiently compliant to adapt its profile form conforming to discontinuities in the cleaning surface, such a door jams moldings and trim pieces, without hindering the forward travel of therobot 100. - A second
compliant doctor blade 578 may also be disposed in the first cleaning zone A to further guide the air jet toward the negative pressure zone surrounding theair intake port 554. The second compliant doctor blade is similar in construction to the firstcompliant doctor blade 576 and attaches to the bottom surface of therobot chassis 200 to further guide the air and loose particulates moving through the channel. In one example, a second recessedarea 579 is formed in the bottom surface of thechassis 200 and the secondcompliant doctor blade 576 protrudes into the first recessedarea 574 at an acute angle typically between 30-60° with respect to thetraverse axis 108. The second compliant doctor blade extends from the forward edge of the recessedarea 574 and protrudes into the channel approximately ⅓ to ½ of channel fore-aft dimension. - The first cleaning zone A traverses the cleaning surface along a cleaning path and collects loose particulates along the cleaning width. By collecting the loose particulates prior to the second cleaning zone B passing over the cleaning path, the loose particulates are collected before the second cleaning zone applies cleaning fluid onto the cleaning surface. One advantage of removing the loose particulates with the first cleaning zone is that the loose particulates are removed while they are still dry. Once the loose particulates absorb cleaning fluid applied by the second cleaning zone, they are more difficult to collect. Moreover, the cleaning fluid absorbed by the loose particulates is not available for cleaning the surface so the cleaning efficiency of the second cleaning zone B may be degraded.
- In another embodiment, the first cleaning zone may be configured with other cleaning elements such as counter-rotating brushes extending across the cleaning width to flick loose particulates into a receptacle. In another embodiment, an air moving system may be configured to draw air and loose particulates up from the cleaning surface through an elongated air intake port extending across the cleaning width. In particular, other embodiments usable to provide a first cleaning zone according to the present invention are disclosed in U.S. Pat. No. 6,883,201, by Jones et al. entitled Autonomous Floor-Cleaning Robot, the entire disclosure of which is herein incorporated by reference it its entirety.
- The second cleaning zone B includes a
liquid applicator 700 configured to apply a cleaning fluid onto the cleaning surface and the cleaning fluid is preferably applied uniformly across the entire cleaning width. Theliquid applicator 700 is attached to thechassis 200 and includes at least one nozzle configured to spray the cleaning fluid onto the cleaning surface. The second cleaning zone B may also include ascrubbing module 600 for performing other cleaning tasks across the cleaning width after the cleaning fluid has been applied onto the cleaning surface. Thescrubbing module 600 may include a smearing element disposed across the cleaning width for smearing the cleaning fluid to distribute it more uniformly on the cleaning surface. The second cleaning zone B may also include a passive or active scrubbing element configured to scrub the cleaning surface across the cleaning width. The second cleaning zone B may also include a second collecting apparatus configured to collect waste materials up from the cleaning surface across the cleaning width, and the second collecting apparatus is especially configured for collecting liquid waste materials. - The
liquid applicator module 700, shown schematically inFIG. 5 , is configured to apply a measured volume of cleaning fluid onto the cleaning surface across the cleaning width. Theliquid applicator module 700 receives a supply of cleaning fluid from a cleaning fluid supply container S, carried on thechassis 200, and pumps the cleaning fluid through one or more spray nozzles disposed on thechassis 200. The spray nozzles are attached to therobot chassis 200 aft of the first cleaning zone A and each nozzle is oriented to apply cleaning fluid onto the cleaning surface. In a preferred embodiment, a pair of spray nozzle are attached to therobot chassis 200 at distal left and right edges of the cleaning width W. Each nozzle is oriented to spray cleaning fluid toward the opposing end of the cleaning width. Each nozzles is separately pumped to eject a spray pattern and the pumping stroke of each nozzle occurs approximately 180 degrees out phase with respect to the other nozzle so that one of the two nozzles is always applying cleaning fluid. - Referring to
FIG. 5 , theliquid applicator module 700 includes a cleaning fluid supply container S, which is carried by thechassis 200 and removable therefrom by a user to refill the container with cleaning fluid. The supply container S is configured with a drain orexit aperture 702 formed through a base surface thereof. Afluid conduit 704 receives cleaning fluid from theexit aperture 702 and delivers a supply of cleaning fluid to apump assembly 706. Thepump assembly 706 includes left andright pump portions FIG. 7 . Theleft pump portion 708 pumps cleaning fluid to aleft spray nozzle 712 via aconduit 716 and theright pump portion 710 pumps cleaning fluid to aright spray nozzle 714 via aconduit 718. - A stop valve assembly, shown in section view in
FIG. 6 , includes a femaleupper portion 720, installed inside the supply container S, and amale portion 721 attached to thechassis 200. Thefemale portion 720 nominally closes and seals theexit aperture 702. Themale portion 721 opens theexit aperture 702 to provide access to the cleaning fluid inside the supply container S. Thefemale portion 720 includes an upper housing 722, a spring biasedmovable stop 724, acompression spring 726 for biasing thestop 724 to a closed position, and agasket 728 for sealing theexit aperture 702. The upper housing 722 may also support afilter element 730 inside the supply container S for filtering contaminants from the cleaning fluid before the fluid exits the supply container S. - The stop valve
assembly male portion 721 includes a hollow male fitting 732 formed to insert into theexit aperture 702 and penetrate thegasket 728. Insertion of the hollow male fitting 732 into theexit aperture 702 forces themovable stop 724 upward against thecompression spring 726 to open the stop valve. The hollow male fitting 732 is formed with aflow tube 734 along it central longitudinal axis and theflow tube 734 includes one ormore openings 735 at its uppermost end for receiving cleaning fluid into theflow tube 734. At its lower end, theflow tube 734 is in fluid communication with a hose fitting 736 attached to or integrally formed with themale fitting 732. The hose fitting 736 comprises a tube element having ahollow fluid passage 737 passing therethrough, and attaches to hose orfluid conduit 704 that receives fluid from the hose fitting 736 and delivers the fluid to thepump assembly 706. Theflow tube 734 may also include a userremovable filter element 739 installed therein for filtering the cleaning fluid as it exits the supply container S. - According to the invention, the stop valve
male portion 721 is fixed to thechassis 200 and engages with thefemale portion 720, which is fixed to the container S. When the container S is installed onto the chassis in its operating position themale portion 721 engages with thefemale portion 720 to open theexit aperture 702. A supply of cleaning fluid flows from the supply container S to thepump assembly 706 and the flow may be assisted by gravity or suctioned by the pump assembly or both. - The hose fitting 736 is further equipped with a pair of electrically conductive elements, not shown, disposed on the internal surface of the hose fitting
fluid flow passage 737 and the pair of conductive elements inside the flow chamber are electrically isolated from each other. A measurement circuit, not shown, creates an electrical potential difference between the pair of electrically conductive elements and when cleaning fluid is present inside theflow passage 737 current flows from one electrode to the other through the cleaning fluid and the measurement circuit senses the current flow. When the container S is empty, the measurement circuit fails to sense the current flow and in response sends a supply container empty signal to themaster controller 300. In response to receiving the supply container empty signal, themaster controller 300 takes an appropriate action. - The
pump assembly 706 as depicted inFIG. 5 includes aleft pump portion 708 and aright pump portion 710. Thepump assembly 706 receives a continuous flow of cleaning fluid from the supply container S and alternately delivers cleaning fluid to theleft nozzle 712 and theright nozzle 714.FIG. 7 depicts thepump assembly 706 in section view and thepump assembly 706 is shown mounted on the top surface of thechassis 200 inFIG. 3 . Thepump assembly 706 includescam element 738 mounted on a motor drive shaft for rotation about a rotation axis. The motor, not shown, is rotates thecam element 738 at a substantially constant angular velocity under the control of themaster controller 300. However, the angular velocity of thecam element 738 may be increased or decreased to vary the frequency of pumping of the left andright spay nozzles cam element 738 controls the mass flow rate of cleaning fluid applied onto the cleanings surface. According to one aspect of the present invention, the angular velocity of thecam element 738 may be adjusted in proportion to the robot forward velocity to apply a uniform volume of cleaning fluid onto the cleaning surface irrespective of robot velocity. Alternately, changes in the angular velocity in thecam element 738 may be used to increase or decrease the mass flow rate of cleaning fluid applied onto the cleanings surface as desired. - The
pump assembly 706 includes arocker element 761 mounted to pivot about apivot axis 762. Therocker element 761 includes a pair of opposedcam follower elements 764 on the left side and 766 on the right side. Eachcam follower cam element 738 as the cam element rotates about its rotation axis. Therocker element 761 further includes a leftpump actuator link 763 and a rightpump actuator link 765. Eachpump actuator link chamber actuator nipple 759 and a right pumpchamber actuator nipple 758. As will be readily understood, rotation of thecam element 738 forces each of thecam follower elements rocker element 761 to each of the left andright actuator nipples rocker element 761 to force theright actuator nipple 758 downward while simultaneously lifting up on theleft actuator nipple 759, and this action occurs during the first 180 degrees of cam. Alternately, the second 180 degrees of cam rotation causes therocker element 761 to force theleft actuator nipple 759 downward while simultaneously lifting up on theright actuator nipple 758. - The
rocker element 761 further includes asensor arm 767 supporting apermanent magnet 769 attached at its end. A magnetic field generated by themagnet 769 interacts with anelectrical circuit 771 supported proximate to themagnet 769 and the circuit generates signals responsive to changes in the orientation of magnetic field. the signals are used to track the operation of thepump assembly 706. - Referring to
FIGS. 7-9 , thepump assembly 706 further comprises aflexible membrane 744 mounted between opposing upper and lowernonflexible elements FIG. 7 theflexible element 744 is captured between an uppernonflexible element 746 and a lowernonflexible element 748. Each of the uppernonflexible element 746, theflexible element 744 and the lowernonflexible element 748 is formed as a substantially rectangular sheet having a generally uniform thickness. However, each element also includes patterns of raised ridges depressed valleys and other surface contours formed on opposing surfaces thereof.FIG. 8 depicts a top view of theflexible element 744 andFIG. 9 depicts a top view of the lowernonflexible element 748. Theflexible element 744 is formed from a flexible membrane material such as neoprene rubber or the like and thenonflexible elements - As shown in
FIGS. 8 and 9 , each of theflexible element 744 and thenonflexible element 748 are symmetrical about a center axis designated E in the figure. In particular, the left sides of each of theelements elements upper element 746 and theflexible element 744 or between the lowernonflexible element 748 and theflexible element 744. In general, theflexible element 744 serves as a gasket layer for sealing the wells and passages and its flexibility is used to react to changes in pressure to seal and or open passages in response to local pressure changes as the pump operates. In addition, holes formed through the elements allow fluid to flow in and out of the pump assembly and to flow through theflexible element 744. - Using the right pump portion by way of example, cleaning fluid is drawn into the pump assembly through an
aperture 765 formed in the center of the lowernonflexible element 748. Theaperture 765 receives cleaning fluid from the fluid supply container via theconduit 704. The incoming fluid fills apassageway 766.Ridges ridges passageway 766 and pressure seal the passageway. Anaperture 774 passes through theflexible element 744 and is in fluid communication with thepassageway 766. When the pump chamber, described below, expands, the expansion decreases the local pressure, which draws fluid into thepassageway 776 through theaperture 774. - Fluid drawn through the
aperture 774 fills a well 772. The well 772 is formed between theflexible element 744 and the uppernonflexible element 746. Aridge 770 surrounds the well 772 and mates with a feature of the upperflexible element 746 to contain the fluid in the well 772 and to pressure seal the well. The surface of the well 772 is flexible such that when the pressure within the well 772 decreases, the base of the well is lifted to open theaperture 774 and draw fluid through theaperture 774. However, when the pressure within the well 772 increases, due to contraction of the pump chamber, theaperture 774 is forced against a raisedstop surface 773 directly aligned with the aperture and the well 772 act as a trap valve. Asecond aperture 776 passes through theflexible element 744 to allow fluid to pass from the well 772 through theflexible element 744 and into a pump chamber. The pump chamber is formed between theflexible element 744 and the lowernonflexible element 748. - Referring to
FIG. 7 , aright pump chamber 752 is shown in section view. Thechamber 752 includes a dome shaped flexure formed by anannular loop 756. The dome shaped flexure is a surface contour of theflexible element 744. Theannular loop 756 passes through alarge aperture 760 formed through the uppernonflexible element 746. The volume of the pump chamber is expanded when thepump actuator 765 pulls up on theactuator nipple 758. The volume expansion decreases pressure within the pump chamber and fluid is drawn into the chamber from the well 772. The volume of the pump chamber is decreased when thepump actuator 765 pushes down on theactuator nipple 758. The decrease in volume within the chamber increases pressure and the increased pressure expels fluid out of the pump chamber. - The pump chamber is further defined by a well 780 formed in the lower
nonflexible element 748. The well 780 is surrounded by avalley 784 formed in the lowernonflexible element 748, shown inFIG. 9 , and aridge 778 formed on theflexible element 744 mates with thevalley 784 to pressure seal the pump chamber. Thepump chamber 752 further includes anexit aperture 782 formed through the lowernonflexible element 748 and through which fluid is expelled. Theexit aperture 782 delivers fluid to theright nozzle 714 via theconduit 718. Theexit aperture 782 is also opposed to a stop surface which acts as a check valve to close theexit aperture 782 when the pump chamber is decreased. - Thus according to the present invention, cleaning fluid is drawn from a cleaning supply container S by action of the
pump assembly 706. Thepump assembly 706 comprises two separate pump chambers for pumping cleaning fluid to two separate spray nozzles. Each pump chamber is configure deliver cleaning fluid to a single nozzle in response to a rapid increase in pressure inside the pump chamber. The pressure inside the pump chamber is dictated by the cam profile, which is formed to drive fluid to each nozzle in order to spray a substantially uniform layer of cleaning fluid onto the cleaning surface. In particular, the cam profile is configured to deliver a substantially uniform volume of cleaning fluid per unit length of cleaning width W. In generally, the liquid applicator of the present invention is configured to apply cleaning fluid at a volumetric rate ranging from about 0.2 to 5.0 ml per square foot, and preferably in the range of about 0.6-2.0 ml per square foot. However depending upon the application, the liquid applicator of the present invention may apply any desired volumetric layer onto the surface. In addition, the fluid applicator system of the present invention is usable to apply other liquids onto a floor surface such as wax, paint, disinfectant, chemical coatings, and the like. - As is further described below, a user may remove the supply container S from the robot chassis and fill the supply container with a measured volume of clean water and a corresponding measured volume of a cleaning agent. The water and cleaning agent may be poured into the supply container S through a supply
container access aperture 168 which is capped by aremovable cap 172, shown inFIG. 17 . The supply container S is configured with a liquid volume capacity of approximately 1100 ml (37 fluid ounces) and the desired volumes of cleaning agent and clean water may be poured into the supply tank in a ratio appropriate for a particular cleaning application. - The
scrubbing module 600, according to a preferred embodiment of the present invention, is shown in exploded isometric view inFIG. 10 and in the robot bottom view shown inFIG. 2 . Thescrubbing module 600 is configured as a separate subassembly that attaches to thechassis 200 but is removable therefrom, by a user, for cleaning or otherwise servicing the cleaning elements thereof. However, other arrangements can be configured without deviating from the present invention. Thescrubbing module 600 installs and latches into place within ahollow cavity 602, formed on the bottom side of thechassis 200. A profile of thehollow cavity 602 is displayed on the right side of thechassis 200 inFIG. 3 . The cleaning elements of thescrubbing module 600 are positioned aft of theliquid applicator module 700 to perform cleaning operations on a wet cleaning surface. - In a preferred embodiment, the
scrubbing module 600 includes apassive smearing brush 612 attached to a forward edge thereof and disposed across the cleaning width. The smearingbrush 612 extends downwardly from thescrubbing module 600 and is configured to make contact or near contact with the cleaning surface across the cleaning width. As therobot 100 is transported in the forward direction the smearingbrush 612 moves over the pattern of cleaning fluid applied down by the liquid applicator and smears, or more uniformly spreads the cleaning fluid over the cleaning surface. The smearingbrush 612, shown inFIGS. 2 and 10 , comprises a plurality of soft compliant smearing bristles 614 with a first end of each bristle being captured in a holder such as crimped metal channel, or other suitable holding element. A second end of each smearing bristle 614 is free to bend as each bristle makes contact with the cleaning surface. The length and diameter of the smearing bristles 614, as well as a nominal interference dimension that the smearing bristles makes with respect to the cleaning surface may be varied to adjust bristle stiffness and to thereby affect the smearing action. In a preferred embodiment of the present invention the smearingbrush 612 comprises nylon bristles with an average bristle diameter in the range of about 0.05-0.2 mm (0.002-0.008 inches). The nominal length of each bristle 614 is approximately 16 mm (0.62 inches) between the holder and the cleaning surface and thebristles 614 are configured with an interference dimension of approximately 0.75 mm (0.03 inches). The smearingbrush 612 may also wick up excess cleaning fluid applied to the cleaning surface and distribute the wicked up cleaning fluid to other locations. Of course, other smearing elements such as flexible compliant blade member a sponge elements or a rolling member in contact with the cleaning surface are also usable. - The
scrubbing module 600 may include a scrubbing element e.g. 604; however, the present invention may be used without a scrubbing element. The scrubbing element contacts the cleaning surface during cleaning operations and agitates the cleaning fluid to mix it with contaminants to emulsify, dissolve or otherwise chemically react with contaminants. The scrubbing element also generates a shearing force as it moves with respect to the cleaning surface and the force helps to break adhesion and other bonds between contaminants and the cleaning surface. In addition, the scrubbing element may be passive element or an active and may contact the cleaning surface directly, may not contact the cleaning surface at all or may be configured to be movable into and out of contact with the cleaning surface. - In one embodiment according to the present invention, a passive scrubbing element is attached to the
scrubbing module 600 or other attaching point on thechassis 200 and disposed to contact the cleaning surface across the cleaning width. A force is generated between the passive scrubbing element and the cleaning surface as the robot is transported in the forward direction. The passive scrubbing element may comprise a plurality of scrubbing bristles held in contact with the cleaning surface, a woven or non-woven material, e.g. a scrubbing pad or sheet material held in contact with the cleaning surface, or a compliant solid element such as a sponge or other compliant porous solid foam element held in contact with the cleaning surface. In particular, a conventional scrubbing brush, sponge, or scrubbing pad used for scrubbing may be fixedly attached to therobot 100 and held in contact with the cleaning surface across the cleaning width aft of the liquid applicator to scrub the cleaning surface as therobot 100 advances over the cleaning surface. In addition, the passive scrubbing element may be configured to be replaceable by a user or to be automatically replenished, e.g. using a supply roll and a take up roll for advancing clean scrubbing material into contact with the cleaning surface. - In another embodiment according to the present invention, one or more active scrubbing elements are movable with respect to the cleaning surface and with respect to the robot chassis. Movement of the active scrubbing elements increases the work done between scrubbing elements and the cleaning surface. Each movable scrubbing element is driven for movement with respect to the
chassis 200 by a drive module, also attached to thechassis 200. Active scrubbing elements may also comprise a scrubbing pad or sheet material held in contact with the cleaning surface, or a compliant solid element such as a sponge or other compliant porous solid foam element held in contact with the cleaning surface and vibrated by a vibrating backing element. Other active scrubbing elements may also include a plurality of scrubbing bristles, and or any movably supported conventional scrubbing brush, sponge, or scrubbing pad used for scrubbing or an ultra sound emitter may also be used to generate scrubbing action. The relative motion between active scrubbing elements and the chassis may comprise linear and or rotary motion and the active scrubbing elements may be configured to be replaceable or cleanable by a user. - Referring now to
FIGS. 10-12 a preferred embodiment of present invention includes an active scrubbing element. The active scrubbing element comprises arotatable brush assembly 604 disposed across the cleaning width, aft of theliquid applicator nozzles rotatable brush assembly 604 comprises a cylindricalbristle holder element 618 for supporting scrubbing bristles 616 extending radially outward there from. Therotatable brush assembly 604 is supported for rotation about a rotation axis that extends substantially parallel with the cleaning width. The scrubbing bristles 616 are long enough to interfere with the cleaning surface during rotation such that the scrubbing bristles 616 are bent by the contact with the cleaning surface. - Scrubbing bristles 616 are installed in the brush assembly in groups or clumps with each clump comprising a plurality of bristles held by a single attaching device or holder. Clumps locations are disposed along a longitudinal length of the
bristle holder element 618 in a pattern. The pattern places at least one bristle clump in contact with cleaning surface across the cleaning width during each revolution of therotatable brush element 604. The rotation of thebrush element 604 is clockwise as viewed from the right side such that relative motion between the scrubbing bristles 616 and the cleaning surface tends to flick loose contaminants and waste liquid in the aft direction. In addition, the friction force generated by clockwise rotation of thebrush element 604 tends drive the robot in the forward direction thereby adding to the forward driving force of the robot transport drive system. The nominal dimension of each scrubbing bristles 616 extended from thecylindrical holder 618 causes the bristle to interfere with the cleaning surface and there for bend as it makes contact with the surface. The interference dimension is the length of bristle that is in excess of the length required to make contact with the cleaning surface. Each of these dimensions plus the nominal diameter of the scrubbing bristles 616 may be varied to affect bristle stiffness and therefore the resulting scrubbing action. Applicants have found that configuring the scrubbingbrush element 604 with nylon bristles having a bend dimension of approximately 16-40 mm (0.62-1.6 inches) a bristle diameter of approximately 0.15 mm (0.006 inches) and an interference dimension of approximately 0.75 mm (0.03 inches) provides good scrubbing performance. In another example, stripes of scrubbing material may be disposed along a longitudinal length of thebristle holder element 618 in a pattern attached thereto for rotation therewith. - The
scrubbing module 600 may also include a second collecting apparatus configured to collect waste liquid from the cleaning surface across the cleaning width. The second collecting apparatus is generally positioned aft of theliquid applicator nozzles scrubbing module 600 is shown in section view inFIG. 12A . The smearingelement 612 is shown attached to the scrubbing module at its forward edge and the rotatablescrubbing brush assembly 604 is shown mounted in the center of the scrubbing module. Aft of the scrubbingbrush assembly 604, asqueegee 630 contacts the cleaning surface across its entire cleaning width to collect waste liquid as therobot 100 advances in the forward direction. A vacuum system draws air in through ports in the squeegee to suction waste liquid up from the cleaning surface. The vacuum system deposits the waste liquid into a waste storage container carried on therobot chassis 200. - As detailed in the section view of
FIG. 12A , thesqueegee 630 comprises avertical element 1002 and ahorizontal element 1004. Each of theelements vertical element 1002 comprises a more flexible durometer material and is more bendable and compliant than thehorizontal element 1004. Thevertical squeegee element 1002 contacts the cleaning surface at alower edge 1006 or along a forward facing surface of thevertical element 1002 when the vertical element is slightly bent toward the rear by interference with the cleaning surface. Thelower edge 1006 or forward surface remains in contact with the cleaning surface during robot forward motion and collects waste liquid along the forward surface. The waste liquid pools up along the entire length of the forward surface andlower edge 1006. Thehorizontal squeegee element 1004 includesspacer elements 1008 extending rear ward form itsmain body 1010 and thespacer elements 1008 defined asuction channel 1012 between thevertical squeegee element 1002 and thehorizontal squeegee element 1004. Thespacer elements 1008 are discreet elements disposed along the entire cleaning width with open space betweenadjacent spacer elements 1008 providing a passage for waste liquid to be suctioned through. - A
vacuum interface port 1014 is provided in the top wall of thescrubber module 600. Thevacuum port 1014 communicates with the robot air moving system and withdraws air through thevacuum port 1014. Thescrubber module 600 is configured with a sealedvacuum chamber 1016, which extends from thevacuum port 1014 to thesuction channel 1012 and extends along the entire cleaning width. Air drawn from thevacuum chamber 1016 reduces the air pressure at the outlet of thesuction channel 1012 and the reduced air pressures draws in waste liquid and air from the cleaning surface. The waste liquid drawing in through thesuction channel 1012 enters thechamber 1016 and is suctioned out of thechamber 1016 and eventually deposited into a waste material container by the robot air moving system. Each of thehorizontal squeegee element 1010 and thevertical squeegee element 1002 form walls of thevacuum chamber 1016 and the squeegee interfaces with the surrounding scrubbing module elements are configured to pressure seal thechamber 1016. In addition, thespacers 1008 are formed with sufficient stiffness to prevent thesuction channel 1012 form closing. - The squeegee
vertical element 1002 includes aflexure loop 1018 formed at its mid point. Theflexure loop 1018 provides a pivot axis about which the lower end of the squeegee vertical element can pivot when the squeegeelower edge 1006 encounters a bump or other discontinuity in the cleaning surface. This also allows theedge 1006 to flex as the robot changes travel direction. When the squeegeelower edge 1006 is free of the bump or discontinuity it returns to its normal operating position. The waste liquid is further suctioned into the waste liquid storage container as described below with respect toFIG. 10 . - In an alternative shown in
FIG. 12B , the second collecting apparatus comprises asqueegee 630 interconnected with a vacuum system. Thesqueegee 630 collects waste liquid in a liquid collection volume 676 formed between a longitudinal edge of the squeegee and the cleaning surface as therobot 100 advances in the forward direction. The vacuum system interfaces with the liquid collection volume to suction the waste liquid up from the cleaning surface and deposit the waste liquid in a waste storage tank carried on therobot chassis 200. Thesqueegee 630 is shown inFIG. 10 and in section view inFIG. 12B . - As shown in
FIG. 12B , thesqueegee 630 comprises a substantially flexible and compliant element molded from a neoprene rubber, or the like, attached to the aft end of thescrubbing module 600 and disposed across the cleaning width. The squeegee extends downward from thechassis 200 to make contact or near contact with the cleaning surface. In particular, thesqueegee 630 attaches to the aft edge of thescrubber module 600 at a scrubber modulelower housing element 634 and extends downwardly to contact or nearly contact the cleaning surface. As shown inFIG. 12B , thesqueegee 630 includes a substantially horizontallower section 652 that extends aft of and downwardly from thelower housing element 634 toward the cleaning surface. A forward edge of the squeegee horizontallower section 652 includes a plurality of throughholes 654, uniformly disposed across the cleaning width. Each of the plurality of throughholes 654 interfaces with a corresponding mountingfinger 656 formed on thelower housing element 634. The interlaced throughholes 652 and mountingfingers 654 locate the forward edge of thesqueegee 630 with respect to thelower housing 634 and an adhesive layer applied between the interlaced elements fluid seals the squeegee lower housing interface at the forward edge. - The
squeegee 630 inFIG. 12B is further configured with anaft section 658 that attaches to an aft edge of thelower housing element 634 along the cleaning width. A plurality of aft extending mountingfingers 660 are formed on thelower housing element 634 to receive corresponding through holes formed on thesqueegee aft section 658. The interlaced throughholes 662 and aft mountingfingers 660 locate thesqueegee aft section 658 with respect to thelower housing 634 and an adhesive layer applied between the interlaced elements fluid seals the squeegee lower housing interface at the aft edge. Of course, any attaching means can be employed. - As further shown in
FIG. 12B , avacuum chamber 664 is formed by surfaces of the squeegeelower section 652, thesqueegee aft section 658 and surfaces of thelower housing element 634. Thevacuum chamber 664 extends longitudinally along the squeegee and lower housing interface across the cleaning width and is fluidly connected with a waste liquid storage tank carried by the chassis by one or morefluid conduits 666, described below. In a preferred embodiment ofFIG. 12B , twofluid conduits 666 interface with thevacuum chamber 664 at distal ends thereof. Each of thefluid conduits 666 couple to thevacuum chamber 664 via anelastomeric sealing gasket 670. Thegasket 670 installs in an aperture of thelower housing 634 and is held therein by an adhesive bond, interference fit or other appropriate holding means. Thegasket 670 includes an aperture passing therethrough and is sized to receive thefluid conduit 666 therein. The outside wall of theconduit 666 is tapered to provide a lead in to thegasket 670. Theconduit 666 is integral with the waste liquid storage container and makes a liquid gas tight seal with thegasket 670 when fully inserted therein. - The squeegee of
FIG. 12B includes alongitudinal ridge 672 formed at an interface between the horizontallower section 652 and theaft section 658 across the cleaning width. Theridge 672 is supported in contact with, or nearly in contact with, the cleaning surface during normal operation. Forward of theridge 672 the horizontallower section 652 is contoured to provide the wasteliquid collecting volume 674. A plurality ofsuction ports 668 extend from theliquid collecting volume 674, through the squeegee horizontallower section 652 and into thevacuum chamber 664. When negative air pressure is generated within thevacuum chamber 664, waste liquid is drawn up from theliquid collecting volume 674 into thevacuum chamber 664. The waste liquid is further suctioned into the waste liquid storage container as described below. - Referring to
FIG. 10 , thescrubbing module 600 is formed as a separate subsystem that is removable from the robot chassis. Thescrubbing module 600 includes support elements comprising a molded two-part housing formed by thelower housing element 634 and a matingupper housing element 636. The lower and upper housing elements are formed to house the rotatablescrubbing brush assembly 604 therein and to support it for rotation with respect to the chassis. The lower andupper housing elements housing element hinge elements 638 for receiving ahinge rod 640 therein to form the hinged connection. Of course, other hinging arrangements can be used. The lower andupper housing elements scrubbing brush assembly 604 therein and may be opened by a user when thescrubbing module 600 is removed from therobot 100. The user may then remove the rotatablescrubbing brush assembly 604 from the housing to clean it replace it or to clear a jam. - The rotatable
scrubbing brush assembly 604 comprises the cylindrical bristleholder 618, which may be formed as a solid element such as a sold shaft formed of glass-filled ABS plastic or glass-filled nylon. Alternately thebristle holder 618 may comprise a molded shaft with acore support shaft 642 inserted through a longitudinal bore formed through the molded shaft. Thecore support shaft 642 may be installed by a press fit or other appropriate attaching means for fixedly attaching thebristle holder 618 and thecore support shaft 642 together. Thecore support shaft 642 is provided to stiffen thebrush assembly 604 and is therefore formed from a stiff material such as a stainless steel rod with a diameter of approximately 10-15 mm (0.4-0.6 inches). Thecore support shaft 642 is formed with sufficient stiffness to prevent excessive bending of the cylindrical brush holder. In addition, thecore support shaft 642 may be configured to resist corrosion and or abrasion during normal use. - The bristle
holder 618 is configured with a plurality ofbristle receiving holes 620 bored or otherwise formed perpendicular with the rotation axis of the scrubbingbrush assembly 604. Bristle receivingholes 620 are filled with clumps of scrubbing bristles 616 which are bonded or otherwise held therein. In one example embodiment, two spiral patterns of receivingholes 620 are populated withbristles 616. A first spiral pattern has afirst clump 622 and asecond clump 624 and subsequent bristle clumps follow aspiral path pattern 626 around the holder outside diameter. Asecond spiral pattern 628 starts with afirst clump 630 substantially diametrically opposed to theclump 622. Each pattern of bristle clumps is offset along the bristle holder longitudinal axis to contact different points across the cleaning width. However, the patterns are arranged to scrub the entire cleaning width with each full rotation of thebristle holder 618. In addition, the pattern is arranged to fully contact only a small number of bristle clumps with cleaning surface simultaneously, (e.g., two) in order to reduce the bending force exerted upon and the torque required to rotate the scrubbingbrush assembly 604. Of course, other scrubbing brush configurations having different bristle patterns, materials and insertion angles are usable. In particular, bristles at the right edge of the scrubbing element may be inserted at an angle and made longer to extend the cleaning action of the scrubbing brush further toward the right edge of the robot for cleaning near the edge of a wall. - The scrubbing
brush assembly 604 couples with a scrubbing brushrotary drive module 606 which is shown schematically inFIG. 13 . The scrubbing brushrotary drive module 606 includes a DC brushrotary drive motor 608, which is driven at a constant angular velocity by amotor driver 650. Themotor driver 650 is set to drive themotor 608 at a voltage and DC current level that provides the desired angular velocity of therotary brush assembly 604, which in a preferred embodiment is about 1500 RPM. Thedrive motor 608 is coupled to amechanical drive transmission 610 that increases the drive torque and transfers the rotary drive axis from thedrive motor 608, which is positioned on the top side of thechassis 200, to the rotation axis of the scrubbingbrush assembly 604, which is positioned on a bottom side of thechassis 200. Adrive coupling 642 extends from themechanical drive transmission 610 and mates with the rotatablescrubbing brush assembly 604 at its left end. The action of sliding thescrubber module 600 into thecavity 602 couples the left end of therotatable brush assembly 604 with thedrive coupling 642. Coupling of therotatable brush assembly 604 aligns its left end with a desired rotation axis, supports the left end for rotation, and delivers a rotary drive force to the left end. The right end of thebrush assembly 604 includes a bushing or otherrotational support element 643 for interfacing with bearing surfaces provided on themodule housing elements - The
scrubber module 600 further includes a moldedright end element 644, which encloses the right end of the module to prevent debris and spray from escaping the module. Theright end element 644 is finished on its external surfaces to integrate with the style and form of adjacent external surfaces of therobot 100. Thelower housing element 634 is configured to provide attaching features for attaching the smearingbrush 612 to its forward edge and for attaching thesqueegee 630 to its aft edge. Apivotal latching element 646 is shown inFIG. 10 and is used to latch thescrubber module 600 in its operating position when it is correctly installed in the cavity 632. Thelatch 646 attaches to attaching features provided on the top side of thechassis 200 and is biased into a closed position by atorsion spring 648. A latchingclaw 649 passes through thechassis 200 and latches onto a hook element formed on theupper housing 636. The structural elements of thewet cleaning module 600 may be molded from a suitable plastic material such as a polycarbonate, ABS, or other materials or combinations of materials. In particular, these include thelower housing 634, theupper housing 636, theright end element 644, and thelatch 646. -
FIG. 14 depicts a schematic representation of a wetdry vacuum module 500 and its interface with the cleaning elements of therobot 100. The wetdry vacuum module 500 interfaces with the first collecting apparatus to suction up loose particulates from the cleaning surface and with the second collecting apparatus to suction up waste liquid from the cleaning surface. The wetdry vacuum module 500 also interfaces with an integratedliquid storage container 800 attached to thechassis 200 and deposits loose particulates and waste liquid into one or more waste containers housed therein. - Referring to
FIGS. 14 and 15 , the wetdry vacuum module 500 comprises asingle fan assembly 502; however, two or more fans can be used without deviating from the present invention. Thefan assembly 502 includes arotary fan motor 504, having a fixedhousing 506 and arotating shaft 508 extending therefrom. The fixedmotor housing 506 attaches to thefan assembly 502 at an external surface of arear shroud 510 by threaded fasteners, or the like. Themotor shaft 508 extends through therear shroud 510 and afan impeller 512 is attached to themotor shaft 508 by a press fit, or by another appropriate attaching means, for causing theimpeller 512 to rotate with themotor shaft 508. Afront shroud 514 couples with therear shroud 510 for housing thefan impeller 512 in a hollow cavity formed between the front and rear shrouds. Thefan front shroud 514 includes a circularair intake port 516 formed integral therewith and positioned substantially coaxial with a rotation axis of themotor shaft 508 andimpeller 512. The front andrear shrouds air exit port 518 at a distal radial edge of thefan assembly 502. - The
fan impeller 512 generally comprises a plurality of blade elements arranged about a central rotation axis thereof and is configured to draw air axially inward along its rotation axis and expel the air radially outward when theimpeller 718 is rotated. Rotation of theimpeller 512 creates a negative air pressure zone, or vacuum, on its input side and a positive air pressure zone at its output side. Thefan motor 710 is configured to rotate the impeller 715 at a substantially constant rate of rotational velocity, e.g. 14,000 RPM. - As shown schematically in
FIG. 14 , a closed air duct orconduit 552 is connected between the fanhousing exit port 518 and theair jet port 554 of the first cleaning zone A and delivers high pressure air to theair jet port 554. At the opposite end of the first cleaning zone A, a closed air duct orconduit 558 connects theair intake port 556 with the integrated liquidstorage container module 800 at acontainer intake aperture 557. Integral with theintegrated storage container 800, aconduit 832, detailed below, connects thecontainer intake aperture 557 with aplenum 562. Theplenum 562 comprises a union for receiving a plurality of air ducts connected thereto. Theplenum 562 is disposed above a waste storage container portion of the integrated liquidstorage container module 800. Theplenum 562 and waste container portion are configured to deposit loose particulates suctioned up from the cleaning surface by theair intake port 556 into the waste container. Theplenum 652 is in fluid communication with thefan intake port 516 via a closed air duct or conduit comprising aconduit 564, not shown, connected between the fan assembly and a containerair exit aperture 566. The containerair exit aperture 566 is fluidly connected with theplenum 562 by anair conduit 830 that is incorporated within the integrated liquidstorage tank module 800. Rotation of thefan impeller 512 generates a negative air pressure or vacuum inside the plenum 560. The negative air pressure generated within the plenum 560 draws air and loose particulates in from theair intake port 556. - As further shown schematically in
FIG. 14 , a pair of closed air ducts orconduits 666 interface with scrubbingmodule 600 of the second cleaning zone B. Theair conduits 666, shown in section view inFIG. 10 comprise external tubes extending downwardly from the integratedliquid container module 800. Theexternal tubes 666 insert into the scrubber moduleupper housing gaskets 670. - As shown in
FIG. 14 ,conduits external tube 666 to theplenum 652. Negative air pressure generated within theplenum 652 draws air from thevacuum chamber 664 via theconduits suction ports 668 passing from thevacuum chamber 664 to the wasteliquid collecting volume 674. The waste liquid is draw into theplenum 562 and deposited into the waste liquid storage container. - Of course other wet dry vacuum configurations are contemplated without deviating from the present invention. In one example, a first fan assembly may be configured to collect loose particulates from the first cleaning zone and deposit the loose particulates in the first waste storage container and a second fan assembly may be configured to collect waste liquid from the second cleaning zone and deposit the waste liquid into a second waste storage container.
- Elements of the integrated liquid
storage container module 800 are shown inFIGS. 1 , 12, 14, 16 and 17. Referring toFIG. 16 , the integratedliquid storage container 800 is formed with at least two liquid storage container portions. One container portion comprises a waste container portion and the second container portion comprises a cleaning fluid storage container portion. In another embodiment of the present invention the two storage containers are formed as an integral unit that is configured to attach to thechassis 200 and to be removable from the chassis by a user to empty the waste container portion and to fill the cleaning fluid container portion. In an alternate embodiment, the integrated storage containers can be filled and emptied autonomously when therobot 100 is docked with a base station configured for transferring cleaning fluid and waste material to and from therobot 100. The cleaning fluid container portion S comprises a sealed supply tank for holding a supply of the cleaning fluid. The waste container portion W comprises a sealed waste tank for storing loose particulates collected by the first collecting apparatus and for storing waste liquid collected by the second collecting apparatus. - The waste container W comprises a first molded plastic element formed with a
base surface 804 and an integrally formedperimeter wall 806 disposed generally orthogonal from thebase surface 804. Thebase surface 804 is formed with various contours to conform to the space available on thechassis 200 and to provide adetent area 164 that is used to orient the integrated liquidstorage container module 800 on thechassis 200. Thedetent 164 includes a pair ofchannels 808 that interface with corresponding alignment rails 208 formed on ahinge element 202, attached to thechassis 200 and described below. Theperimeter wall 806 includes finishedexternal surfaces 810 that are colored and formed in accordance with the style and form of other external robot surfaces. The waste tank D may also include a tank level sensor housed therein and be configured to communicate a tank level signal to themaster controller 300 when the waste tank D is full. The level sensor may comprise a pair of conductive electrodes disposed inside the tank and separated from each other. A measurement circuit applies an electrical potential difference between the electrodes from outside the tank. When the tank is empty no current flow between the electrodes. However, when both electrodes are submerged in waste liquid, current flows through the waste liquid from one electrode to the other. Accordingly, the electrodes may be located at positions with the tank for sensing the level of fluid within the tank. - The cleaning fluid storage container S is formed in part by a second molded
plastic element 812. The second moldedelement 812 is generally circular in cross-section and formed with a substantially uniform thickness between opposing top and bottom surfaces. Theelement 812 mates with the wastecontainer perimeter wall 810 and is bonded or otherwise attached thereto to seal the waste container W. Theplenum 562 is incorporated into the second moldedelement 812 and positioned vertically above the waste container W when the cleaning robot is operating. Theplenum 562 may also comprise a separate molded element. - The second molded
element 812 is contoured to provide a second container portion for holding a supply of cleaning fluid. The second container portion is formed in part by a downwardly sloping forward section having an integrally formedfirst perimeter wall 816 disposed in a generally vertically upward direction. Thefirst perimeter wall 816 forms a first portion of an enclosing perimeter wall of the liquid storage container S. The moldedelement 812 is further contoured to conform to the space available on thechassis 200. The moldedelement 812 also includes the containerair input aperture 840, for interfacing with first cleaningzone air conduit 558. The moldedelement 812 also includes the containerair exit aperture 838, for interfacing with thefan assembly 502 via theconduit 564. - A molded
cover assembly 818 attaches to the moldedelement 812. Thecover assembly 818 includes a second portion of the supply tank perimeter wall formed thereon and provides atop wall 824 of the supply tank enclosure. Thecover assembly 818 attaches to the firstperimeter wall portion 816 and to other surfaces of the moldedelement 814 and is bonded or otherwise attached thereto to seal the supply container S. The supply container S may include a tank empty sensor housed therein and be configured to communicate a tank empty signal to themaster controller 300 when the upper tank is empty. - The
cover assembly 818 comprises a molded plastic cover element having finishedexternal surfaces cover assembly 818 includesuser access ports cover assembly 818 also includes thehandle 162 and ahandle pivot element 163 attached thereto and operable to unlatch the integratedliquid storage tank 800 from thechassis 200 or to pick up theentire robot 100. - According to the invention, the
plenum 562 and each of theair conduits plenum 562 is formed vertically above the waste container W so that waste liquid waste and loose particulates suctioned into theplenum 562 will drop into the waste container W under the force of gravity. The plenum side surfaces 828 include four apertures formed therethrough for interconnecting theplenum 562 with the four closed air conduits interfaced therewith. Each of the fourclosed air conduits - As shown in
FIG. 16 , the containerair exit aperture 838 is generally rectangular and theconduit 830 connecting the containerair exit aperture 838 and theplenum 562 is shaped with a generally rectangular end. This configuration provides a largearea exit aperture 838 for receiving an air filter associated therewith. The air filter is attached to thefan intake conduit 564 to filter air drawn in by thefan assembly 502. When theintegrated storage tank 800 is removed from the robot, the air filter remains attached to theair conduit 564 and may be cleaned in place or removed for cleaning or replacement as required. The area of the air filter and thecontainer exit aperture 838 are formed large enough to allow the wet dry vacuum system to operate even when up to about 50% or more of the air flow through the filter is blocked by debris trapped therein. - Each of the
container apertures container assembly 800 and theconduits chassis 200 when the integratedliquid supply container 800 is removed from thechassis 200. The seal is formed when thecontainer assembly 800 is latched in place on the robot chassis. In addition, some of the container apertures may include a flap seal or the like for preventing liquid from exiting the container while it is carried by a user. The flap seal remains attached to the container. - Thus according to the present invention, the
fan assembly 502 generates a negative pressure of vacuum which evacuatesair conduit 564, draws air through the air filter disposed at the end ofair conduit 564, evacuates thefan intake conduit 830 and theplenum 562. The vacuum generated in theplenum 562 draws air from each of the conduits connected thereto to suction up loose particulates proximate to theair intake port 556 and to draw waste liquid up from the cleaning surface via theair conduits vacuum chamber 664 and thesuction ports 668. The loose particulates and waste liquid are drawn into theplenum 562 and fall into the waste container W. - Referring to
FIGS. 1 , 3, 16 and 17 the integratedliquid storage container 800 attaches to a top side of therobot chassis 200 by ahinge element 202. Thehinge element 202 is pivotally attached to therobot chassis 200 at an aft edge thereof. Theliquid storage container 800 is removable from therobot chassis 200 by a user and the user may fill the cleaning fluid supply container S with clean water and a measured volume of cleaning fluid such as soap or detergent. The user may also empty waste from the waste container W and flush out the waste container if needed. - To facilitate handling, the integrated
liquid storage tank 800 includes a usergraspable handle 162 formed integral with thecover assembly 818 at a forward edge of therobot 100. Thehandle 162 includes apivot element 163 attached thereto by a hinge arrangement to thecover assembly 818. In one mode of operation, a user may grasp thehandle 162 to pick up theentire robot 100 thereby. In a preferred embodiment, therobot 100 weights approximately 3-5 kg, (6.6-11 pounds), when filled with liquids, and can be easily carried by the user in one hand. - In a second mode of operation, the
handle 162 is used to remove theintegrated tank 800 from thechassis 200. In this mode, the user presses down on an aft edge of thehandle 162 to initially pivot the handle downward. The action of the downward pivot releases a latching mechanism, not shown, that attaches a forward edge of theliquid storage container 800 to therobot chassis 200. With the latching mechanism unlatched the user grasps thehandle 162 and lifts vertically upwardly. The lifting force pivots theentire container assembly 800 about apivot axis 204, provided by a hinge element which pivotally attached to the aft edge of thechassis 200. Thehinge element 202 supports the aft end of the integratedliquid storage container 800 on thechassis 200 and further lifting of the handle rotates thehinge element 202 to an open position that facilities removal of thecontainer assembly 800 from thechassis 200. In the open position, the forward edge of theliquid storage container 800 is elevated such that further lifting of thehandle 162 lifts theliquid storage tank 800 out of engagement with thehinge element 202 and separates it from therobot 100. - As shown in
FIG. 17 , the integratedliquid storage container 800 is formed with recessed aft exterior surfaces forming adetent area 164 and thedetent area 164 is form matched to a receiving area of thehinge element 202. As shown inFIG. 3 , the hinge element receiving area comprises a clevis-like cradle having upper and loweropposed walls container detent area 164. The alignment of thedetent area 164 and thehinge walls integrated storage container 800 with therobot chassis 200 and with the latching mechanism used to attach the container forward edge to thechassis 200. In particular, thelower wall 206 includes alignment rails 208 form-matched to mate withgrooves 808 formed on the bottom side of thedetent area 164. InFIG. 3 , thehinge element 202 is shown pivoted to a fully open position for loading and unloading thestorage container 800. The loading and unloading position is rotated approximately 75° from a closed or operating position; however, other loading and unloading orientations are contemplated. In the loading and unloading position, the storagecontainer detent area 164 is easily engaged or disengaged from the clevis-like cradle of thehinge element 202. As shown inFIG. 1 , the integratedliquid storage tank 800 and thehinge element 202 are configured to provide finished external surfaces that integrate smoothly and stylishly with other external surfaces of therobot 100. - Two access ports are provided on an upper surface of the
liquid storage container 800 in thedetent area 164 and these are shown inFIGS. 16 and 17 . The access ports are located in thedetent area 164 so as to be hidden by the hinge elementupper wall 204 when the liquidstorage tank assembly 800 is in installed in therobot chassis 200. Aleft access port 166 provides user access to the waste container W through theplenum 562. Aright access port 168 provides user access to the cleaning fluid storage container S. The left andright access ports - In a preferred embodiment, the
robot 100 is supported for transport over the cleaning surface by a three-point transport system 900. Thetransport system 900 comprises a pair of independent rear transportdrive wheel modules 902 on the left side, and 904 on the right side, attached to thechassis 200 aft of the cleaning modules. In a preferred embodiment, the rearindependent drive wheels 902 and 904 are supported to rotate about a common drive axis 906 that is substantially parallel with thetransverse axis 108. However, each drive wheel may be canted with respect to thetransverse axis 108 such that each drive wheel has its own drive axis orientation. Thedrive wheel modules 902 and 904 are independently driven and controlled by themaster controller 300 to advance the robot in any desired direction. Theleft drive module 902 is shown protruding from the underside of thechassis 200 inFIG. 3 and the right drive module 904 is shown mounted to a top surface of thechassis 200 inFIG. 4 . In a preferred embodiment, each of the left andright drive modules 902 and 904 is pivotally attached to thechassis 200 and forced into engagement with the cleaning surface byleaf springs 908, shown inFIG. 3 . The leaf springs 908 are mounted to bias the each rear drive module to pivot downwardly toward the cleaning surface when the drive wheel goes over a cliff or is otherwise lifted from the cleaning surface. A wheel sensor associated with each drive wheel senses when a wheel pivots down and sends a signal to themaster controller 300. - The drive wheels of the present invention are particularly configured for operating on wet soapy surfaces. In particular, as shown in
FIG. 20 , eachdrive wheel 1100 comprises a cup shapedwheel element 1102, which attaches to the a drive wheel module, 902 and 904. The drive wheel module includes a drive motor and drive train transmission for driving the drive wheel for transport. The drive wheel module may also include sensor for detecting wheel slip with respect to the cleaning surface. - The cup shaped
wheel elements 1102 is formed from a stiff material such as a hard molded plastic to maintain the wheel shape and to provide stiffness. The cup shapedwheel element 1102 provides anouter diameter 1104 sized to receive anannular tire element 1106 thereon. Theannular tire element 1106 is configured to provide a non-slip high friction drive surface for contacting the wet cleaning surface and for maintaining traction on the wet soapy surface. - The
annular tire element 1106 comprises aninternal diameter 1108 of approximately 37 mm and sized to fit appropriately over theouter diameter 1104. The tire may be bonded taped or otherwise contacted to theouter diameter 1104 to prevent slipping between the tire insidediameter 1108 and theoutside diameter 1104. Thetire radial thickness 1110 is approximately 3 mm. The tire material comprises a chloroprene homopolymer stabilized with thiuram disulfide black with a density of 15 pounds per cubic foot foamed to a cell size of 0.1 mm plus or minus 0.002 mm. The tire has a post-foamed hardness 69 shore 00. The tire material is sold by Monmouth Rubber and plastics Corporation under the trade name DURAFOAM DK5151HD. - To increase traction, the outside diameter of the tire is sipped. In at least one instance, the term sipped refers to slicing the tire material to provide a pattern of
thin grooves 1110 in the tire outside diameter. In a preferred embodiment, each groove has a depth of approximately 1.5 mm and a width or approximately 20 to 300 microns. The groove pattern provides grooves that are substantially evenly spaced apart with approximately 2 to 200 mm spaces between adjacent grooves. The groove cut axis makes an angle G with the tire longitudinal axis and the angle G ranges from 10-50 degrees. - The
nose wheel module 960, shown in exploded view inFIG. 18 and in section view inFIG. 19 , includes a nose wheel 962 housed in a caster housing 964 and attached to avertical support assembly 966. Thenose wheel module 960 attaches to thechassis 200 forward of the cleaning modules and provide a third support element for supporting thechassis 200 with respect to the cleaning surface. Thevertical support assembly 966 is pivotally attached to the caster housing 964 at a lower end thereof and allows the caster housing to pivot away from thechassis 200 when the chassis is lifted from the cleaning surface or when the nose wheel goes over a cliff. A top end of thevertical support assembly 966 passes through thechassis 200 and is rotatably supported with respect thereto to allow the entirenose wheel module 960 to rotate freely about a substantially vertical axis as therobot 100 is being transported over the cleaning surface by the reartransport drive wheels 902 and 904. Accordingly, the nose wheel module is self-aligning with respect to the direction of robot transport. - The
chassis 200 is equipped with a nose wheel mounting well 968 for receiving thenose wheel module 960 therein. The well 968 is formed on the bottom side of thechassis 200 at a forward circumferential edge thereof. The top end of thevertical support assembly 966 passes through a hole through thechassis 200 and is captured in the hole to attach the nose wheel to the chassis. The top end of thevertical support assembly 966 also interfaces with sensor elements attached to thechassis 200 on its top side. - The nose wheel assembly 962 is configured with a molded
plastic wheel 972 havingaxle protrusions 974 extending therefrom and is supported for rotation with respect to the caster housing 964 by opposed co-aligned axle holes 970 forming a drive wheel rotation axis. Theplastic wheel 972 includes with three circumferential grooves in its outer diameter. Acenter groove 976 is providing to receive acam follower 998 therein. The plastic wheel further includes a pair of symmetrically opposedcircumferential tire grooves 978 for receiving an elastomeric o-ring 980 therein. The elastomeric o-rings 980 contacts the cleaning surface during operation and the o-ring material properties are selected to provide a desired friction coefficient between the nose wheel and the cleaning surface. The nose wheel assembly 962 is a passive element that is in rolling contact with the cleaning surface via the o-rings 980 and rotates about its rotation axis formed by theaxle protrusion 974 when therobot 100 is transported over the cleaning surface. - The caster housing 964 is formed with a pair of opposed clevis surfaces with co-aligned opposed pivot holes 982 formed therethrough for receiving the
vertical support assembly 966 therein. A vertical attaching member 984 includes apivot element 986 at its bottom end for installing between the clevis surfaces. Thepivot element 986 includes a pivot axis bore 988 formed therein for alignment with theco-aligned pivot hole 982. Apivot rod 989 extends through the co-aligned pivot holes 982 and is press fit within the pivot axis bore 988 and captured therein. Atorsion spring 990 installs over thepivot rod 988 and provides a spring force that biases the caster housing 964 and nose wheel assembly 962 to a downwardly extended position forcing the nose wheel 962 to rotate to an orientation that places the nose wheel 962 more distally below the bottom surface of thechassis 200. The downwardly extended position is a non-operating position. The spring constant of thetorsion spring 990 is small enough that the weight of therobot 100 overcomes its biasing force when therobot 100 robot is placed onto the cleaning surface for cleaning. Alternately, when the nose wheel assembly goes over a cliff, or is lifted off the cleaning surface, the torsion spring biasing force pivots the nose wheel to the downwardly extended non-operating position. This condition is sensed by a wheel down sensor, described below, and a signal is sent to themaster controller 300 to stop transport or to initiate some other action. - The vertical attaching member 984 includes a hollow
vertical shaft portion 992 extending upward from thepivot element 986. Thehollow shaft portion 992 passes through the hole in thechassis 200 and is captured therein by ane-ring retainer 994 and thrustwasher 996. This attaches thenose wheel assembly 960 to the chassis and allows it to rotate freely about a vertical axis when the robot is being transported. - The
nose wheel module 960 is equipped with sensing elements that generate sensor signals used by themaster control module 300 to count wheel revolutions, to determine wheel rotational velocity, and to sense a wheel down condition, i.e. when the caster 964 is pivoted downward by the force of thetorsion spring 990. The sensors generate a wheel rotation signal using acam following plunger 998 that include a sensor element that moves in response to wheel rotation. Thecam follower 998 comprises an “L” shaped rod with the a vertical portion being movably supported inside thehollow shaft 992 thus passing through the hole in thechassis 200 to extend above the top surface thereof. The lower end of therod 992 forms a cam follower that fits within the wheel centercircumferential groove 976 and is movable with respect thereto. Thecam follower 998 is supported in contact with an offsethub 1000 shown inFIG. 18 . The offsethub 1000 comprises an eccentric feature formed non-symmetrically about the nose wheel rotation axis inside thecircumferential groove 976. With each rotation of the wheel 962, the offsethub 1000 forces and oscillation of thecam follower 998 which moves reciprocally along a substantially vertical axis. - A once per revolution wheel sensor includes a
permanent magnet 1002 attached to the top end of the “L” shaped rod by an attachingelement 1004. Themagnet 1002 oscillates through a periodic vertical motion with each full revolution of the nose wheel. Themagnet 1002 generates a magnetic field which is used to interact with a reed switch, not shown, mounted to thechassis 200 in a fixed location with respect to movingmagnet 1002. The reed switch is activated by the magnetic field each time themagnet 1002 is in the full up position in its travel. This generates a once per revolution signal which is sensed by themaster controller 300. A second reed switch may also be positioned proximate to themagnet 1002 and calibrated to generate a wheel down signal. The second reed switch is positioned in a location that will be influenced by the magnetic field when themagnet 1002 drops to the non-operating wheel down position. - It will also be recognized by those skilled in the art that, while the invention has been described above in terms of preferred embodiments, it is not limited thereto. Various features and aspects of the above described invention may be used individually or jointly. Further, although the invention has been described in the context of its implementation in a particular environment, and for particular applications, e.g. residential floor cleaning, those skilled in the art will recognize that its usefulness is not limited thereto and that the present invention can be beneficially utilized in any number of environments and implementations including but not limited to cleaning any substantially horizontal surface. Accordingly, the claims set forth below should be construed in view of the full breadth and spirit of the invention as disclosed herein.
Claims (23)
1. A surface cleaning apparatus comprising:
a chassis defined by a fore-aft axis and a perpendicular transverse axis for supporting cleaning elements thereon and for transporting the cleaning elements over the surface along the fore-aft axis and wherein the cleaning elements are disposed to clean across a cleaning width disposed generally orthogonal to the fore-aft axis with a left end and a right end defining opposing edges of the cleaning width; and,
a liquid applicator comprising at least one nozzle disposed at one of said left end and said right end for ejecting cleaning fluid therefrom, said cleaning fluid being ejected with sufficient volume and pressure to distribute cleaning fluid across the cleaning width.
2. A surface cleaning apparatus according to claim 1 wherein the cleaning fluid comprises water.
3. A surface cleaning apparatus according to claim 1 wherein the cleaning fluid further comprises any one of soap, solvent, fragrance, disinfectant, emulsifier, drying agent and abrasive particulates.
4. A surface cleaning apparatus according to claim 1 further comprising a smearing element attached to the chassis aft of the position of the at least one nozzle and extending from the chassis to the surface across the cleaning width for smearing the cleaning fluid.
5. A surface cleaning apparatus according to claim 1 further comprising a scrubbing element attached to the chassis aft of the position of the at least one nozzle and extending from the chassis to the surface across the cleaning width for scrubbing the surface.
6. A surface cleaning apparatus according to claim 1 further comprising a scrubbing element attached to the chassis aft of the position of the at least one nozzle and extending from the chassis to the surface across the cleaning width for scrubbing the surface.
7. A surface cleaning apparatus according to claim 1 further comprising a collecting apparatus attached to the chassis aft of the position of the at least one nozzle and extending from the chassis to the surface across the cleaning width for collecting waste liquid from the surface.
8. A surface cleaning apparatus according to claim 7 wherein the liquid applicator comprises:
a first nozzle disposed at the left end for ejecting cleaning fluid therefrom, said cleaning fluid being ejected from the first nozzle with sufficient volume and pressure to distribute cleaning fluid across the cleaning width,
a second nozzle disposed at the right end for ejecting cleaning fluid therefrom, said cleaning fluid being ejected from the second nozzle with sufficient volume and pressure to distribute cleaning fluid across the cleaning width; and,
wherein the first nozzle and the second nozzle are co-located on the fore-aft axis.
9. A surface cleaning apparatus according to claim 8 wherein each of the first and second nozzles ejects a discrete burst cleaning fluid in accordance with a burst frequency and wherein the burst frequency of the first nozzle is substantially opposite in phase with respect to the burst frequency of the second nozzle.
10. A surface cleaning apparatus according to claim 1 further comprising an autonomous transport drive subsystem, a sensor module for sensing conditions and a power module all supported by the chassis and controlled by a master control module to autonomously move the cleaning elements substantially over the entire surface over the surface in accordance with predefined operating modes and in response to conditions sensed by the sensor module.
11. A surface cleaning apparatus according to claim 7 further comprising an autonomous transport drive subsystem, a sensor module for sensing conditions and a power module all supported by the chassis and controlled by a master control module to autonomously move the cleaning elements substantially over the entire surface over the surface in accordance with predefined operating modes and in response to conditions sensed by the sensor module.
12. A surface cleaning apparatus according to claim 9 further comprising an autonomous transport drive subsystem, a sensor module for sensing conditions and a power module all supported by the chassis and controlled by a master control module to autonomously move the cleaning elements substantially over the entire surface over the surface in accordance with predefined operating modes and in response to conditions sensed by the sensor module.
13. A surface cleaning apparatus according to claim 12 wherein the master control module is configured to vary the burst frequency in accordance with a desired rate for applying cleaning fluid onto surface.
14. A surface cleaning apparatus according to claim 12 wherein the master control module is configured to vary the burst frequency to apply cleaning fluid onto the surface at a substantially uniform volume of approximately 2 ml per square foot.
15. A surface cleaning apparatus according to claim 10 further comprising:
a liquid storage container, carried on the chassis, for storing a supply of the cleaning fluid therein;
a diaphragm pump assembly configured with a first a first pump portion for drawing cleaning fluid from the container and for delivering the cleaning fluid to the at least one nozzle; and,
a mechanical actuator for mechanically actuating the first pump portion.
16. A surface cleaning apparatus according to claim 8 further comprising:
an autonomous transport drive subsystem, a sensor module for sensing conditions and a power module all supported by the chassis and controlled by a master control module to autonomously move the cleaning elements substantially over the entire surface over the surface in accordance with predefined operating modes and in response to conditions sensed by the sensor module
a liquid storage container, carried on the chassis, for storing a supply of the cleaning fluid therein;
a diaphragm pump assembly having a first a first pump portion for drawing cleaning fluid from the container and for delivering the cleaning fluid to the first nozzle and a second pump portion for drawing cleaning fluid from the container and for delivering the cleaning fluid to the second nozzle; and,
a mechanical actuator for mechanically actuating the first pump portion and the second pump portion.
17. A surface cleaning apparatus according to claim 16 wherein the diaphragm pump assembly comprises:
a flexible element mounted between a non-flexible upper chamber element and a non-flexible lower chamber element, said flexible element being formed with a first pump chamber and a first actuator nipple attached thereto and a second pump chamber and a second actuator nipple attached thereto;
an actuator link pivotally attached to the pump assembly for pivoting between a first actuator position and a second actuator position, the actuator link being fixedly attached to each of said first and said second actuator nipples and wherein movement of the actuator link toward the first actuator position decreases the volume the first pump chamber and increases the volume of the second pump chamber and further wherein movement of the actuator link toward the second actuator position increases the volume the first pump chamber and decreases the volume of the second pump chamber;
a cam element configured with a circumferential cam profile and supported to move the actuator link between the first actuator position and the second actuator position; and,
a cam rotary drive, controlled by the master controller, for rotating the cam element in accordance with a cam rotary drive pattern.
18. A method for cleaning a surface with a cleaning apparatus, comprising:
transporting a chassis over the surface in a forward transport direction defined by a defined by a fore-aft axis, said chassis including cleaning elements supported thereon, and wherein the cleaning elements have a cleaning width disposed generally orthogonal to the fore-aft axis and wherein the cleaning width has a left end and an opposing right end; and,
ejecting a volume of cleaning fluid from a first nozzle attached to the chassis at one of said left end and said right end, said first nozzle being configured to eject cleaning fluid therefrom, said cleaning fluid being ejected with sufficient volume and pressure to distribute cleaning fluid across the cleaning width.
19. A method for cleaning a surface according to claim 18 further comprising:
ejecting a volume of cleaning fluid from a second nozzle attached to the chassis at the other of said left end and said right end and co-located on the fore-aft axis with respect to the first nozzle, said second nozzle being configured to eject cleaning fluid therefrom, said cleaning fluid being ejected with sufficient volume and pressure to distribute cleaning fluid across the cleaning width; and,
ejecting cleaning fluid from each of the first nozzle and the second nozzle in discrete bursts of cleaning fluid in accordance with a burst frequency and wherein the burst frequency of the first nozzle is substantially opposite in phase with respect to the burst frequency of the second nozzle.
20. A method according to claim 19 further comprising smearing the cleaning fluid across the cleaning width using a smearing element attached to the chassis aft of the co-located position of the first nozzle and the second nozzle, said smearing element extending across the cleaning width.
21. A method according to claim 19 further comprising scrubbing the surface across the cleaning width using a scrubbing element attached to the chassis aft of the co-located position of the first nozzle and the second nozzle, said scrubbing element extending across the cleaning width.
22. A method according to claim 19 further comprising collecting waste liquid from the surface across the cleaning width using a collecting apparatus attached to the chassis aft of the co-located position of the first nozzle and the second nozzle, said collecting apparatus extending across the cleaning width.
23. A method according to claim 19 :
wherein the chassis further includes an autonomous transport drive subsystem, a sensor module for sensing conditions and a power module all supported thereon and controlled by a master control module and wherein transporting the chassis over the surface further comprises:
controlling the transport drive subsystem in accordance with predefined operating modes and in response to conditions sensed by the sensor module to transport the cleaning elements substantially over the entire surface.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/044,312 US8985127B2 (en) | 2005-02-18 | 2013-10-02 | Autonomous surface cleaning robot for wet cleaning |
US14/665,626 US20150289741A1 (en) | 2005-02-18 | 2015-03-23 | Autonomous surface cleaning robot for wet cleaning |
Applications Claiming Priority (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US65483805P | 2005-02-18 | 2005-02-18 | |
US11/134,212 US20060200281A1 (en) | 2005-02-18 | 2005-05-21 | Autonomous surface cleaning robot for wet and dry cleaning |
US11/133,796 US20060190132A1 (en) | 2005-02-18 | 2005-05-21 | Autonomous surface cleaning robot for dry cleaning |
US11/134,213 US20060184293A1 (en) | 2005-02-18 | 2005-05-21 | Autonomous surface cleaning robot for wet cleaning |
US11/207,575 US8392021B2 (en) | 2005-02-18 | 2005-08-19 | Autonomous surface cleaning robot for wet cleaning |
US11/835,359 US8382906B2 (en) | 2005-02-18 | 2007-08-07 | Autonomous surface cleaning robot for wet cleaning |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US11/835,359 Continuation US8382906B2 (en) | 2005-02-18 | 2007-08-07 | Autonomous surface cleaning robot for wet cleaning |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/044,312 Continuation US8985127B2 (en) | 2005-02-18 | 2013-10-02 | Autonomous surface cleaning robot for wet cleaning |
Publications (1)
Publication Number | Publication Date |
---|---|
US20130118524A1 true US20130118524A1 (en) | 2013-05-16 |
Family
ID=46322481
Family Applications (5)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US11/207,575 Active 2026-09-16 US8392021B2 (en) | 2005-02-18 | 2005-08-19 | Autonomous surface cleaning robot for wet cleaning |
US11/835,359 Active 2028-02-29 US8382906B2 (en) | 2005-02-18 | 2007-08-07 | Autonomous surface cleaning robot for wet cleaning |
US13/719,552 Abandoned US20130118524A1 (en) | 2005-02-18 | 2012-12-19 | Autonomous Surface Cleaning Robot for Wet Cleaning |
US14/044,312 Active US8985127B2 (en) | 2005-02-18 | 2013-10-02 | Autonomous surface cleaning robot for wet cleaning |
US14/665,626 Abandoned US20150289741A1 (en) | 2005-02-18 | 2015-03-23 | Autonomous surface cleaning robot for wet cleaning |
Family Applications Before (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US11/207,575 Active 2026-09-16 US8392021B2 (en) | 2005-02-18 | 2005-08-19 | Autonomous surface cleaning robot for wet cleaning |
US11/835,359 Active 2028-02-29 US8382906B2 (en) | 2005-02-18 | 2007-08-07 | Autonomous surface cleaning robot for wet cleaning |
Family Applications After (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/044,312 Active US8985127B2 (en) | 2005-02-18 | 2013-10-02 | Autonomous surface cleaning robot for wet cleaning |
US14/665,626 Abandoned US20150289741A1 (en) | 2005-02-18 | 2015-03-23 | Autonomous surface cleaning robot for wet cleaning |
Country Status (1)
Country | Link |
---|---|
US (5) | US8392021B2 (en) |
Cited By (25)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9811089B2 (en) | 2013-12-19 | 2017-11-07 | Aktiebolaget Electrolux | Robotic cleaning device with perimeter recording function |
US9939529B2 (en) | 2012-08-27 | 2018-04-10 | Aktiebolaget Electrolux | Robot positioning system |
US9946263B2 (en) | 2013-12-19 | 2018-04-17 | Aktiebolaget Electrolux | Prioritizing cleaning areas |
US10045675B2 (en) | 2013-12-19 | 2018-08-14 | Aktiebolaget Electrolux | Robotic vacuum cleaner with side brush moving in spiral pattern |
US20180296053A1 (en) * | 2015-09-23 | 2018-10-18 | Lg Electronics Inc. | Robot cleaner |
US10149589B2 (en) | 2013-12-19 | 2018-12-11 | Aktiebolaget Electrolux | Sensing climb of obstacle of a robotic cleaning device |
US10209080B2 (en) | 2013-12-19 | 2019-02-19 | Aktiebolaget Electrolux | Robotic cleaning device |
US10219665B2 (en) | 2013-04-15 | 2019-03-05 | Aktiebolaget Electrolux | Robotic vacuum cleaner with protruding sidebrush |
US10231591B2 (en) | 2013-12-20 | 2019-03-19 | Aktiebolaget Electrolux | Dust container |
US10433697B2 (en) | 2013-12-19 | 2019-10-08 | Aktiebolaget Electrolux | Adaptive speed control of rotating side brush |
US10448794B2 (en) | 2013-04-15 | 2019-10-22 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
US10499778B2 (en) | 2014-09-08 | 2019-12-10 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
US10518416B2 (en) | 2014-07-10 | 2019-12-31 | Aktiebolaget Electrolux | Method for detecting a measurement error in a robotic cleaning device |
US10534367B2 (en) | 2014-12-16 | 2020-01-14 | Aktiebolaget Electrolux | Experience-based roadmap for a robotic cleaning device |
US10617271B2 (en) | 2013-12-19 | 2020-04-14 | Aktiebolaget Electrolux | Robotic cleaning device and method for landmark recognition |
US10678251B2 (en) | 2014-12-16 | 2020-06-09 | Aktiebolaget Electrolux | Cleaning method for a robotic cleaning device |
US10729297B2 (en) | 2014-09-08 | 2020-08-04 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
US10877484B2 (en) | 2014-12-10 | 2020-12-29 | Aktiebolaget Electrolux | Using laser sensor for floor type detection |
US10874271B2 (en) | 2014-12-12 | 2020-12-29 | Aktiebolaget Electrolux | Side brush and robotic cleaner |
US11099554B2 (en) | 2015-04-17 | 2021-08-24 | Aktiebolaget Electrolux | Robotic cleaning device and a method of controlling the robotic cleaning device |
US11122953B2 (en) | 2016-05-11 | 2021-09-21 | Aktiebolaget Electrolux | Robotic cleaning device |
US11169533B2 (en) | 2016-03-15 | 2021-11-09 | Aktiebolaget Electrolux | Robotic cleaning device and a method at the robotic cleaning device of performing cliff detection |
US11474533B2 (en) | 2017-06-02 | 2022-10-18 | Aktiebolaget Electrolux | Method of detecting a difference in level of a surface in front of a robotic cleaning device |
US11712142B2 (en) | 2015-09-03 | 2023-08-01 | Aktiebolaget Electrolux | System of robotic cleaning devices |
US11921517B2 (en) | 2017-09-26 | 2024-03-05 | Aktiebolaget Electrolux | Controlling movement of a robotic cleaning device |
Families Citing this family (98)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8788092B2 (en) | 2000-01-24 | 2014-07-22 | Irobot Corporation | Obstacle following sensor scheme for a mobile robot |
US8412377B2 (en) | 2000-01-24 | 2013-04-02 | Irobot Corporation | Obstacle following sensor scheme for a mobile robot |
US6956348B2 (en) | 2004-01-28 | 2005-10-18 | Irobot Corporation | Debris sensor for cleaning apparatus |
US7571511B2 (en) | 2002-01-03 | 2009-08-11 | Irobot Corporation | Autonomous floor-cleaning robot |
US6690134B1 (en) | 2001-01-24 | 2004-02-10 | Irobot Corporation | Method and system for robot localization and confinement |
US8396592B2 (en) | 2001-06-12 | 2013-03-12 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
US7429843B2 (en) | 2001-06-12 | 2008-09-30 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
US9128486B2 (en) | 2002-01-24 | 2015-09-08 | Irobot Corporation | Navigational control system for a robotic device |
US8428778B2 (en) | 2002-09-13 | 2013-04-23 | Irobot Corporation | Navigational control system for a robotic device |
US8386081B2 (en) | 2002-09-13 | 2013-02-26 | Irobot Corporation | Navigational control system for a robotic device |
US7332890B2 (en) | 2004-01-21 | 2008-02-19 | Irobot Corporation | Autonomous robot auto-docking and energy management systems and methods |
WO2006002385A1 (en) | 2004-06-24 | 2006-01-05 | Irobot Corporation | Programming and diagnostic tool for a mobile robot |
US8972052B2 (en) | 2004-07-07 | 2015-03-03 | Irobot Corporation | Celestial navigation system for an autonomous vehicle |
US7706917B1 (en) | 2004-07-07 | 2010-04-27 | Irobot Corporation | Celestial navigation system for an autonomous robot |
AU2005309571A1 (en) | 2004-11-23 | 2006-06-01 | S. C. Johnson & Son, Inc. | Device and methods of providing air purification in combination with cleaning of surfaces |
US7620476B2 (en) | 2005-02-18 | 2009-11-17 | Irobot Corporation | Autonomous surface cleaning robot for dry cleaning |
US8392021B2 (en) | 2005-02-18 | 2013-03-05 | Irobot Corporation | Autonomous surface cleaning robot for wet cleaning |
ES2346343T3 (en) | 2005-02-18 | 2010-10-14 | Irobot Corporation | AUTONOMOUS SURFACE CLEANING ROBOT FOR DRY AND WET CLEANING. |
US8930023B2 (en) | 2009-11-06 | 2015-01-06 | Irobot Corporation | Localization by learning of wave-signal distributions |
ES2404057T3 (en) * | 2005-07-20 | 2013-05-23 | Optimus Licensing Ag | Robotic floor cleaning with disposable sterile cartridges |
ES2522926T3 (en) | 2005-12-02 | 2014-11-19 | Irobot Corporation | Autonomous Cover Robot |
EP2816434A3 (en) | 2005-12-02 | 2015-01-28 | iRobot Corporation | Autonomous coverage robot |
US7441298B2 (en) | 2005-12-02 | 2008-10-28 | Irobot Corporation | Coverage robot mobility |
ES2413862T3 (en) | 2005-12-02 | 2013-07-17 | Irobot Corporation | Modular robot |
EP2544066B1 (en) | 2005-12-02 | 2018-10-17 | iRobot Corporation | Robot system |
US8087117B2 (en) | 2006-05-19 | 2012-01-03 | Irobot Corporation | Cleaning robot roller processing |
US8417383B2 (en) | 2006-05-31 | 2013-04-09 | Irobot Corporation | Detecting robot stasis |
KR100815545B1 (en) * | 2006-12-06 | 2008-03-20 | 삼성광주전자 주식회사 | The method of charging service robot |
KR101458752B1 (en) | 2007-05-09 | 2014-11-05 | 아이로보트 코퍼레이션 | Compact autonomous coverage robot |
WO2009013742A1 (en) * | 2007-07-23 | 2009-01-29 | Eyal Avramovich | Massager |
WO2009072121A1 (en) * | 2007-12-03 | 2009-06-11 | Eran Ben-Shmuel | Treating mixable materials by radiation |
US8961695B2 (en) * | 2008-04-24 | 2015-02-24 | Irobot Corporation | Mobile robot for cleaning |
CN101642624B (en) * | 2008-08-06 | 2012-09-19 | 鸿富锦精密工业(深圳)有限公司 | Electronic toy |
EP2410899B8 (en) * | 2009-03-26 | 2018-11-14 | Nilfisk A/S | Flow and scrubbing pressure control system and methods for surface treating apparatus |
US8774970B2 (en) | 2009-06-11 | 2014-07-08 | S.C. Johnson & Son, Inc. | Trainable multi-mode floor cleaning device |
US20120325924A1 (en) * | 2009-11-04 | 2012-12-27 | American Roadprinting, Llc | Apparatus and method for applying a fluid to a surface |
KR20110054472A (en) * | 2009-11-17 | 2011-05-25 | 엘지전자 주식회사 | Robot cleaner and controlling method thereof |
JP5647269B2 (en) | 2010-02-16 | 2014-12-24 | アイロボット コーポレイション | Vacuum cleaner brush |
KR101527417B1 (en) * | 2010-10-27 | 2015-06-17 | 삼성전자 주식회사 | Bumper structure of cleaning robot |
JP5832553B2 (en) | 2010-12-30 | 2015-12-16 | アイロボット コーポレイション | Coverage robot navigation |
DE102011084793A1 (en) * | 2011-10-19 | 2013-04-25 | Robert Bosch Gmbh | Autonomous working device |
US20130146090A1 (en) * | 2011-12-13 | 2013-06-13 | Joseph Y. Ko | Method for controlling automatic cleaning devices |
KR101984214B1 (en) * | 2012-02-09 | 2019-05-30 | 삼성전자주식회사 | Apparatus and method for controlling cleaning in rototic cleaner |
DE102012109004A1 (en) * | 2012-09-24 | 2014-03-27 | RobArt GmbH | Robots and methods for autonomous inspection or processing of floor surfaces |
US9282867B2 (en) | 2012-12-28 | 2016-03-15 | Irobot Corporation | Autonomous coverage robot |
US9178370B2 (en) * | 2012-12-28 | 2015-11-03 | Irobot Corporation | Coverage robot docking station |
US9483055B2 (en) | 2012-12-28 | 2016-11-01 | Irobot Corporation | Autonomous coverage robot |
DK2764812T3 (en) * | 2013-02-12 | 2015-08-24 | Hako Gmbh | Cleaning Robot. |
KR101490170B1 (en) * | 2013-03-05 | 2015-02-05 | 엘지전자 주식회사 | Robot cleaner |
US9326654B2 (en) | 2013-03-15 | 2016-05-03 | Irobot Corporation | Roller brush for surface cleaning robots |
KR101395888B1 (en) * | 2013-03-21 | 2014-05-27 | 엘지전자 주식회사 | Robot cleaner and operating method |
CN103750788B (en) * | 2013-11-28 | 2016-03-02 | 余姚市精诚高新技术有限公司 | A kind of tool horizontally set drives the automatic concrete finishing trowel of worm screw |
JP2017503267A (en) | 2013-12-18 | 2017-01-26 | アイロボット コーポレイション | Autonomous mobile robot |
TWI635303B (en) * | 2014-04-09 | 2018-09-11 | 燕成祥 | Guided cleaning device and guided cleaning group |
JP6411794B2 (en) * | 2014-07-04 | 2018-10-24 | 東芝ライフスタイル株式会社 | Electric vacuum cleaner |
DE102014111217A1 (en) * | 2014-08-06 | 2016-02-11 | Vorwerk & Co. Interholding Gmbh | Floor cleaning device for dry and damp cleaning and method for operating a self-propelled floor cleaning device |
JP6453583B2 (en) * | 2014-08-20 | 2019-01-16 | 東芝ライフスタイル株式会社 | Electric vacuum cleaner |
KR101571719B1 (en) * | 2014-10-02 | 2015-11-25 | 엘지전자 주식회사 | A robot cleaner |
KR20160048492A (en) * | 2014-10-24 | 2016-05-04 | 엘지전자 주식회사 | Robot cleaner and method for controlling the same |
US10188251B2 (en) * | 2014-11-03 | 2019-01-29 | Tennant Company | Surface maintenance vehicle with an integrated water trap for trapping residual waste |
US10292553B1 (en) | 2014-12-16 | 2019-05-21 | Bobsweep Inc. | Mopping extension for a robotic vacuum |
US10022027B2 (en) | 2014-12-17 | 2018-07-17 | Omachron Intellectual Property Inc. | All in the head surface cleaning apparatus |
US9883781B2 (en) | 2014-12-17 | 2018-02-06 | Omachron Intellectual Property Inc. | All in the head surface cleaning apparatus |
USD773758S1 (en) * | 2015-02-13 | 2016-12-06 | Mini-Mole Llc | Automatic floor cleaning robot |
US9918605B2 (en) | 2015-04-09 | 2018-03-20 | Irobot Corporation | Wall following robot |
KR101666905B1 (en) * | 2015-07-03 | 2016-10-17 | 엘지전자 주식회사 | Cleaner and Controlling method for the same |
US9975258B2 (en) * | 2015-07-09 | 2018-05-22 | Facebook, Inc. | Air flow cooling system and self balancing robot incorporating the same |
US20170049288A1 (en) * | 2015-08-18 | 2017-02-23 | Nilfisk, Inc. | Mobile robotic cleaner |
FR3046245B1 (en) | 2015-12-24 | 2018-02-16 | Partnering 3.0 | AIR QUALITY MONITORING SYSTEM AND RECEPTION STATION FOR MOBILE ROBOT EQUIPPED WITH AIR QUALITY SENSORS |
US11163311B2 (en) | 2015-12-24 | 2021-11-02 | Partnering 3.0 | Robotic equipment including a mobile robot, method for recharging a battery of such mobile robot, and mobile robot docking station |
US10335949B2 (en) * | 2016-01-20 | 2019-07-02 | Yujin Robot Co., Ltd. | System for operating mobile robot based on complex map information and operating method thereof |
USD771885S1 (en) * | 2016-02-26 | 2016-11-15 | Mini-Mole Llc | Automatic floor cleaning robot |
US10231592B1 (en) | 2016-03-02 | 2019-03-19 | AI Incorporated | Robotic floor cleaning device |
US11857129B1 (en) | 2016-08-10 | 2024-01-02 | AI Incorporated | Robotic floor cleaning device with controlled liquid release mechanism |
CN107837040A (en) * | 2016-09-17 | 2018-03-27 | 杭州匠龙机器人科技有限公司 | Intelligent cleaning device |
WO2018074848A1 (en) * | 2016-10-19 | 2018-04-26 | Samsung Electronics Co., Ltd. | Robot vacuum cleaner |
KR101892814B1 (en) * | 2016-10-19 | 2018-08-28 | 엘지전자 주식회사 | Robot Cleaner |
US10732127B2 (en) * | 2016-10-26 | 2020-08-04 | Pixart Imaging Inc. | Dirtiness level determining system and surface cleaning machine |
WO2018107465A1 (en) | 2016-12-16 | 2018-06-21 | 云鲸智能科技(东莞)有限公司 | Base station and cleaning robot system |
US10375880B2 (en) | 2016-12-30 | 2019-08-13 | Irobot Corporation | Robot lawn mower bumper system |
AU2018204467A1 (en) | 2017-06-27 | 2019-01-17 | Bissell Inc. | Supply and/or disposal system for autonomous floor cleaner |
DE102017116363A1 (en) * | 2017-07-20 | 2019-01-24 | Vorwerk & Co. Interholding Gmbh | Soil cultivation device with a motor driven soil cultivation element |
CN107550399B (en) * | 2017-08-17 | 2021-05-18 | 北京小米移动软件有限公司 | Timing cleaning method and device |
CN109808789A (en) * | 2017-11-21 | 2019-05-28 | 富泰华工业(深圳)有限公司 | Wheeled mobile robot it is anti-walk deflection device |
US11568236B2 (en) | 2018-01-25 | 2023-01-31 | The Research Foundation For The State University Of New York | Framework and methods of diverse exploration for fast and safe policy improvement |
CN210383777U (en) * | 2018-10-27 | 2020-04-24 | 珊口(深圳)智能科技有限公司 | Cleaning robot and mopping device thereof |
WO2020103802A1 (en) * | 2018-11-19 | 2020-05-28 | 北京石头世纪科技股份有限公司 | Mecanum wheel assembly and intelligent cleaning apparatus having same |
US11398309B2 (en) * | 2018-11-27 | 2022-07-26 | Alarm.Com Incorporated | Automated surface sterilization techniques |
US11109727B2 (en) | 2019-02-28 | 2021-09-07 | Irobot Corporation | Cleaning rollers for cleaning robots |
WO2020207557A1 (en) * | 2019-04-08 | 2020-10-15 | Alfred Kärcher SE & Co. KG | Surface cleaning machine with tank arrangement for dirty fluid |
WO2020207554A1 (en) * | 2019-04-08 | 2020-10-15 | Alfred Kärcher SE & Co. KG | Surface cleaning maching comprising a tank device for a cleaning fluid and a sensor device, and method for operating a surface cleaning machine |
US11937749B1 (en) | 2019-06-13 | 2024-03-26 | AI Incorporated | Mop attachment for robotic surface cleaning devices |
KR20190087355A (en) * | 2019-07-05 | 2019-07-24 | 엘지전자 주식회사 | Method for driving cleaning robot and cleaning robot which drives using regional human activity data |
CN114206182A (en) | 2019-08-08 | 2022-03-18 | 尚科宁家运营有限公司 | Robot cleaner having air jet assembly |
WO2021217029A1 (en) * | 2020-04-24 | 2021-10-28 | Techtronic Cordless Gp | Floor cleaner including an agitator |
KR102325528B1 (en) * | 2020-04-28 | 2021-11-12 | 엘지전자 주식회사 | Robot Cleaner |
WO2023124369A1 (en) * | 2021-12-30 | 2023-07-06 | 追觅创新科技(苏州)有限公司 | Self-cleaning control method for cleaning device, cleaning device, and cleaning system |
CN114831557B (en) * | 2022-04-21 | 2024-01-30 | 深圳优地科技有限公司 | Cleaning robot, control method for cleaning robot, and storage medium |
Family Cites Families (1171)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US74044A (en) * | 1868-02-04 | John burnham | ||
NL28010C (en) | 1928-01-03 | |||
US1780221A (en) | 1930-05-08 | 1930-11-04 | Buchmann John | Brush |
FR722755A (en) | 1930-09-09 | 1932-03-25 | Machine for dusting, stain removal and cleaning of laid floors and carpets | |
US1970302A (en) | 1932-09-13 | 1934-08-14 | Charles C Gerhardt | Brush |
US2136324A (en) | 1934-09-05 | 1938-11-08 | Simon Louis John | Apparatus for cleansing floors and like surfaces |
US2275375A (en) | 1939-08-22 | 1942-03-03 | Nat Carbon Co Inc | Irradiation method and apparatus |
US2302111A (en) | 1940-11-26 | 1942-11-17 | Air Way Electric Appl Corp | Vacuum cleaner |
US2353621A (en) | 1941-10-13 | 1944-07-11 | Ohio Citizens Trust Company | Dust indicator for air-method cleaning systems |
US2770825A (en) | 1951-09-10 | 1956-11-20 | Bissell Carpet Sweeper Co | Carpet sweeper and brush cleaning combs therefor |
GB702426A (en) | 1951-12-28 | 1954-01-13 | Bissell Carpet Sweeper Co | Improvements in or relating to carpet sweepers |
US2930055A (en) | 1957-12-16 | 1960-03-29 | Burke R Fallen | Floor wax dispensing and spreading unit |
US3888181A (en) | 1959-09-10 | 1975-06-10 | Us Army | Munition control system |
US3119369A (en) | 1960-12-28 | 1964-01-28 | Ametek Inc | Device for indicating fluid flow |
US3166138A (en) | 1961-10-26 | 1965-01-19 | Jr Edward D Dunn | Stair climbing conveyance |
US3550714A (en) | 1964-10-20 | 1970-12-29 | Mowbot Inc | Lawn mower |
US3375375A (en) | 1965-01-08 | 1968-03-26 | Honeywell Inc | Orientation sensing means comprising photodetectors and projected fans of light |
US3381652A (en) | 1965-10-21 | 1968-05-07 | Nat Union Electric Corp | Visual-audible alarm for a vacuum cleaner |
DE1503746B1 (en) | 1965-12-23 | 1970-01-22 | Bissell Gmbh | Carpet sweeper |
US3333564A (en) | 1966-06-28 | 1967-08-01 | Sunbeam Corp | Vacuum bag indicator |
US3569727A (en) | 1968-09-30 | 1971-03-09 | Bendix Corp | Control means for pulse generating apparatus |
SE320779B (en) | 1968-11-08 | 1970-02-16 | Electrolux Ab | |
US3649981A (en) * | 1970-02-25 | 1972-03-21 | Wayne Manufacturing Co | Curb travelling sweeper vehicle |
US3989311A (en) | 1970-05-14 | 1976-11-02 | Debrey Robert J | Particle monitoring apparatus |
US3674316A (en) | 1970-05-14 | 1972-07-04 | Robert J De Brey | Particle monitor |
US3845831A (en) | 1970-08-11 | 1974-11-05 | Martin C | Vehicle for rough and muddy terrain |
US3690559A (en) | 1970-09-16 | 1972-09-12 | Robert H Rudloff | Tractor mounted pavement washer |
DE2049136A1 (en) | 1970-10-07 | 1972-04-13 | Bosch Gmbh Robert | vehicle |
CA908697A (en) | 1971-01-21 | 1972-08-29 | Bombardier Jerome | Suspension for tracked vehicles |
ES403465A1 (en) | 1971-05-26 | 1975-05-01 | Tecneco Spa | Device for measuring the opacity of smokes |
US3678882A (en) | 1971-05-28 | 1972-07-25 | Nat Union Electric Corp | Combination alarm and filter bypass device for a suction cleaner |
DE2128842C3 (en) | 1971-06-11 | 1980-12-18 | Robert Bosch Gmbh, 7000 Stuttgart | Fuel electrode for electrochemical fuel elements |
SE362784B (en) | 1972-02-11 | 1973-12-27 | Electrolux Ab | |
US4175892A (en) | 1972-05-10 | 1979-11-27 | Brey Robert J De | Particle monitor |
US3809004A (en) | 1972-09-18 | 1974-05-07 | W Leonheart | All terrain vehicle |
FR2211202B3 (en) * | 1972-12-21 | 1976-10-15 | Haaga Hermann | |
US3863285A (en) | 1973-07-05 | 1975-02-04 | Hiroshi Hukuba | Carpet sweeper |
US3851349A (en) | 1973-09-26 | 1974-12-03 | Clarke Gravely Corp | Floor scrubber flow divider |
GB1473109A (en) | 1973-10-05 | 1977-05-11 | ||
US4119900A (en) | 1973-12-21 | 1978-10-10 | Ito Patent-Ag | Method and system for the automatic orientation and control of a robot |
IT1021244B (en) * | 1974-09-10 | 1978-01-30 | Ceccato & Co | ROTARY BRUSH WITH VERTICAL SHAFT FOR VEHICLE WASHING SYSTEMS IN GENERAL |
JPS5321869Y2 (en) | 1974-11-08 | 1978-06-07 | ||
US4012681A (en) * | 1975-01-03 | 1977-03-15 | Curtis Instruments, Inc. | Battery control system for battery operated vehicles |
US3989931A (en) | 1975-05-19 | 1976-11-02 | Rockwell International Corporation | Pulse count generator for wide range digital phase detector |
SE394077B (en) | 1975-08-20 | 1977-06-06 | Electrolux Ab | DEVICE BY DUST CONTAINER. |
JPS5933511B2 (en) | 1976-02-19 | 1984-08-16 | 増田 将翁 | Internal grinding machine for cylindrical workpieces |
US4099284A (en) | 1976-02-20 | 1978-07-11 | Tanita Corporation | Hand sweeper for carpets |
JPS5316183A (en) | 1976-07-28 | 1978-02-14 | Hitachi Ltd | Fluid pressure driving device |
JPS5321869U (en) | 1976-07-31 | 1978-02-23 | ||
JPS53110257U (en) | 1977-02-07 | 1978-09-04 | ||
JPS53110257A (en) | 1977-03-08 | 1978-09-26 | Matsushita Electric Ind Co Ltd | Automatic vacuum cleaner |
US4618213A (en) | 1977-03-17 | 1986-10-21 | Applied Elastomerics, Incorporated | Gelatinous elastomeric optical lens, light pipe, comprising a specific block copolymer and an oil plasticizer |
SE401890B (en) | 1977-09-15 | 1978-06-05 | Electrolux Ab | VACUUM CLEANER INDICATOR DEVICE |
US4198727A (en) | 1978-01-19 | 1980-04-22 | Farmer Gary L | Baseboard dusters for vacuum cleaners |
FR2416480A1 (en) | 1978-02-03 | 1979-08-31 | Thomson Csf | RADIANT SOURCE LOCATION DEVICE AND STEERING TRACKING SYSTEM INCLUDING SUCH A DEVICE |
US4196727A (en) | 1978-05-19 | 1980-04-08 | Becton, Dickinson And Company | See-through anesthesia mask |
EP0007789B1 (en) | 1978-08-01 | 1984-03-14 | Imperial Chemical Industries Plc | Driverless vehicle carrying directional detectors auto-guided by light signals |
EP0007790A1 (en) | 1978-08-01 | 1980-02-06 | Imperial Chemical Industries Plc | Driverless vehicle carrying non-directional detectors auto-guided by light signals |
USD258901S (en) | 1978-10-16 | 1981-04-14 | Douglas Keyworth | Wheeled figure toy |
JPS595315B2 (en) | 1978-10-31 | 1984-02-03 | 東和精工株式会社 | Lower tag attaching device |
GB2038615B (en) | 1978-12-31 | 1983-04-13 | Nintendo Co Ltd | Self-moving type vacuum cleaner |
US4373804A (en) | 1979-04-30 | 1983-02-15 | Diffracto Ltd. | Method and apparatus for electro-optically determining the dimension, location and attitude of objects |
US5164579A (en) | 1979-04-30 | 1992-11-17 | Diffracto Ltd. | Method and apparatus for electro-optically determining the dimension, location and attitude of objects including light spot centroid determination |
US4297578A (en) | 1980-01-09 | 1981-10-27 | Carter William R | Airborne dust monitor |
US4367403A (en) | 1980-01-21 | 1983-01-04 | Rca Corporation | Array positioning system with out-of-focus solar cells |
US4305234A (en) | 1980-02-04 | 1981-12-15 | Flo-Pac Corporation | Composite brush |
US4492058A (en) | 1980-02-14 | 1985-01-08 | Adolph E. Goldfarb | Ultracompact miniature toy vehicle with four-wheel drive and unusual climbing capability |
US4369543A (en) * | 1980-04-14 | 1983-01-25 | Jen Chen | Remote-control radio vacuum cleaner |
JPS5714726A (en) | 1980-07-01 | 1982-01-26 | Minolta Camera Co Ltd | Measuring device for quantity of light |
JPS595315Y2 (en) | 1980-09-13 | 1984-02-17 | 講三 鈴木 | Nose ring for friend fishing |
JPS6031611Y2 (en) | 1980-10-03 | 1985-09-21 | 株式会社徳寿工作所 | Short pipe connecting device |
JPS5764217A (en) | 1980-10-07 | 1982-04-19 | Canon Inc | Automatic focusing camera |
JPS5771968A (en) | 1980-10-21 | 1982-05-06 | Nagasawa Seisakusho | Button lock |
US4401909A (en) | 1981-04-03 | 1983-08-30 | Dickey-John Corporation | Grain sensor using a piezoelectric element |
US4769700A (en) | 1981-11-20 | 1988-09-06 | Diffracto Ltd. | Robot tractors |
US4482960A (en) | 1981-11-20 | 1984-11-13 | Diffracto Ltd. | Robot tractors |
JPS5814730A (en) | 1981-07-20 | 1983-01-27 | Shin Etsu Polymer Co Ltd | Silicone rubber molded body |
USD278732S (en) | 1981-08-25 | 1985-05-07 | Tomy Kogyo Company, Incorporated | Animal-like figure toy |
US4416033A (en) | 1981-10-08 | 1983-11-22 | The Hoover Company | Full bag indicator |
US4527739A (en) * | 1981-10-27 | 1985-07-09 | Fiat Auto S.P.A. | Floor cleaning apparatus |
US4652917A (en) | 1981-10-28 | 1987-03-24 | Honeywell Inc. | Remote attitude sensor using single camera and spiral patterns |
JPS58100840A (en) | 1981-12-12 | 1983-06-15 | Canon Inc | Finder of camera |
CH656665A5 (en) | 1982-07-05 | 1986-07-15 | Sommer Schenk Ag | METHOD AND CLEANING DEVICE FOR CLEANING A WATER BASIN. |
JPS5914711A (en) | 1982-07-13 | 1984-01-25 | 株式会社クボタ | Unmanned running working vehicle |
GB2128842B (en) | 1982-08-06 | 1986-04-16 | Univ London | Method of presenting visual information |
US4445245A (en) | 1982-08-23 | 1984-05-01 | Lu Ning K | Surface sweeper |
JPS5933511U (en) | 1982-08-24 | 1984-03-01 | 三菱電機株式会社 | Safety device for self-driving trolleys |
US4624026A (en) | 1982-09-10 | 1986-11-25 | Tennant Company | Surface maintenance machine with rotary lip |
US4556313A (en) | 1982-10-18 | 1985-12-03 | United States Of America As Represented By The Secretary Of The Army | Short range optical rangefinder |
JPS5994005A (en) | 1982-11-22 | 1984-05-30 | Mitsubishi Electric Corp | Position detector for unmanned self-travelling truck |
JPS5994005U (en) | 1982-12-16 | 1984-06-26 | 株式会社古川製作所 | Device that manipulates bags with multiple suction cups |
JPS5999308U (en) | 1982-12-23 | 1984-07-05 | 三菱電機株式会社 | Fasteners for lighting fixture covers |
JPS59120124A (en) | 1982-12-28 | 1984-07-11 | 松下電器産業株式会社 | Electric cleaner |
JPS59112311U (en) | 1983-01-17 | 1984-07-28 | 九州日立マクセル株式会社 | Cassette type cleaning device for magnetic heads |
JPS59120124U (en) | 1983-02-02 | 1984-08-13 | 三菱鉛筆株式会社 | injection mold |
JPS59131668U (en) | 1983-02-24 | 1984-09-04 | 日本原子力研究所 | piezoelectric valve |
JPS59164973A (en) | 1983-03-10 | 1984-09-18 | Nippon Tsushin Gijutsu Kk | Pair type measuring head for robot |
US4481692A (en) | 1983-03-29 | 1984-11-13 | Gerhard Kurz | Operating-condition indicator for vacuum cleaners |
JPS59184917A (en) | 1983-04-05 | 1984-10-20 | Tsubakimoto Chain Co | Guiding method of unmanned truck |
US4575211A (en) | 1983-04-18 | 1986-03-11 | Canon Kabushiki Kaisha | Distance measuring device |
JPS59164973U (en) | 1983-04-20 | 1984-11-05 | 株式会社 ミタチ音響製作所 | Drive mechanism of linear tracking arm |
DE3317376A1 (en) | 1983-05-13 | 1984-11-15 | Diehl GmbH & Co, 8500 Nürnberg | Safety circuit for a projectile fuzing circuit |
JPS59212924A (en) | 1983-05-17 | 1984-12-01 | Mitsubishi Electric Corp | Position detector for traveling object |
US4477998A (en) | 1983-05-31 | 1984-10-23 | You Yun Long | Fantastic wall-climbing toy |
JPS59226909A (en) | 1983-06-07 | 1984-12-20 | Kobe Steel Ltd | Positioning method of automotive robot |
US4513469A (en) | 1983-06-13 | 1985-04-30 | Godfrey James O | Radio controlled vacuum cleaner |
JPS6089213A (en) | 1983-10-19 | 1985-05-20 | Komatsu Ltd | Detecting method for position and direction of unmanned truck |
EP0142594B1 (en) | 1983-10-26 | 1989-06-28 | Automax Kabushiki Kaisha | Control system for mobile robot |
US4700301A (en) | 1983-11-02 | 1987-10-13 | Dyke Howard L | Method of automatically steering agricultural type vehicles |
JPS6089213U (en) | 1983-11-26 | 1985-06-19 | 小畑 邦夫 | thin film gloves |
JPS60118912U (en) | 1984-01-18 | 1985-08-12 | アルプス電気株式会社 | Code wheel of reflective optical rotary encoder |
DE3404202A1 (en) | 1984-02-07 | 1987-05-14 | Wegmann & Co | Device for the remotely controlled guidance of armoured combat vehicles |
DE3431175C2 (en) | 1984-02-08 | 1986-01-09 | Gerhard 7262 Althengstett Kurz | Protective device for dust collection devices |
DE3431164A1 (en) | 1984-02-08 | 1985-08-14 | Gerhard 7262 Althengstett Kurz | VACUUM CLEANER |
US4712740A (en) * | 1984-03-02 | 1987-12-15 | The Regina Co., Inc. | Venturi spray nozzle for a cleaning device |
HU191301B (en) | 1984-03-23 | 1987-02-27 | Richter Gedeon Vegyeszeti Gyar Rt,Hu | Process for preparing 1-/hydroxy-methyl/-1,6,7,11b-tetrahydro-2h,4h-/1,3/-oxazino- or -thiazino/4,3-a/isoquinoline -derivatives |
US4626995A (en) | 1984-03-26 | 1986-12-02 | Ndc Technologies, Inc. | Apparatus and method for optical guidance system for automatic guided vehicle |
JPS60162832U (en) | 1984-04-04 | 1985-10-29 | 楯 節男 | Exhaust duct |
JPS60211510A (en) | 1984-04-05 | 1985-10-23 | Komatsu Ltd | Position detecting method of mobile body |
JPS60217576A (en) | 1984-04-12 | 1985-10-31 | Nippon Gakki Seizo Kk | Disc case |
DE3413793A1 (en) | 1984-04-12 | 1985-10-24 | Brown, Boveri & Cie Ag, 6800 Mannheim | DRIVE FOR A SWITCH |
US4832098A (en) | 1984-04-16 | 1989-05-23 | The Uniroyal Goodrich Tire Company | Non-pneumatic tire with supporting and cushioning members |
US4620285A (en) | 1984-04-24 | 1986-10-28 | Heath Company | Sonar ranging/light detection system for use in a robot |
US4649504A (en) | 1984-05-22 | 1987-03-10 | Cae Electronics, Ltd. | Optical position and orientation measurement techniques |
ZA853615B (en) | 1984-05-31 | 1986-02-26 | Ici Plc | Vehicle guidance means |
JPS60259895A (en) | 1984-06-04 | 1985-12-21 | Toshiba Corp | Multi tube type super heat steam returning device |
US4638445A (en) | 1984-06-08 | 1987-01-20 | Mattaboni Paul J | Autonomous mobile robot |
JPS6170407A (en) | 1984-08-08 | 1986-04-11 | Canon Inc | Instrument for measuring distance |
JPS6190697A (en) | 1984-10-09 | 1986-05-08 | 松下電器産業株式会社 | Clothing dryer |
JPS6197712A (en) | 1984-10-18 | 1986-05-16 | Casio Comput Co Ltd | Target of infrared-ray tracking robot |
JPS6197711A (en) | 1984-10-18 | 1986-05-16 | Casio Comput Co Ltd | Infrared-ray tracking robot system |
IT8423851V0 (en) | 1984-11-21 | 1984-11-21 | Cavalli Alfredo | MULTI-PURPOSE HOUSEHOLD APPLIANCE PARTICULARLY FOR CLEANING FLOORS, CARPETS AND CARPETS ON THE WORK AND SIMILAR. |
GB8502506D0 (en) | 1985-01-31 | 1985-03-06 | Emi Ltd | Smoke detector |
JPS61190607A (en) | 1985-02-18 | 1986-08-25 | Toyoda Mach Works Ltd | Numerically controlled machine tool provided with abnormality stop function |
US4679152A (en) | 1985-02-20 | 1987-07-07 | Heath Company | Navigation system and method for a mobile robot |
JPS61160366U (en) | 1985-03-27 | 1986-10-04 | ||
DE3676221D1 (en) | 1985-05-01 | 1991-01-31 | Nippon Denso Co | OPTICAL DUST DETECTOR. |
USD292223S (en) | 1985-05-17 | 1987-10-06 | Showscan Film Corporation | Toy robot or the like |
JPS6215336A (en) | 1985-06-21 | 1987-01-23 | Murata Mach Ltd | Automatically running type cleaning truck |
FR2583701B1 (en) | 1985-06-21 | 1990-03-23 | Commissariat Energie Atomique | VARIABLE GEOMETRY CRAWLER VEHICLE |
WO1987000265A1 (en) | 1985-06-28 | 1987-01-15 | Moorhouse, D., J. | Detonator actuator |
US4662854A (en) | 1985-07-12 | 1987-05-05 | Union Electric Corp. | Self-propellable toy and arrangement for and method of controlling the movement thereof |
IT206218Z2 (en) | 1985-07-26 | 1987-07-13 | Dulevo Spa | MOTOR SWEEPER WITH REMOVABLE CONTAINER |
JPS6255760A (en) | 1985-09-04 | 1987-03-11 | Fujitsu Ltd | Transaction system for reenter transmission of transfer accumulation closing data |
SE451770B (en) * | 1985-09-17 | 1987-10-26 | Hyypae Ilkka Kalevi | KIT FOR NAVIGATION OF A LARGE VESSEL IN ONE PLAN, EXTRA A TRUCK, AND TRUCK FOR EXTENDING THE KIT |
JPS6274018A (en) | 1985-09-27 | 1987-04-04 | Kawasaki Heavy Ind Ltd | Operating method for converter waste gas treatment device |
DE3534621A1 (en) | 1985-09-28 | 1987-04-02 | Interlava Ag | VACUUM CLEANER |
JPH0421069Y2 (en) | 1985-09-30 | 1992-05-14 | ||
NO864109L (en) | 1985-10-17 | 1987-04-21 | Knepper Hans Reinhard | PROCEDURE FOR AUTOMATIC LINING OF AUTOMATIC FLOOR CLEANING MACHINES AND FLOOR CLEANING MACHINE FOR PERFORMING THE PROCEDURE. |
JPH0319408Y2 (en) | 1985-10-19 | 1991-04-24 | ||
JPS6270709U (en) | 1985-10-22 | 1987-05-06 | ||
JPS62120510A (en) | 1985-11-21 | 1987-06-01 | Hitachi Ltd | Control method for automatic cleaner |
US4909972A (en) * | 1985-12-02 | 1990-03-20 | Britz Johannes H | Method and apparatus for making a solid foamed tire core |
DE3642051A1 (en) | 1985-12-10 | 1987-06-11 | Canon Kk | METHOD FOR THREE-DIMENSIONAL INFORMATION PROCESSING AND DEVICE FOR RECEIVING THREE-DIMENSIONAL INFORMATION ABOUT AN OBJECT |
US4654924A (en) | 1985-12-31 | 1987-04-07 | Whirlpool Corporation | Microcomputer control system for a canister vacuum cleaner |
EP0231419A1 (en) | 1986-02-05 | 1987-08-12 | Interlava AG | Indicating and function controlling optical unit for a vacuum cleaner |
US4817000A (en) | 1986-03-10 | 1989-03-28 | Si Handling Systems, Inc. | Automatic guided vehicle system |
JPS62154008U (en) | 1986-03-19 | 1987-09-30 | ||
GB8607365D0 (en) | 1986-03-25 | 1986-04-30 | Roneo Alcatel Ltd | Electromechanical drives |
JPS62164431U (en) | 1986-04-08 | 1987-10-19 | ||
USD298766S (en) | 1986-04-11 | 1988-11-29 | Playtime Products, Inc. | Toy robot |
JPS62263508A (en) | 1986-05-12 | 1987-11-16 | Sanyo Electric Co Ltd | Autonomous type work track |
JPH0782385B2 (en) | 1986-05-12 | 1995-09-06 | 三洋電機株式会社 | Mobile guidance device |
US4777416A (en) | 1986-05-16 | 1988-10-11 | Denning Mobile Robotics, Inc. | Recharge docking system for mobile robot |
US4829442A (en) | 1986-05-16 | 1989-05-09 | Denning Mobile Robotics, Inc. | Beacon navigation system and method for guiding a vehicle |
US4710020A (en) | 1986-05-16 | 1987-12-01 | Denning Mobil Robotics, Inc. | Beacon proximity detection system for a vehicle |
JPS62189057U (en) | 1986-05-22 | 1987-12-01 | ||
US4955714A (en) | 1986-06-26 | 1990-09-11 | Stotler James G | System for simulating the appearance of the night sky inside a room |
US4752799A (en) | 1986-07-07 | 1988-06-21 | Honeywell Inc. | Optical proximity sensing optics |
FR2601443B1 (en) | 1986-07-10 | 1991-11-29 | Centre Nat Etd Spatiales | POSITION SENSOR AND ITS APPLICATION TO TELEMETRY, ESPECIALLY FOR SPATIAL ROBOTICS |
JPH07102204B2 (en) | 1986-09-25 | 1995-11-08 | 株式会社マキタ | Brush cleaner |
FI74829C (en) | 1986-10-01 | 1988-03-10 | Allaway Oy | Method for controlling a plant such as vacuum cleaner, central vacuum cleaner, mechanical air conditioning system or the like. |
KR940002923B1 (en) | 1986-10-08 | 1994-04-07 | 가부시키가이샤 히타치세이사쿠쇼 | Method and apparatus for operating vacuum cleaner |
US4920060A (en) | 1986-10-14 | 1990-04-24 | Hercules Incorporated | Device and process for mixing a sample and a diluent |
US4796198A (en) | 1986-10-17 | 1989-01-03 | The United States Of America As Represented By The United States Department Of Energy | Method for laser-based two-dimensional navigation system in a structured environment |
JPS6371857U (en) * | 1986-10-28 | 1988-05-13 | ||
EP0265542A1 (en) | 1986-10-28 | 1988-05-04 | Richard R. Rathbone | Optical navigation system |
IE59553B1 (en) * | 1986-10-30 | 1994-03-09 | Inst For Ind Res & Standards | Position sensing apparatus |
US4733431A (en) * | 1986-12-09 | 1988-03-29 | Whirlpool Corporation | Vacuum cleaner with performance monitoring system |
US4733430A (en) * | 1986-12-09 | 1988-03-29 | Whirlpool Corporation | Vacuum cleaner with operating condition indicator system |
FR2620070A2 (en) | 1986-12-11 | 1989-03-10 | Jonas Andre | AUTOBULATED MOBILE UNIT AND CLEANING APPARATUS SUCH AS A VACUUM COMPRISING SUCH A UNIT |
JPS63158032A (en) | 1986-12-22 | 1988-07-01 | 三洋電機株式会社 | Moving working vehicle with cord reel |
US4735136A (en) | 1986-12-23 | 1988-04-05 | Whirlpool Corporation | Full receptacle indicator for compactor |
CA1311852C (en) | 1987-01-09 | 1992-12-22 | James R. Allard | Knowledge acquisition tool for automated knowledge extraction |
JPH0639175B2 (en) | 1987-01-16 | 1994-05-25 | 沖電気工業株式会社 | Thermal transfer recording device |
JPS63203483A (en) | 1987-02-18 | 1988-08-23 | Res Dev Corp Of Japan | Active adaptation type crawler travel vehicle |
US4855915A (en) | 1987-03-13 | 1989-08-08 | Dallaire Rodney J | Autoguided vehicle using reflective materials |
JPH0786767B2 (en) | 1987-03-30 | 1995-09-20 | 株式会社日立製作所 | Travel control method for self-propelled robot |
US4818875A (en) | 1987-03-30 | 1989-04-04 | The Foxboro Company | Portable battery-operated ambient air analyzer |
KR900003080B1 (en) | 1987-03-30 | 1990-05-07 | 마쓰시다덴기산교 가부시기가이샤 | Nozzle of electric-cleaners |
DK172087A (en) | 1987-04-03 | 1988-10-04 | Rotowash Scandinavia | APPLIANCES FOR WATER CLEANING OF FLOOR OR WALL SURFACES |
JP2606842B2 (en) | 1987-05-30 | 1997-05-07 | 株式会社東芝 | Electric vacuum cleaner |
IL82731A (en) | 1987-06-01 | 1991-04-15 | El Op Electro Optic Ind Limite | System for measuring the angular displacement of an object |
SE464837B (en) | 1987-06-22 | 1991-06-17 | Arnex Hb | PROCEDURE AND DEVICE FOR LASER OPTICAL NAVIGATION |
JPH0759702B2 (en) | 1987-09-07 | 1995-06-28 | 三菱電機株式会社 | Guest-host liquid crystal composition |
US4858132A (en) | 1987-09-11 | 1989-08-15 | Ndc Technologies, Inc. | Optical navigation system for an automatic guided vehicle, and method |
KR910009450B1 (en) | 1987-10-16 | 1991-11-16 | 문수정 | Superconducting coils and method of manufacturing the same |
GB8728508D0 (en) | 1987-12-05 | 1988-01-13 | Brougham Pickard J G | Accessory unit for vacuum cleaner |
DE3779649D1 (en) | 1987-12-16 | 1992-07-09 | Hako Gmbh & Co | HAND-MADE SWEEPER. |
JPH01162454A (en) | 1987-12-18 | 1989-06-26 | Fujitsu Ltd | Sub-rate exchanging system |
JPH01180010A (en) | 1988-01-08 | 1989-07-18 | Sanyo Electric Co Ltd | Moving vehicle |
US5002145A (en) * | 1988-01-29 | 1991-03-26 | Nec Corporation | Method and apparatus for controlling automated guided vehicle |
US5024529A (en) | 1988-01-29 | 1991-06-18 | Synthetic Vision Systems, Inc. | Method and system for high-speed, high-resolution, 3-D imaging of an object at a vision station |
US4891762A (en) | 1988-02-09 | 1990-01-02 | Chotiros Nicholas P | Method and apparatus for tracking, mapping and recognition of spatial patterns |
DE3803824A1 (en) | 1988-02-09 | 1989-08-17 | Gerhard Kurz | INSTALLATION DEVICE FOR SENSORS AND SENSORS |
US4782550A (en) | 1988-02-12 | 1988-11-08 | Von Schrader Company | Automatic surface-treating apparatus |
US4851661A (en) | 1988-02-26 | 1989-07-25 | The United States Of America As Represented By The Secretary Of The Navy | Programmable near-infrared ranging system |
US4905151A (en) | 1988-03-07 | 1990-02-27 | Transitions Research Corporation | One dimensional image visual system for a moving vehicle |
DE3812633A1 (en) | 1988-04-15 | 1989-10-26 | Daimler Benz Ag | METHOD FOR CONTACTLESS RESISTANCE MEASUREMENT |
JP2583958B2 (en) * | 1988-04-20 | 1997-02-19 | 松下電器産業株式会社 | Floor nozzle for vacuum cleaner |
US4919489A (en) | 1988-04-20 | 1990-04-24 | Grumman Aerospace Corporation | Cog-augmented wheel for obstacle negotiation |
US4977618A (en) | 1988-04-21 | 1990-12-11 | Photonics Corporation | Infrared data communications |
US4919224A (en) | 1988-05-16 | 1990-04-24 | Industrial Technology Research Institute | Automatic working vehicular system |
JPH01175669U (en) | 1988-05-23 | 1989-12-14 | ||
US4887415A (en) | 1988-06-10 | 1989-12-19 | Martin Robert L | Automated lawn mower or floor polisher |
KR910006887B1 (en) | 1988-06-15 | 1991-09-10 | 마쯔시다덴기산교 가부시기가이샤 | Dust detector for vacuum cleaner |
JPH026312U (en) | 1988-06-27 | 1990-01-17 | ||
JPH0540519Y2 (en) | 1988-07-15 | 1993-10-14 | ||
GB8817039D0 (en) | 1988-07-18 | 1988-08-24 | Martecon Uk Ltd | Improvements in/relating to polymer filled tyres |
US4857912A (en) | 1988-07-27 | 1989-08-15 | The United States Of America As Represented By The Secretary Of The Navy | Intelligent security assessment system |
USD318500S (en) | 1988-08-08 | 1991-07-23 | Monster Robots Inc. | Monster toy robot |
KR910006885B1 (en) | 1988-08-15 | 1991-09-10 | 미쯔비시 덴끼 가부시기가이샤 | Floor detector for vacuum cleaners |
US4954962A (en) | 1988-09-06 | 1990-09-04 | Transitions Research Corporation | Visual navigation and obstacle avoidance structured light system |
US5040116A (en) | 1988-09-06 | 1991-08-13 | Transitions Research Corporation | Visual navigation and obstacle avoidance structured light system |
US4932831A (en) | 1988-09-26 | 1990-06-12 | Remotec, Inc. | All terrain mobile robot |
US4933864A (en) | 1988-10-04 | 1990-06-12 | Transitions Research Corporation | Mobile robot navigation employing ceiling light fixtures |
US5155684A (en) | 1988-10-25 | 1992-10-13 | Tennant Company | Guiding an unmanned vehicle by reference to overhead features |
JPH0546239Y2 (en) | 1988-10-31 | 1993-12-02 | ||
US4962453A (en) | 1989-02-07 | 1990-10-09 | Transitions Research Corporation | Autonomous vehicle for working on a surface and method of controlling same |
JPH0779791B2 (en) | 1988-11-07 | 1995-08-30 | 松下電器産業株式会社 | Vacuum cleaner |
GB2225221A (en) | 1988-11-16 | 1990-05-30 | Unilever Plc | Nozzle arrangement on robot vacuum cleaning machine |
GB2225211A (en) | 1988-11-24 | 1990-05-30 | Robert James Desbruslais | Footwear |
JPH0824652B2 (en) | 1988-12-06 | 1996-03-13 | 松下電器産業株式会社 | Electric vacuum cleaner |
JPH063251Y2 (en) | 1988-12-13 | 1994-01-26 | 極東工業株式会社 | Pipe support |
DE3914306A1 (en) | 1988-12-16 | 1990-06-28 | Interlava Ag | DEVICE FOR REGULATING AND / OR DISPLAYING THE OPERATION OF VACUUM CLEANERS |
IT1228112B (en) | 1988-12-21 | 1991-05-28 | Cavi Pirelli S P A M Soc | METHOD AND OPTICAL SENSOR FOR DETERMINING THE POSITION OF A MOBILE BODY |
US4918441A (en) | 1988-12-22 | 1990-04-17 | Ford New Holland, Inc. | Non-contact sensing unit for row crop harvester guidance system |
US4893025A (en) * | 1988-12-30 | 1990-01-09 | Us Administrat | Distributed proximity sensor system having embedded light emitters and detectors |
US4967862A (en) | 1989-03-13 | 1990-11-06 | Transitions Research Corporation | Tether-guided vehicle and method of controlling same |
JPH06105781B2 (en) | 1989-04-25 | 1994-12-21 | 住友電気工業株式会社 | Method of manufacturing integrated circuit |
JP2520732B2 (en) | 1989-04-25 | 1996-07-31 | 株式会社テック | Vacuum cleaner suction body |
US4971591A (en) | 1989-04-25 | 1990-11-20 | Roni Raviv | Vehicle with vacuum traction |
JP2815606B2 (en) | 1989-04-25 | 1998-10-27 | 株式会社トキメック | Control method of concrete floor finishing robot |
US5154617A (en) | 1989-05-09 | 1992-10-13 | Prince Corporation | Modular vehicle electronic system |
US5182833A (en) * | 1989-05-11 | 1993-02-02 | Matsushita Electric Industrial Co., Ltd. | Vacuum cleaner |
US5051906A (en) | 1989-06-07 | 1991-09-24 | Transitions Research Corporation | Mobile robot navigation employing retroreflective ceiling features |
FR2648071B1 (en) | 1989-06-07 | 1995-05-19 | Onet | SELF-CONTAINED METHOD AND APPARATUS FOR AUTOMATIC FLOOR CLEANING BY EXECUTING PROGRAMMED MISSIONS |
JPH0313611A (en) | 1989-06-07 | 1991-01-22 | Toshiba Corp | Automatic cleaner |
JPH03129328A (en) | 1989-06-27 | 1991-06-03 | Victor Co Of Japan Ltd | Electromagnetic radiation flux scanning device and display device |
US4961303A (en) | 1989-07-10 | 1990-10-09 | Ford New Holland, Inc. | Apparatus for opening conditioning rolls |
US5127128A (en) | 1989-07-27 | 1992-07-07 | Goldstar Co., Ltd. | Cleaner head |
US5144715A (en) | 1989-08-18 | 1992-09-08 | Matsushita Electric Industrial Co., Ltd. | Vacuum cleaner and method of determining type of floor surface being cleaned thereby |
US4961304A (en) | 1989-10-20 | 1990-10-09 | J. I. Case Company | Cotton flow monitoring system for a cotton harvester |
US5045769A (en) | 1989-11-14 | 1991-09-03 | The United States Of America As Represented By The Secretary Of The Navy | Intelligent battery charging system |
US5033291A (en) | 1989-12-11 | 1991-07-23 | Tekscan, Inc. | Flexible tactile sensor for measuring foot pressure distributions and for gaskets |
JP2714588B2 (en) | 1989-12-13 | 1998-02-16 | 株式会社ブリヂストン | Tire inspection device |
IL92720A (en) | 1989-12-15 | 1993-02-21 | Neta Holland | Toothbrush |
JPH03186243A (en) | 1989-12-15 | 1991-08-14 | Matsushita Electric Ind Co Ltd | Upright type vacuum cleaner |
US5063846A (en) | 1989-12-21 | 1991-11-12 | Hughes Aircraft Company | Modular, electronic safe-arm device |
JPH03197758A (en) | 1989-12-25 | 1991-08-29 | Yokohama Rubber Co Ltd:The | Soundproof double floor |
JPH03201903A (en) | 1989-12-28 | 1991-09-03 | Seibutsukei Tokutei Sangyo Gijutsu Kenkyu Suishin Kiko | Autonomic traveling system for field working vehicle |
US5093956A (en) | 1990-01-12 | 1992-03-10 | Royal Appliance Mfg. Co. | Snap-together housing |
US5647554A (en) | 1990-01-23 | 1997-07-15 | Sanyo Electric Co., Ltd. | Electric working apparatus supplied with electric power through power supply cord |
US5187662A (en) | 1990-01-24 | 1993-02-16 | Honda Giken Kogyo Kabushiki Kaisha | Steering control system for moving vehicle |
US5084934A (en) * | 1990-01-24 | 1992-02-04 | Black & Decker Inc. | Vacuum cleaners |
US5115538A (en) | 1990-01-24 | 1992-05-26 | Black & Decker Inc. | Vacuum cleaners |
US5020186A (en) | 1990-01-24 | 1991-06-04 | Black & Decker Inc. | Vacuum cleaners |
US4956891A (en) | 1990-02-21 | 1990-09-18 | Castex Industries, Inc. | Floor cleaner |
JP3149430B2 (en) | 1990-02-22 | 2001-03-26 | 松下電器産業株式会社 | Upright vacuum cleaner |
US5049802A (en) | 1990-03-01 | 1991-09-17 | Caterpillar Industrial Inc. | Charging system for a vehicle |
CA2040079C (en) | 1990-04-10 | 1997-03-18 | Shuji Abe | Vacuum cleaner with fuzzy control and a method of vacuum cleaning |
US5018240A (en) | 1990-04-27 | 1991-05-28 | Cimex Limited | Carpet cleaner |
US5170352A (en) | 1990-05-07 | 1992-12-08 | Fmc Corporation | Multi-purpose autonomous vehicle with path plotting |
US5111401A (en) | 1990-05-19 | 1992-05-05 | The United States Of America As Represented By The Secretary Of The Navy | Navigational control system for an autonomous vehicle |
JPH08393Y2 (en) | 1990-06-01 | 1996-01-10 | 株式会社豊田自動織機製作所 | Air supply device in jet loom |
US5142985A (en) | 1990-06-04 | 1992-09-01 | Motorola, Inc. | Optical detection device |
US5109566A (en) * | 1990-06-28 | 1992-05-05 | Matsushita Electric Industrial Co., Ltd. | Self-running cleaning apparatus |
JPH04227507A (en) | 1990-07-02 | 1992-08-17 | Nec Corp | Method for forming and keeping map for moving robot |
JPH0484921A (en) | 1990-07-27 | 1992-03-18 | Mitsubishi Electric Corp | Vacuum cleaner |
US5307273A (en) | 1990-08-29 | 1994-04-26 | Goldstar Co., Ltd. | Apparatus and method for recognizing carpets and stairs by cleaning robot |
US5093955A (en) * | 1990-08-29 | 1992-03-10 | Tennant Company | Combined sweeper and scrubber |
DE69123594T2 (en) | 1990-09-24 | 1997-05-22 | Andre Colens | CONTINUOUS AUTONOMOUS MOWING DEVICE |
US5202742A (en) | 1990-10-03 | 1993-04-13 | Aisin Seiki Kabushiki Kaisha | Laser radar for a vehicle lateral guidance system |
US5086535A (en) * | 1990-10-22 | 1992-02-11 | Racine Industries, Inc. | Machine and method using graphic data for treating a surface |
US5204814A (en) | 1990-11-13 | 1993-04-20 | Mobot, Inc. | Autonomous lawn mower |
JPH0824655B2 (en) | 1990-11-26 | 1996-03-13 | 松下電器産業株式会社 | Electric vacuum cleaner |
US5216777A (en) | 1990-11-26 | 1993-06-08 | Matsushita Electric Industrial Co., Ltd. | Fuzzy control apparatus generating a plurality of membership functions for determining a drive condition of an electric vacuum cleaner |
KR930000081B1 (en) | 1990-12-07 | 1993-01-08 | 주식회사 금성사 | Cleansing method of electric vacuum cleaner |
US5136675A (en) | 1990-12-20 | 1992-08-04 | General Electric Company | Slewable projection system with fiber-optic elements |
US5098262A (en) * | 1990-12-28 | 1992-03-24 | Abbott Laboratories | Solution pumping system with compressible pump cassette |
US5062819A (en) | 1991-01-28 | 1991-11-05 | Mallory Mitchell K | Toy vehicle apparatus |
JP2983658B2 (en) | 1991-02-14 | 1999-11-29 | 三洋電機株式会社 | Electric vacuum cleaner |
US5094311A (en) | 1991-02-22 | 1992-03-10 | Gmfanuc Robotics Corporation | Limited mobility transporter |
US5327952A (en) * | 1991-03-08 | 1994-07-12 | The Goodyear Tire & Rubber Company | Pneumatic tire having improved wet traction |
US5173881A (en) | 1991-03-19 | 1992-12-22 | Sindle Thomas J | Vehicular proximity sensing system |
US5165064A (en) | 1991-03-22 | 1992-11-17 | Cyberotics, Inc. | Mobile robot guidance and navigation system |
US5105550A (en) | 1991-03-25 | 1992-04-21 | Wilson Sporting Goods Co. | Apparatus for measuring golf clubs |
US5321614A (en) | 1991-06-06 | 1994-06-14 | Ashworth Guy T D | Navigational control apparatus and method for autonomus vehicles |
US5400244A (en) | 1991-06-25 | 1995-03-21 | Kabushiki Kaisha Toshiba | Running control system for mobile robot provided with multiple sensor information integration system |
KR930005714B1 (en) | 1991-06-25 | 1993-06-24 | 주식회사 금성사 | Attratus and method for controlling speed of suction motor in vacuum cleaner |
US5560065A (en) | 1991-07-03 | 1996-10-01 | Tymco, Inc. | Broom assisted pick-up head |
US5152202A (en) | 1991-07-03 | 1992-10-06 | The Ingersoll Milling Machine Company | Turning machine with pivoted armature |
DE4122280C2 (en) | 1991-07-05 | 1994-08-18 | Henkel Kgaa | Mobile floor cleaning machine |
EP0522200B1 (en) | 1991-07-10 | 1998-05-13 | Samsung Electronics Co., Ltd. | Mobile monitoring device |
KR930003937Y1 (en) | 1991-08-14 | 1993-06-25 | 주식회사 금성사 | Apparatus for detecting suction dirt for vacuum cleaner |
US5442358A (en) | 1991-08-16 | 1995-08-15 | Kaman Aerospace Corporation | Imaging lidar transmitter downlink for command guidance of underwater vehicle |
US5227985A (en) | 1991-08-19 | 1993-07-13 | University Of Maryland | Computer vision system for position monitoring in three dimensions using non-coplanar light sources attached to a monitored object |
JP2738610B2 (en) | 1991-09-07 | 1998-04-08 | 富士重工業株式会社 | Travel control device for self-propelled bogie |
JP2901112B2 (en) | 1991-09-19 | 1999-06-07 | 矢崎総業株式会社 | Vehicle periphery monitoring device |
DE4131667C2 (en) | 1991-09-23 | 2002-07-18 | Schlafhorst & Co W | Device for removing thread remnants |
US5239720A (en) | 1991-10-24 | 1993-08-31 | Advance Machine Company | Mobile surface cleaning machine |
JP2555263Y2 (en) | 1991-10-28 | 1997-11-19 | 日本電気ホームエレクトロニクス株式会社 | Cleaning robot |
DE69222025T2 (en) | 1991-11-05 | 1998-02-05 | Seiko Epson Corp | MICRO ROBOT |
JPH05150827A (en) | 1991-11-29 | 1993-06-18 | Suzuki Motor Corp | Guide system for unattended vehicle |
JPH05150829A (en) | 1991-11-29 | 1993-06-18 | Suzuki Motor Corp | Guide system for automatic vehicle |
KR940006561B1 (en) * | 1991-12-30 | 1994-07-22 | 주식회사 금성사 | Auto-drive sensor for vacuum cleaner |
US5222786A (en) | 1992-01-10 | 1993-06-29 | Royal Appliance Mfg. Co. | Wheel construction for vacuum cleaner |
IL123225A (en) | 1992-01-12 | 1999-07-14 | Israel State | Large area movement robot |
JP3076122B2 (en) | 1992-01-13 | 2000-08-14 | オリンパス光学工業株式会社 | camera |
EP0554978A2 (en) | 1992-01-22 | 1993-08-11 | Acushnet Company | Monitoring system to measure flight characteristics of moving sports object |
DE4201596C2 (en) | 1992-01-22 | 2001-07-05 | Gerhard Kurz | Floor nozzle for vacuum cleaners |
US5502638A (en) | 1992-02-10 | 1996-03-26 | Honda Giken Kogyo Kabushiki Kaisha | System for obstacle avoidance path planning for multiple-degree-of-freedom mechanism |
US5276618A (en) | 1992-02-26 | 1994-01-04 | The United States Of America As Represented By The Secretary Of The Navy | Doorway transit navigational referencing system |
US5568589A (en) | 1992-03-09 | 1996-10-22 | Hwang; Jin S. | Self-propelled cleaning machine with fuzzy logic control |
JPH05257533A (en) | 1992-03-12 | 1993-10-08 | Tokimec Inc | Method and device for sweeping floor surface by moving robot |
JP3397336B2 (en) | 1992-03-13 | 2003-04-14 | 神鋼電機株式会社 | Unmanned vehicle position / direction detection method |
KR940004375B1 (en) | 1992-03-25 | 1994-05-23 | 삼성전자 주식회사 | Drive system for automatic vacuum cleaner |
JPH05285861A (en) | 1992-04-07 | 1993-11-02 | Fujita Corp | Marking method for ceiling |
US5277064A (en) | 1992-04-08 | 1994-01-11 | General Motors Corporation | Thick film accelerometer |
FR2691093B1 (en) | 1992-05-12 | 1996-06-14 | Univ Joseph Fourier | ROBOT FOR GUIDANCE OF GESTURES AND CONTROL METHOD. |
DE4217093C1 (en) | 1992-05-22 | 1993-07-01 | Siemens Ag, 8000 Muenchen, De | |
GB2267360B (en) | 1992-05-22 | 1995-12-06 | Octec Ltd | Method and system for interacting with floating objects |
US5206500A (en) | 1992-05-28 | 1993-04-27 | Cincinnati Microwave, Inc. | Pulsed-laser detection with pulse stretcher and noise averaging |
US5637973A (en) | 1992-06-18 | 1997-06-10 | Kabushiki Kaisha Yaskawa Denki | Noncontacting electric power transfer apparatus, noncontacting signal transfer apparatus, split-type mechanical apparatus employing these transfer apparatus and a control method for controlling same |
US6615434B1 (en) | 1992-06-23 | 2003-09-09 | The Kegel Company, Inc. | Bowling lane cleaning machine and method |
JPH064130A (en) | 1992-06-23 | 1994-01-14 | Sanyo Electric Co Ltd | Cleaning robot |
US5279672A (en) * | 1992-06-29 | 1994-01-18 | Windsor Industries, Inc. | Automatic controlled cleaning machine |
US5303448A (en) | 1992-07-08 | 1994-04-19 | Tennant Company | Hopper and filter chamber for direct forward throw sweeper |
US5331713A (en) | 1992-07-13 | 1994-07-26 | White Consolidated Industries, Inc. | Floor scrubber with recycled cleaning solution |
US5410479A (en) | 1992-08-17 | 1995-04-25 | Coker; William B. | Ultrasonic furrow or crop row following sensor |
JPH0662991A (en) | 1992-08-21 | 1994-03-08 | Yashima Denki Co Ltd | Vacuum cleaner |
US5613269A (en) | 1992-10-26 | 1997-03-25 | Miwa Science Laboratory Inc. | Recirculating type cleaner |
US5324948A (en) | 1992-10-27 | 1994-06-28 | The United States Of America As Represented By The United States Department Of Energy | Autonomous mobile robot for radiologic surveys |
JPH06137828A (en) | 1992-10-29 | 1994-05-20 | Kajima Corp | Detecting method for position of obstacle |
US5548511A (en) | 1992-10-29 | 1996-08-20 | White Consolidated Industries, Inc. | Method for controlling self-running cleaning apparatus |
JPH06149350A (en) | 1992-10-30 | 1994-05-27 | Johnson Kk | Guidance system for self-traveling car |
US5319828A (en) | 1992-11-04 | 1994-06-14 | Tennant Company | Low profile scrubber |
US5369838A (en) | 1992-11-16 | 1994-12-06 | Advance Machine Company | Automatic floor scrubber |
US5261139A (en) | 1992-11-23 | 1993-11-16 | Lewis Steven D | Raised baseboard brush for powered floor sweeper |
USD345707S (en) | 1992-12-18 | 1994-04-05 | U.S. Philips Corporation | Dust sensor device |
GB2273865A (en) | 1992-12-19 | 1994-07-06 | Fedag | A vacuum cleaner with an electrically driven brush roller |
US5284452A (en) | 1993-01-15 | 1994-02-08 | Atlantic Richfield Company | Mooring buoy with hawser tension indicator system |
US5491670A (en) | 1993-01-21 | 1996-02-13 | Weber; T. Jerome | System and method for sonic positioning |
US5315227A (en) | 1993-01-29 | 1994-05-24 | Pierson Mark V | Solar recharge station for electric vehicles |
US5310379A (en) | 1993-02-03 | 1994-05-10 | Mattel, Inc. | Multiple configuration toy vehicle |
DE9303254U1 (en) | 1993-03-05 | 1993-09-30 | Raimondi Srl | Machine for washing tiled surfaces |
US5451135A (en) | 1993-04-02 | 1995-09-19 | Carnegie Mellon University | Collapsible mobile vehicle |
JP2551316B2 (en) | 1993-04-09 | 1996-11-06 | 株式会社日立製作所 | panel |
US5345649A (en) | 1993-04-21 | 1994-09-13 | Whitlow William T | Fan brake for textile cleaning machine |
US5352901A (en) | 1993-04-26 | 1994-10-04 | Cummins Electronics Company, Inc. | Forward and back scattering loss compensated smoke detector |
US5435405A (en) | 1993-05-14 | 1995-07-25 | Carnegie Mellon University | Reconfigurable mobile vehicle with magnetic tracks |
US5363935A (en) | 1993-05-14 | 1994-11-15 | Carnegie Mellon University | Reconfigurable mobile vehicle with magnetic tracks |
JPH06327598A (en) | 1993-05-21 | 1994-11-29 | Tokyo Electric Co Ltd | Intake port body for vacuum cleaner |
US5440216A (en) * | 1993-06-08 | 1995-08-08 | Samsung Electronics Co., Ltd. | Robot cleaner |
US5460124A (en) | 1993-07-15 | 1995-10-24 | Perimeter Technologies Incorporated | Receiver for an electronic animal confinement system |
IT1264951B1 (en) | 1993-07-20 | 1996-10-17 | Anna Maria Boesi | ASPIRATING APPARATUS FOR CLEANING SURFACES |
JP3205649B2 (en) * | 1993-07-30 | 2001-09-04 | アマノ株式会社 | Vibrating floor cleaner |
KR0140499B1 (en) | 1993-08-07 | 1998-07-01 | 김광호 | Vacuum cleaner and control method |
US5510893A (en) | 1993-08-18 | 1996-04-23 | Digital Stream Corporation | Optical-type position and posture detecting device |
US5586063A (en) | 1993-09-01 | 1996-12-17 | Hardin; Larry C. | Optical range and speed detection system |
CA2128676C (en) | 1993-09-08 | 1997-12-23 | John D. Sotack | Capacitive sensor |
KR0161031B1 (en) | 1993-09-09 | 1998-12-15 | 김광호 | Position error correction device of robot |
JP3462542B2 (en) | 1993-09-24 | 2003-11-05 | 富士重工業株式会社 | Method of filling insulator into bag structure of vehicle body and insulator assembly used for the method |
KR100197676B1 (en) | 1993-09-27 | 1999-06-15 | 윤종용 | Robot cleaner |
US5411716A (en) * | 1993-10-05 | 1995-05-02 | Ecolab Inc. | Solid detergent dispenser for floor scrubber machine |
JP3319093B2 (en) | 1993-11-08 | 2002-08-26 | 松下電器産業株式会社 | Mobile work robot |
GB9323316D0 (en) | 1993-11-11 | 1994-01-05 | Crowe Gordon M | Motorized carrier |
DE4338841C2 (en) | 1993-11-13 | 1999-08-05 | Axel Dickmann | lamp |
GB2284957B (en) | 1993-12-14 | 1998-02-18 | Gec Marconi Avionics Holdings | Optical systems for the remote tracking of the position and/or orientation of an object |
JP2594880B2 (en) | 1993-12-29 | 1997-03-26 | 西松建設株式会社 | Autonomous traveling intelligent work robot |
US5511147A (en) | 1994-01-12 | 1996-04-23 | Uti Corporation | Graphical interface for robot |
JPH07222705A (en) | 1994-02-10 | 1995-08-22 | Fujitsu General Ltd | Floor cleaning robot |
BE1008777A6 (en) * | 1994-02-11 | 1996-08-06 | Solar And Robotics Sa | Power system of mobile autonomous robots. |
SE502428C2 (en) | 1994-02-21 | 1995-10-16 | Electrolux Ab | Nozzle |
US5608306A (en) | 1994-03-15 | 1997-03-04 | Ericsson Inc. | Rechargeable battery pack with identification circuit, real time clock and authentication capability |
JPH07262025A (en) | 1994-03-18 | 1995-10-13 | Fujitsu Ltd | Execution control system |
JP3201903B2 (en) | 1994-03-18 | 2001-08-27 | 富士通株式会社 | Semiconductor logic circuit and semiconductor integrated circuit device using the same |
JPH07311041A (en) * | 1994-03-22 | 1995-11-28 | Minolta Co Ltd | Position detector |
JP3530954B2 (en) * | 1994-03-24 | 2004-05-24 | 清之 竹迫 | Far-infrared sterilizer |
US5646494A (en) | 1994-03-29 | 1997-07-08 | Samsung Electronics Co., Ltd. | Charge induction apparatus of robot cleaner and method thereof |
SE502834C2 (en) | 1994-03-29 | 1996-01-29 | Electrolux Ab | Method and apparatus for detecting obstacles in self-propelled apparatus |
JPH07265240A (en) | 1994-03-31 | 1995-10-17 | Hookii:Kk | Wall side cleaning body for floor cleaner |
KR970000582B1 (en) | 1994-03-31 | 1997-01-14 | 삼성전자 주식회사 | Method for controlling driving of a robot cleaner |
JPH07270518A (en) | 1994-03-31 | 1995-10-20 | Komatsu Ltd | Distance measuring instrument |
JP3293314B2 (en) | 1994-04-14 | 2002-06-17 | ミノルタ株式会社 | Cleaning robot |
DE4414683A1 (en) | 1994-04-15 | 1995-10-19 | Vorwerk Co Interholding | Cleaning device |
US5455982A (en) | 1994-04-22 | 1995-10-10 | Advance Machine Company | Hard and soft floor surface cleaning apparatus |
US5802665A (en) | 1994-04-25 | 1998-09-08 | Widsor Industries, Inc. | Floor cleaning apparatus with two brooms |
US5485653A (en) | 1994-04-25 | 1996-01-23 | Windsor Industries, Inc. | Floor cleaning apparatus |
SK143396A3 (en) | 1994-05-10 | 1997-09-10 | Heinrich Iglseder | Method of detecting particles in a two-phase stream, vacuum cleaner and a method of controlling or adjusting a vacuum cleaner |
US5507067A (en) | 1994-05-12 | 1996-04-16 | Newtronics Pty Ltd. | Electronic vacuum cleaner control system |
JPH07319542A (en) * | 1994-05-30 | 1995-12-08 | Minolta Co Ltd | Self-traveling work wagon |
JPH07313417A (en) | 1994-05-30 | 1995-12-05 | Minolta Co Ltd | Self-running working car |
SE514791C2 (en) | 1994-06-06 | 2001-04-23 | Electrolux Ab | Improved method for locating lighthouses in self-propelled equipment |
JP3051023B2 (en) | 1994-06-10 | 2000-06-12 | 東芝セラミックス株式会社 | Processing method and apparatus for high-precision analysis of impurities in siliconaceous analysis sample |
US5735959A (en) | 1994-06-15 | 1998-04-07 | Minolta Co, Ltd. | Apparatus spreading fluid on floor while moving |
JPH08322774A (en) | 1995-03-24 | 1996-12-10 | Minolta Co Ltd | Working apparatus |
US5636402A (en) | 1994-06-15 | 1997-06-10 | Minolta Co., Ltd. | Apparatus spreading fluid on floor while moving |
JP3346513B2 (en) | 1994-07-01 | 2002-11-18 | ミノルタ株式会社 | Map storage method and route creation method using the map |
BE1008470A3 (en) | 1994-07-04 | 1996-05-07 | Colens Andre | Device and automatic system and equipment dedusting sol y adapted. |
JPH0822322A (en) | 1994-07-07 | 1996-01-23 | Johnson Kk | Method and device for controlling floor surface cleaning car |
JP2569279B2 (en) | 1994-08-01 | 1997-01-08 | コナミ株式会社 | Non-contact position detection device for moving objects |
CA2137706C (en) | 1994-12-09 | 2001-03-20 | Murray Evans | Cutting mechanism |
US5551525A (en) | 1994-08-19 | 1996-09-03 | Vanderbilt University | Climber robot |
JP3296105B2 (en) | 1994-08-26 | 2002-06-24 | ミノルタ株式会社 | Autonomous mobile robot |
US5454129A (en) | 1994-09-01 | 1995-10-03 | Kell; Richard T. | Self-powered pool vacuum with remote controlled capabilities |
JP3197758B2 (en) | 1994-09-13 | 2001-08-13 | 日本電信電話株式会社 | Optical coupling device and method of manufacturing the same |
DE4433845A1 (en) | 1994-09-22 | 1996-03-28 | Fraunhofer Ges Forschung | Method of manufacturing a three-dimensional integrated circuit |
JP3188116B2 (en) | 1994-09-26 | 2001-07-16 | 日本輸送機株式会社 | Self-propelled vacuum cleaner |
JPH0889449A (en) | 1994-09-27 | 1996-04-09 | Kunihiro Michihashi | Suctional structure |
US6188643B1 (en) * | 1994-10-13 | 2001-02-13 | Schlumberger Technology Corporation | Method and apparatus for inspecting well bore casing |
US5498948A (en) | 1994-10-14 | 1996-03-12 | Delco Electornics | Self-aligning inductive charger |
JPH08123548A (en) | 1994-10-24 | 1996-05-17 | Minolta Co Ltd | Autonomous traveling vehicle |
US5546631A (en) | 1994-10-31 | 1996-08-20 | Chambon; Michael D. | Waterless container cleaner monitoring system |
GB9422911D0 (en) | 1994-11-14 | 1995-01-04 | Moonstone Technology Ltd | Capacitive touch detectors |
US5505072A (en) | 1994-11-15 | 1996-04-09 | Tekscan, Inc. | Scanning circuit for pressure responsive array |
US5560077A (en) | 1994-11-25 | 1996-10-01 | Crotchett; Diane L. | Vacuum dustpan apparatus |
GB9500943D0 (en) | 1994-12-01 | 1995-03-08 | Popovich Milan M | Optical position sensing system |
US5710506A (en) * | 1995-02-07 | 1998-01-20 | Benchmarq Microelectronics, Inc. | Lead acid charger |
GB9503185D0 (en) * | 1995-02-18 | 1995-04-05 | Vax Ltd | Cleaning head |
KR100384194B1 (en) | 1995-03-22 | 2003-08-21 | 혼다 기켄 고교 가부시키가이샤 | Adsorption wall walking device |
JP3201208B2 (en) | 1995-03-23 | 2001-08-20 | ミノルタ株式会社 | Autonomous vehicles |
US5634237A (en) | 1995-03-29 | 1997-06-03 | Paranjpe; Ajit P. | Self-guided, self-propelled, convertible cleaning apparatus |
IT236779Y1 (en) | 1995-03-31 | 2000-08-17 | Dulevo Int Spa | SUCTION AND FILTER SWEEPER MACHINE |
US5947225A (en) | 1995-04-14 | 1999-09-07 | Minolta Co., Ltd. | Automatic vehicle |
PT822774E (en) * | 1995-04-21 | 2002-09-30 | Vorwerk Co Interholding | ADAPTER FOR A VACUUM CLEANER FOR SURFACE MOISTURE CLEANING |
GB2300082B (en) | 1995-04-21 | 1999-09-22 | British Aerospace | Altitude measuring methods |
US5537711A (en) | 1995-05-05 | 1996-07-23 | Tseng; Yu-Che | Electric board cleaner |
SE9501810D0 (en) | 1995-05-16 | 1995-05-16 | Electrolux Ab | Scratch of elastic material |
IL113913A (en) | 1995-05-30 | 2000-02-29 | Friendly Machines Ltd | Navigation method and system |
US5655658A (en) | 1995-05-31 | 1997-08-12 | Eastman Kodak Company | Cassette container having effective centering capability |
US5781697A (en) | 1995-06-02 | 1998-07-14 | Samsung Electronics Co., Ltd. | Method and apparatus for automatic running control of a robot |
US5608944A (en) | 1995-06-05 | 1997-03-11 | The Hoover Company | Vacuum cleaner with dirt detection |
US5935333A (en) | 1995-06-07 | 1999-08-10 | The Kegel Company | Variable speed bowling lane maintenance machine |
JPH08335112A (en) | 1995-06-08 | 1996-12-17 | Minolta Co Ltd | Mobile working robot system |
JP2640736B2 (en) | 1995-07-13 | 1997-08-13 | 株式会社エイシン技研 | Cleaning and bowling lane maintenance machines |
US5555587A (en) | 1995-07-20 | 1996-09-17 | The Scott Fetzer Company | Floor mopping machine |
AU6648296A (en) | 1995-07-20 | 1997-02-18 | Dallas Semiconductor Corporation | An electronic micro identification circuit that is inherently bonded to a someone or something |
JPH0943901A (en) | 1995-07-28 | 1997-02-14 | Dainippon Ink & Chem Inc | Manufacture of electrophotographic toner |
JPH0944240A (en) | 1995-08-01 | 1997-02-14 | Kubota Corp | Guide device for moving vehicle |
JPH0947413A (en) | 1995-08-08 | 1997-02-18 | Minolta Co Ltd | Cleaning robot |
DE69622103T2 (en) | 1995-08-28 | 2003-01-23 | Matsushita Electric Works Ltd | Optical distance measuring system with triangulation |
USD375592S (en) | 1995-08-29 | 1996-11-12 | Aktiebolaget Electrolux | Vacuum cleaner |
JPH0966855A (en) | 1995-09-04 | 1997-03-11 | Minolta Co Ltd | Crawler vehicle |
JP4014662B2 (en) | 1995-09-18 | 2007-11-28 | ファナック株式会社 | Robot teaching operation panel |
JP3152622B2 (en) | 1995-09-19 | 2001-04-03 | 光雄 藤井 | Wiper cleaning method and device |
US5819008A (en) | 1995-10-18 | 1998-10-06 | Rikagaku Kenkyusho | Mobile robot sensor system |
GB2348030B (en) | 1995-10-20 | 2001-01-03 | Baker Hughes Inc | Communication in a wellbore utilizing acoustic signals |
SE505115C2 (en) | 1995-10-27 | 1997-06-30 | Electrolux Ab | Vacuum cleaner nozzle comprising a brush nozzle and method for effecting suction along the front edge of the brush nozzle, seen in the direction of movement |
KR0133745B1 (en) | 1995-10-31 | 1998-04-24 | 배순훈 | Dust meter device of a vacuum cleaner |
US6041472A (en) | 1995-11-06 | 2000-03-28 | Bissell Homecare, Inc. | Upright water extraction cleaning machine |
US6167587B1 (en) | 1997-07-09 | 2001-01-02 | Bissell Homecare, Inc. | Upright extraction cleaning machine |
US5777596A (en) | 1995-11-13 | 1998-07-07 | Symbios, Inc. | Touch sensitive flat panel display |
US5867861A (en) | 1995-11-13 | 1999-02-09 | Kasen; Timothy E. | Upright water extraction cleaning machine with two suction nozzles |
US5996167A (en) | 1995-11-16 | 1999-12-07 | 3M Innovative Properties Company | Surface treating articles and method of making same |
JPH09145309A (en) | 1995-11-20 | 1997-06-06 | Kenichi Suzuki | Position detection system |
JP3025348U (en) | 1995-11-30 | 1996-06-11 | 株式会社トミー | Traveling body |
JPH09160644A (en) | 1995-12-06 | 1997-06-20 | Fujitsu General Ltd | Control method for floor cleaning robot |
US6049620A (en) | 1995-12-15 | 2000-04-11 | Veridicom, Inc. | Capacitive fingerprint sensor with adjustable gain |
KR970032722A (en) | 1995-12-19 | 1997-07-22 | 최진호 | Cordless cleaner |
JPH09179625A (en) | 1995-12-26 | 1997-07-11 | Hitachi Electric Syst:Kk | Method for controlling traveling of autonomous traveling vehicle and controller therefor |
JPH09179100A (en) | 1995-12-27 | 1997-07-11 | Sharp Corp | Picture display device |
US5793900A (en) | 1995-12-29 | 1998-08-11 | Stanford University | Generating categorical depth maps using passive defocus sensing |
US6373573B1 (en) | 2000-03-13 | 2002-04-16 | Lj Laboratories L.L.C. | Apparatus for measuring optical characteristics of a substrate and pigments applied thereto |
US5989700A (en) | 1996-01-05 | 1999-11-23 | Tekscan Incorporated | Pressure sensitive ink means, and methods of use |
JPH09185410A (en) | 1996-01-08 | 1997-07-15 | Hitachi Electric Syst:Kk | Method and device for controlling traveling of autonomous traveling vehicle |
US5784755A (en) | 1996-01-18 | 1998-07-28 | White Consolidated Industries, Inc. | Wet extractor system |
US5611106A (en) | 1996-01-19 | 1997-03-18 | Castex Incorporated | Carpet maintainer |
US6220865B1 (en) | 1996-01-22 | 2001-04-24 | Vincent J. Macri | Instruction for groups of users interactively controlling groups of images to make idiosyncratic, simulated, physical movements |
US6830120B1 (en) | 1996-01-25 | 2004-12-14 | Penguin Wax Co., Ltd. | Floor working machine with a working implement mounted on a self-propelled vehicle for acting on floor |
US6574536B1 (en) | 1996-01-29 | 2003-06-03 | Minolta Co., Ltd. | Moving apparatus for efficiently moving on floor with obstacle |
JP3660042B2 (en) | 1996-02-01 | 2005-06-15 | 富士重工業株式会社 | Cleaning robot control method |
DE19605573C2 (en) | 1996-02-15 | 2000-08-24 | Eurocopter Deutschland | Three-axis rotary control stick |
DE19605780A1 (en) | 1996-02-16 | 1997-08-21 | Branofilter Gmbh | Detection device for filter bags in vacuum cleaners |
US5828770A (en) | 1996-02-20 | 1998-10-27 | Northern Digital Inc. | System for determining the spatial position and angular orientation of an object |
JP3697768B2 (en) | 1996-02-21 | 2005-09-21 | 神鋼電機株式会社 | Automatic charging system |
US5659918A (en) | 1996-02-23 | 1997-08-26 | Breuer Electric Mfg. Co. | Vacuum cleaner and method |
DE69700544T2 (en) | 1996-03-06 | 2000-05-04 | Gmd Gmbh | AUTONOMOUS MOBILE ROBOT SYSTEM FOR SENSOR AND CARD-BASED NAVIGATION IN A LINE NETWORK |
JPH09244730A (en) | 1996-03-11 | 1997-09-19 | Komatsu Ltd | Robot system and controller for robot |
JPH09251318A (en) | 1996-03-18 | 1997-09-22 | Minolta Co Ltd | Level difference sensor |
BE1013948A3 (en) | 1996-03-26 | 2003-01-14 | Egemin Naanloze Vennootschap | MEASURING SYSTEM FOR POSITION OF THE KEYS OF A VEHICLE AND ABOVE sensing device. |
JPH09263140A (en) | 1996-03-27 | 1997-10-07 | Minolta Co Ltd | Unmanned service car |
JPH09265319A (en) | 1996-03-28 | 1997-10-07 | Minolta Co Ltd | Autonomously traveling vehicle |
US5735017A (en) | 1996-03-29 | 1998-04-07 | Bissell Inc. | Compact wet/dry vacuum cleaner with flexible bladder |
JPH09269810A (en) | 1996-03-29 | 1997-10-14 | Minolta Co Ltd | Traveling object controller |
US5732401A (en) | 1996-03-29 | 1998-03-24 | Intellitecs International Ltd. | Activity based cost tracking systems |
JPH09269807A (en) | 1996-03-29 | 1997-10-14 | Minolta Co Ltd | Traveling object controller |
SE509317C2 (en) | 1996-04-25 | 1999-01-11 | Electrolux Ab | Nozzle arrangement for a self-propelled vacuum cleaner |
SE506907C2 (en) | 1996-04-30 | 1998-03-02 | Electrolux Ab | Self-orientating device system and device |
SE506372C2 (en) | 1996-04-30 | 1997-12-08 | Electrolux Ab | Self-propelled device |
US5935179A (en) | 1996-04-30 | 1999-08-10 | Aktiebolaget Electrolux | System and device for a self orienting device |
DE19617986B4 (en) | 1996-05-04 | 2004-02-26 | Ing. Haaga Werkzeugbau Kg | sweeper |
US5742975A (en) | 1996-05-06 | 1998-04-28 | Windsor Industries, Inc. | Articulated floor scrubber |
SE9601742L (en) | 1996-05-07 | 1997-11-08 | Besam Ab | Ways to determine the distance and position of an object |
JP3343027B2 (en) | 1996-05-17 | 2002-11-11 | アマノ株式会社 | Squeegee for floor washer |
US5831597A (en) | 1996-05-24 | 1998-11-03 | Tanisys Technology, Inc. | Computer input device for use in conjunction with a mouse input device |
JPH09324875A (en) * | 1996-06-03 | 1997-12-16 | Minolta Co Ltd | Tank |
JPH09319432A (en) | 1996-06-03 | 1997-12-12 | Minolta Co Ltd | Mobile robot |
JP3493539B2 (en) | 1996-06-03 | 2004-02-03 | ミノルタ株式会社 | Traveling work robot |
JPH09315061A (en) | 1996-06-03 | 1997-12-09 | Minolta Co Ltd | Ic card and ic card-mounting apparatus |
JPH09319434A (en) | 1996-06-03 | 1997-12-12 | Minolta Co Ltd | Movable robot |
JPH09319431A (en) | 1996-06-03 | 1997-12-12 | Minolta Co Ltd | Movable robot |
JPH09325812A (en) | 1996-06-05 | 1997-12-16 | Minolta Co Ltd | Autonomous mobile robot |
US5983448A (en) | 1996-06-07 | 1999-11-16 | Royal Appliance Mfg. Co. | Cordless wet mop and vacuum assembly |
US6101671A (en) | 1996-06-07 | 2000-08-15 | Royal Appliance Mfg. Co. | Wet mop and vacuum assembly |
JP3581911B2 (en) | 1996-06-07 | 2004-10-27 | コニカミノルタホールディングス株式会社 | Mobile vehicle |
US6065182A (en) | 1996-06-07 | 2000-05-23 | Royal Appliance Mfg. Co. | Cordless wet mop and vacuum assembly |
US5709007A (en) * | 1996-06-10 | 1998-01-20 | Chiang; Wayne | Remote control vacuum cleaner |
US5767960A (en) | 1996-06-14 | 1998-06-16 | Ascension Technology Corporation | Optical 6D measurement system with three fan-shaped beams rotating around one axis |
WO1997049324A2 (en) * | 1996-06-26 | 1997-12-31 | Matsushita Home Appliance Corporation Of America | Extractor with twin, counterrotating agitators |
JPH11513211A (en) | 1996-06-26 | 1999-11-09 | コーニンクレッカ、フィリップス、エレクトロニクス、エヌ.ヴィ. | Trellis-encoded QAM using rate-compatible punctured convolutional code |
US5812267A (en) | 1996-07-10 | 1998-09-22 | The United States Of America As Represented By The Secretary Of The Navy | Optically based position location system for an autonomous guided vehicle |
US6142252A (en) | 1996-07-11 | 2000-11-07 | Minolta Co., Ltd. | Autonomous vehicle that runs while recognizing work area configuration, and method of selecting route |
JP3395874B2 (en) | 1996-08-12 | 2003-04-14 | ミノルタ株式会社 | Mobile vehicle |
US5926909A (en) | 1996-08-28 | 1999-07-27 | Mcgee; Daniel | Remote control vacuum cleaner and charging system |
US5756904A (en) | 1996-08-30 | 1998-05-26 | Tekscan, Inc. | Pressure responsive sensor having controlled scanning speed |
JPH10105236A (en) | 1996-09-30 | 1998-04-24 | Minolta Co Ltd | Positioning device for traveling object and its method |
US5829095A (en) | 1996-10-17 | 1998-11-03 | Nilfisk-Advance, Inc. | Floor surface cleaning machine |
DE19643465C2 (en) | 1996-10-22 | 1999-08-05 | Bosch Gmbh Robert | Control device for an optical sensor, in particular a rain sensor |
JPH10118963A (en) | 1996-10-23 | 1998-05-12 | Minolta Co Ltd | Autonomous mobil vehicle |
JPH10117973A (en) | 1996-10-23 | 1998-05-12 | Minolta Co Ltd | Autonomous moving vehicle |
DE19644570C2 (en) | 1996-10-26 | 1999-11-18 | Kaercher Gmbh & Co Alfred | Mobile floor cleaning device |
US5815884A (en) | 1996-11-27 | 1998-10-06 | Yashima Electric Co., Ltd. | Dust indication system for vacuum cleaner |
EP0845237B1 (en) | 1996-11-29 | 2000-04-05 | YASHIMA ELECTRIC CO., Ltd. | Vacuum cleaner |
JP3525658B2 (en) | 1996-12-12 | 2004-05-10 | 松下電器産業株式会社 | Operation controller for air purifier |
US5940346A (en) | 1996-12-13 | 1999-08-17 | Arizona Board Of Regents | Modular robotic platform with acoustic navigation system |
US5974348A (en) | 1996-12-13 | 1999-10-26 | Rocks; James K. | System and method for performing mobile robotic work operations |
JPH10177414A (en) | 1996-12-16 | 1998-06-30 | Matsushita Electric Ind Co Ltd | Device for recognizing traveling state by ceiling picture |
US5987696A (en) | 1996-12-24 | 1999-11-23 | Wang; Kevin W. | Carpet cleaning machine |
US6146278A (en) | 1997-01-10 | 2000-11-14 | Konami Co., Ltd. | Shooting video game machine |
JP2001508572A (en) | 1997-01-22 | 2001-06-26 | シーメンス アクチエンゲゼルシヤフト | Docking positioning method and apparatus for self-contained mobile device |
US6076226A (en) | 1997-01-27 | 2000-06-20 | Robert J. Schaap | Controlled self operated vacuum cleaning system |
JP3375843B2 (en) | 1997-01-29 | 2003-02-10 | 本田技研工業株式会社 | Robot autonomous traveling method and autonomous traveling robot control device |
JP3731021B2 (en) | 1997-01-31 | 2006-01-05 | 株式会社トプコン | Position detection surveying instrument |
US5942869A (en) | 1997-02-13 | 1999-08-24 | Honda Giken Kogyo Kabushiki Kaisha | Mobile robot control device |
US5819367A (en) | 1997-02-25 | 1998-10-13 | Yashima Electric Co., Ltd. | Vacuum cleaner with optical sensor |
JPH10240343A (en) | 1997-02-27 | 1998-09-11 | Minolta Co Ltd | Autonomously traveling vehicle |
JPH10240342A (en) | 1997-02-28 | 1998-09-11 | Minolta Co Ltd | Autonomous traveling vehicle |
DE19708955A1 (en) | 1997-03-05 | 1998-09-10 | Bosch Siemens Hausgeraete | Multifunctional suction cleaning device |
US5995884A (en) | 1997-03-07 | 1999-11-30 | Allen; Timothy P. | Computer peripheral floor cleaning system and navigation method |
US5860707A (en) | 1997-03-13 | 1999-01-19 | Rollerblade, Inc. | In-line skate wheel |
ATE246871T1 (en) | 1997-03-18 | 2003-08-15 | Solar And Robotics Sa | ROBOT MOWER |
WO1998041822A1 (en) | 1997-03-20 | 1998-09-24 | Crotzer David R | Dust sensor apparatus |
US5767437A (en) | 1997-03-20 | 1998-06-16 | Rogers; Donald L. | Digital remote pyrotactic firing mechanism |
JPH10260727A (en) | 1997-03-21 | 1998-09-29 | Minolta Co Ltd | Automatic traveling working vehicle |
US6587573B1 (en) | 2000-03-20 | 2003-07-01 | Gentex Corporation | System for controlling exterior vehicle lights |
JPH10295595A (en) | 1997-04-23 | 1998-11-10 | Minolta Co Ltd | Autonomously moving work wagon |
US5987383C1 (en) | 1997-04-28 | 2006-06-13 | Trimble Navigation Ltd | Form line following guidance system |
US6557104B2 (en) | 1997-05-02 | 2003-04-29 | Phoenix Technologies Ltd. | Method and apparatus for secure processing of cryptographic keys |
US6108031A (en) | 1997-05-08 | 2000-08-22 | Kaman Sciences Corporation | Virtual reality teleoperated remote control vehicle |
KR200155821Y1 (en) | 1997-05-12 | 1999-10-01 | 최진호 | Remote controller of vacuum cleaner |
JPH10314088A (en) | 1997-05-15 | 1998-12-02 | Fuji Heavy Ind Ltd | Self-advancing type cleaner |
WO1998053456A1 (en) | 1997-05-19 | 1998-11-26 | Creator Ltd. | Apparatus and methods for controlling household appliances |
US6070290A (en) | 1997-05-27 | 2000-06-06 | Schwarze Industries, Inc. | High maneuverability riding turf sweeper and surface cleaning apparatus |
EP1211520B1 (en) | 1997-05-30 | 2005-08-10 | British Broadcasting Corporation | Position determination |
GB2326353B (en) | 1997-06-20 | 2001-02-28 | Wong T K Ass Ltd | Toy |
JPH1115941A (en) | 1997-06-24 | 1999-01-22 | Minolta Co Ltd | Ic card, and ic card system including the same |
US6009358A (en) | 1997-06-25 | 1999-12-28 | Thomas G. Xydis | Programmable lawn mower |
US6032542A (en) | 1997-07-07 | 2000-03-07 | Tekscan, Inc. | Prepressured force/pressure sensor and method for the fabrication thereof |
US6131237A (en) | 1997-07-09 | 2000-10-17 | Bissell Homecare, Inc. | Upright extraction cleaning machine |
US6438793B1 (en) | 1997-07-09 | 2002-08-27 | Bissell Homecare, Inc. | Upright extraction cleaning machine |
US6192548B1 (en) * | 1997-07-09 | 2001-02-27 | Bissell Homecare, Inc. | Upright extraction cleaning machine with flow rate indicator |
US5905209A (en) | 1997-07-22 | 1999-05-18 | Tekscan, Inc. | Output circuit for pressure sensor |
AU9068698A (en) | 1997-07-23 | 1999-02-16 | Horst Jurgen Duschek | Method for controlling an unmanned transport vehicle and unmanned transport vehicle system therefor |
US5950408A (en) | 1997-07-25 | 1999-09-14 | Mtd Products Inc | Bag-full indicator mechanism |
US5821730A (en) | 1997-08-18 | 1998-10-13 | International Components Corp. | Low cost battery sensing technique |
EP0898301B1 (en) * | 1997-08-18 | 2006-09-27 | Tokyo Electron Limited | Apparatus for cleaning both sides of a substrate |
US6226830B1 (en) | 1997-08-20 | 2001-05-08 | Philips Electronics North America Corp. | Vacuum cleaner with obstacle avoidance |
US5998953A (en) | 1997-08-22 | 1999-12-07 | Minolta Co., Ltd. | Control apparatus of mobile that applies fluid on floor |
CN1155326C (en) | 1997-08-25 | 2004-06-30 | 皇家菲利浦电子有限公司 | Electrical surface treatment device with an acoustic surface type detector |
TW410593U (en) | 1997-08-29 | 2000-11-01 | Sanyo Electric Co | Suction head for electric vacuum cleaner |
IL126149A (en) | 1997-09-09 | 2003-07-31 | Sanctum Ltd | Method and system for protecting operations of trusted internal networks |
US6023814A (en) * | 1997-09-15 | 2000-02-15 | Imamura; Nobuo | Vacuum cleaner |
AU4222197A (en) | 1997-09-19 | 1999-04-12 | Hitachi Limited | Synchronous integrated circuit device |
SE510524C2 (en) | 1997-09-19 | 1999-05-31 | Electrolux Ab | Electronic demarcation system |
KR19990025888A (en) | 1997-09-19 | 1999-04-06 | 손욱 | Manufacturing Method of Anode Plate for Lithium-Based Secondary Battery |
US5933102A (en) | 1997-09-24 | 1999-08-03 | Tanisys Technology, Inc. | Capacitive sensitive switch method and system |
JPH11102220A (en) | 1997-09-26 | 1999-04-13 | Minolta Co Ltd | Controller for moving body |
JPH11102219A (en) * | 1997-09-26 | 1999-04-13 | Minolta Co Ltd | Controller for moving body |
US6076026A (en) | 1997-09-30 | 2000-06-13 | Motorola, Inc. | Method and device for vehicle control events data recording and securing |
US20010032278A1 (en) | 1997-10-07 | 2001-10-18 | Brown Stephen J. | Remote generation and distribution of command programs for programmable devices |
SE511504C2 (en) | 1997-10-17 | 1999-10-11 | Apogeum Ab | Method and apparatus for associating anonymous reflectors to detected angular positions |
US5974365A (en) | 1997-10-23 | 1999-10-26 | The United States Of America As Represented By The Secretary Of The Army | System for measuring the location and orientation of an object |
DE19747318C1 (en) | 1997-10-27 | 1999-05-27 | Kaercher Gmbh & Co Alfred | Cleaning device |
US5943730A (en) | 1997-11-24 | 1999-08-31 | Tennant Company | Scrubber vac-fan seal |
DE69804253T2 (en) | 1997-11-27 | 2002-11-21 | Solar & Robotics Bruessel Brux | IMPROVEMENTS IN MOVING ROBOTS AND IN YOUR CONTROL SYSTEMS |
US6532404B2 (en) | 1997-11-27 | 2003-03-11 | Colens Andre | Mobile robots and their control system |
US6125498A (en) | 1997-12-05 | 2000-10-03 | Bissell Homecare, Inc. | Handheld extraction cleaner |
JPH11175149A (en) | 1997-12-10 | 1999-07-02 | Minolta Co Ltd | Autonomous traveling vehicle |
GB2332283A (en) | 1997-12-10 | 1999-06-16 | Nec Technologies | Coulometric battery state of charge metering |
JPH11174145A (en) | 1997-12-11 | 1999-07-02 | Minolta Co Ltd | Ultrasonic range finding sensor and autonomous driving vehicle |
US6055042A (en) | 1997-12-16 | 2000-04-25 | Caterpillar Inc. | Method and apparatus for detecting obstacles using multiple sensors for range selective detection |
JPH11178764A (en) | 1997-12-22 | 1999-07-06 | Honda Motor Co Ltd | Traveling robot |
JP3426487B2 (en) | 1997-12-22 | 2003-07-14 | 本田技研工業株式会社 | Cleaning robot |
SE523080C2 (en) * | 1998-01-08 | 2004-03-23 | Electrolux Ab | Docking system for self-propelled work tools |
SE511254C2 (en) | 1998-01-08 | 1999-09-06 | Electrolux Ab | Electronic search system for work tools |
US6003196A (en) | 1998-01-09 | 1999-12-21 | Royal Appliance Mfg. Co. | Upright vacuum cleaner with cyclonic airflow |
US5967747A (en) | 1998-01-20 | 1999-10-19 | Tennant Company | Low noise fan |
US5984880A (en) | 1998-01-20 | 1999-11-16 | Lander; Ralph H | Tactile feedback controlled by various medium |
US6099091A (en) | 1998-01-20 | 2000-08-08 | Letro Products, Inc. | Traction enhanced wheel apparatus |
JP3479212B2 (en) | 1998-01-21 | 2003-12-15 | 本田技研工業株式会社 | Control method and device for self-propelled robot |
CA2251295C (en) | 1998-01-27 | 2002-08-20 | Sharp Kabushiki Kaisha | Electric vacuum cleaner |
US6030464A (en) * | 1998-01-28 | 2000-02-29 | Azevedo; Steven | Method for diagnosing, cleaning and preserving carpeting and other fabrics |
JPH11213157A (en) | 1998-01-29 | 1999-08-06 | Minolta Co Ltd | Camera mounted mobile object |
DE19804195A1 (en) | 1998-02-03 | 1999-08-05 | Siemens Ag | Path planning procedure for a mobile unit for surface processing |
US6272936B1 (en) | 1998-02-20 | 2001-08-14 | Tekscan, Inc | Pressure sensor |
SE9800583D0 (en) | 1998-02-26 | 1998-02-26 | Electrolux Ab | Nozzle |
US6036572A (en) | 1998-03-04 | 2000-03-14 | Sze; Chau-King | Drive for toy with suction cup feet |
US6026539A (en) * | 1998-03-04 | 2000-02-22 | Bissell Homecare, Inc. | Upright vacuum cleaner with full bag and clogged filter indicators thereon |
ITTO980209A1 (en) | 1998-03-12 | 1998-06-12 | Cavanna Spa | PROCEDURE FOR COMMANDING THE OPERATION OF MACHINES FOR THE TREATMENT OF ARTICLES, FOR EXAMPLE FOR THE PACKAGING OF PRODUCTS |
JPH11282533A (en) | 1998-03-26 | 1999-10-15 | Sharp Corp | Mobile robot system |
US6263989B1 (en) | 1998-03-27 | 2001-07-24 | Irobot Corporation | Robotic platform |
JP3479215B2 (en) | 1998-03-27 | 2003-12-15 | 本田技研工業株式会社 | Self-propelled robot control method and device by mark detection |
KR100384980B1 (en) | 1998-04-03 | 2003-06-02 | 마츠시타 덴끼 산교 가부시키가이샤 | Rotational brush device and electric instrument using same |
US6023813A (en) * | 1998-04-07 | 2000-02-15 | Spectrum Industrial Products, Inc. | Powered floor scrubber and buffer |
US6154279A (en) | 1998-04-09 | 2000-11-28 | John W. Newman | Method and apparatus for determining shapes of countersunk holes |
US6041471A (en) | 1998-04-09 | 2000-03-28 | Madvac International Inc. | Mobile walk-behind sweeper |
JPH11295412A (en) | 1998-04-09 | 1999-10-29 | Minolta Co Ltd | Apparatus for recognizing position of mobile |
AUPP299498A0 (en) | 1998-04-15 | 1998-05-07 | Commonwealth Scientific And Industrial Research Organisation | Method of tracking and sensing position of objects |
US6233504B1 (en) | 1998-04-16 | 2001-05-15 | California Institute Of Technology | Tool actuation and force feedback on robot-assisted microsurgery system |
DE19820628C1 (en) | 1998-05-08 | 1999-09-23 | Kaercher Gmbh & Co Alfred | Roller mounting or carpet sweeper |
IL124413A (en) | 1998-05-11 | 2001-05-20 | Friendly Robotics Ltd | System and method for area coverage with an autonomous robot |
JP3895464B2 (en) | 1998-05-11 | 2007-03-22 | 株式会社東海理化電機製作所 | Data carrier system |
EP2312363B1 (en) | 1998-05-25 | 2013-09-18 | Panasonic Corporation | Range finder device and camera |
US6941199B1 (en) | 1998-07-20 | 2005-09-06 | The Procter & Gamble Company | Robotic system |
BR9912304A (en) | 1998-07-20 | 2001-05-02 | Procter & Gamble | Robotic system |
JP2000047728A (en) | 1998-07-28 | 2000-02-18 | Denso Corp | Electric charging controller in moving robot system |
US6108859A (en) | 1998-07-29 | 2000-08-29 | Alto U. S. Inc. | High efficiency squeegee |
WO2000007492A1 (en) | 1998-07-31 | 2000-02-17 | Volker Sommer | Household robot for the automatic suction of dust from the floor surfaces |
US6112143A (en) | 1998-08-06 | 2000-08-29 | Caterpillar Inc. | Method and apparatus for establishing a perimeter defining an area to be traversed by a mobile machine |
EP1105782A2 (en) | 1998-08-10 | 2001-06-13 | Siemens Aktiengesellschaft | Method and device for determining a path around a defined reference position |
JP2000056831A (en) | 1998-08-12 | 2000-02-25 | Minolta Co Ltd | Moving travel vehicle |
US6088020A (en) | 1998-08-12 | 2000-07-11 | Mitsubishi Electric Information Technology Center America, Inc. (Ita) | Haptic device |
US6491127B1 (en) | 1998-08-14 | 2002-12-10 | 3Com Corporation | Powered caster wheel module for use on omnidirectional drive systems |
JP2000056006A (en) | 1998-08-14 | 2000-02-25 | Minolta Co Ltd | Position recognizing device for mobile |
JP3478476B2 (en) | 1998-08-18 | 2003-12-15 | シャープ株式会社 | Cleaning robot |
JP2000066722A (en) | 1998-08-19 | 2000-03-03 | Minolta Co Ltd | Autonomously traveling vehicle and rotation angle detection method |
JP2000075925A (en) | 1998-08-28 | 2000-03-14 | Minolta Co Ltd | Autonomous traveling vehicle |
US6216307B1 (en) | 1998-09-25 | 2001-04-17 | Cma Manufacturing Co. | Hand held cleaning device |
US20020104963A1 (en) | 1998-09-26 | 2002-08-08 | Vladimir Mancevski | Multidimensional sensing system for atomic force microscopy |
JP2000102499A (en) | 1998-09-30 | 2000-04-11 | Kankyo Co Ltd | Vacuum cleaner with rotary brush |
US6108269A (en) | 1998-10-01 | 2000-08-22 | Garmin Corporation | Method for elimination of passive noise interference in sonar |
CA2251243C (en) | 1998-10-21 | 2006-12-19 | Robert Dworkowski | Distance tracking control system for single pass topographical mapping |
DE19849978C2 (en) | 1998-10-29 | 2001-02-08 | Erwin Prasler | Self-propelled cleaning device |
EP1155787B1 (en) | 1998-11-30 | 2016-10-05 | Sony Corporation | Robot device and control method thereof |
JP3980205B2 (en) | 1998-12-17 | 2007-09-26 | コニカミノルタホールディングス株式会社 | Work robot |
GB9827779D0 (en) | 1998-12-18 | 1999-02-10 | Notetry Ltd | Improvements in or relating to appliances |
GB2344888A (en) | 1998-12-18 | 2000-06-21 | Notetry Ltd | Obstacle detection system |
GB2344750B (en) | 1998-12-18 | 2002-06-26 | Notetry Ltd | Vacuum cleaner |
GB2344747B (en) | 1998-12-18 | 2002-05-29 | Notetry Ltd | Autonomous vacuum cleaner |
GB2344745B (en) | 1998-12-18 | 2002-06-05 | Notetry Ltd | Vacuum cleaner |
US6513046B1 (en) | 1999-12-15 | 2003-01-28 | Tangis Corporation | Storing and recalling information to augment human memories |
GB2344884A (en) | 1998-12-18 | 2000-06-21 | Notetry Ltd | Light Detection Apparatus - eg for a robotic cleaning device |
GB2344751B (en) | 1998-12-18 | 2002-01-09 | Notetry Ltd | Vacuum cleaner |
US6108076A (en) | 1998-12-21 | 2000-08-22 | Trimble Navigation Limited | Method and apparatus for accurately positioning a tool on a mobile machine using on-board laser and positioning system |
US6339735B1 (en) * | 1998-12-29 | 2002-01-15 | Friendly Robotics Ltd. | Method for operating a robot |
KR200211751Y1 (en) | 1998-12-31 | 2001-02-01 | 송영소 | Dust collection tester for vacuum cleaner |
DE19900484A1 (en) | 1999-01-08 | 2000-08-10 | Wap Reinigungssysteme | Measuring system for residual dust monitoring for safety vacuums |
US6154917A (en) | 1999-01-08 | 2000-12-05 | Royal Appliance Mfg. Co. | Carpet extractor housing |
US6238451B1 (en) | 1999-01-08 | 2001-05-29 | Fantom Technologies Inc. | Vacuum cleaner |
US6282526B1 (en) | 1999-01-20 | 2001-08-28 | The United States Of America As Represented By The Secretary Of The Navy | Fuzzy logic based system and method for information processing with uncertain input data |
US6167332A (en) | 1999-01-28 | 2000-12-26 | International Business Machines Corporation | Method and apparatus suitable for optimizing an operation of a self-guided vehicle |
US6124694A (en) | 1999-03-18 | 2000-09-26 | Bancroft; Allen J. | Wide area navigation for a robot scrubber |
JP3513419B2 (en) | 1999-03-19 | 2004-03-31 | キヤノン株式会社 | Coordinate input device, control method therefor, and computer-readable memory |
JP2000275321A (en) | 1999-03-25 | 2000-10-06 | Ushio U-Tech Inc | Method and system for measuring position coordinate of traveling object |
JP4198262B2 (en) | 1999-03-29 | 2008-12-17 | 富士重工業株式会社 | Position adjustment mechanism of dust absorber in floor cleaning robot |
US6415203B1 (en) | 1999-05-10 | 2002-07-02 | Sony Corporation | Toboy device and method for controlling the same |
US7707082B1 (en) | 1999-05-25 | 2010-04-27 | Silverbrook Research Pty Ltd | Method and system for bill management |
US6202243B1 (en) | 1999-05-26 | 2001-03-20 | Tennant Company | Surface cleaning machine with multiple control positions |
GB2350696A (en) | 1999-05-28 | 2000-12-06 | Notetry Ltd | Visual status indicator for a robotic machine, eg a vacuum cleaner |
US6261379B1 (en) | 1999-06-01 | 2001-07-17 | Fantom Technologies Inc. | Floating agitator housing for a vacuum cleaner head |
WO2000074549A2 (en) * | 1999-06-08 | 2000-12-14 | S.C. Johnson Commercial Markets, Inc. | Floor cleaning apparatus |
JP3598881B2 (en) | 1999-06-09 | 2004-12-08 | 株式会社豊田自動織機 | Cleaning robot |
JP2003502993A (en) | 1999-06-11 | 2003-01-21 | アーベーベー・リサーチ・リミテッド | Method and apparatus for powering multiple actuators without using wires, actuators and primary windings for this purpose, and systems for machines with multiple actuators |
US6446302B1 (en) | 1999-06-14 | 2002-09-10 | Bissell Homecare, Inc. | Extraction cleaning machine with cleaning control |
ATE268196T1 (en) | 1999-06-17 | 2004-06-15 | Solar & Robotics S A | AUTOMATIC DEVICE FOR COLLECTING ITEMS |
WO2001000079A2 (en) | 1999-06-30 | 2001-01-04 | Nilfisk-Advance, Inc. | Riding floor scrubber |
JP4165965B2 (en) | 1999-07-09 | 2008-10-15 | フィグラ株式会社 | Autonomous work vehicle |
US6611738B2 (en) | 1999-07-12 | 2003-08-26 | Bryan J. Ruffner | Multifunctional mobile appliance |
GB9917232D0 (en) | 1999-07-23 | 1999-09-22 | Notetry Ltd | Method of operating a floor cleaning device |
GB9917348D0 (en) | 1999-07-24 | 1999-09-22 | Procter & Gamble | Robotic system |
US6283034B1 (en) | 1999-07-30 | 2001-09-04 | D. Wayne Miles, Jr. | Remotely armed ammunition |
US6677938B1 (en) | 1999-08-04 | 2004-01-13 | Trimble Navigation, Ltd. | Generating positional reality using RTK integrated with scanning lasers |
JP3700487B2 (en) | 1999-08-30 | 2005-09-28 | トヨタ自動車株式会社 | Vehicle position detection device |
EP1091273B1 (en) | 1999-08-31 | 2005-10-05 | Swisscom AG | Mobile robot and method for controlling a mobile robot |
JP2001087182A (en) | 1999-09-20 | 2001-04-03 | Mitsubishi Electric Corp | Vacuum cleaner |
US6480762B1 (en) | 1999-09-27 | 2002-11-12 | Olympus Optical Co., Ltd. | Medical apparatus supporting system |
DE19948974A1 (en) | 1999-10-11 | 2001-04-12 | Nokia Mobile Phones Ltd | Method for recognizing and selecting a tone sequence, in particular a piece of music |
US6530102B1 (en) | 1999-10-20 | 2003-03-11 | Tennant Company | Scrubber head anti-vibration mounting |
JP2001121544A (en) | 1999-10-27 | 2001-05-08 | Ikeda Bussan Co Ltd | Foam molding apparatus |
JP2001121455A (en) | 1999-10-29 | 2001-05-08 | Sony Corp | Charge system of and charge control method for mobile robot, charge station, mobile robot and its control method |
JP4207336B2 (en) | 1999-10-29 | 2009-01-14 | ソニー株式会社 | Charging system for mobile robot, method for searching for charging station, mobile robot, connector, and electrical connection structure |
JP2001216482A (en) | 1999-11-10 | 2001-08-10 | Matsushita Electric Ind Co Ltd | Electric equipment and portable recording medium |
IL149558A0 (en) | 1999-11-18 | 2002-11-10 | Procter & Gamble | Home cleaning robot |
US6548982B1 (en) | 1999-11-19 | 2003-04-15 | Regents Of The University Of Minnesota | Miniature robotic vehicles and methods of controlling same |
US6374155B1 (en) | 1999-11-24 | 2002-04-16 | Personal Robotics, Inc. | Autonomous multi-platform robot system |
US6362875B1 (en) | 1999-12-10 | 2002-03-26 | Cognax Technology And Investment Corp. | Machine vision system and method for inspection, homing, guidance and docking with respect to remote objects |
US6263539B1 (en) | 1999-12-23 | 2001-07-24 | Taf Baig | Carpet/floor cleaning wand and machine |
JP4019586B2 (en) | 1999-12-27 | 2007-12-12 | 富士電機リテイルシステムズ株式会社 | Store management system, information management method, and computer-readable recording medium recording a program for causing a computer to execute the method |
JP2001197008A (en) | 2000-01-13 | 2001-07-19 | Tsubakimoto Chain Co | Mobile optical communication system, photodetection device, optical communication device, and carrier device |
US6467122B2 (en) | 2000-01-14 | 2002-10-22 | Bissell Homecare, Inc. | Deep cleaner with tool mount |
US6146041A (en) | 2000-01-19 | 2000-11-14 | Chen; He-Jin | Sponge mop with cleaning tank attached thereto |
US8412377B2 (en) | 2000-01-24 | 2013-04-02 | Irobot Corporation | Obstacle following sensor scheme for a mobile robot |
US6332400B1 (en) | 2000-01-24 | 2001-12-25 | The United States Of America As Represented By The Secretary Of The Navy | Initiating device for use with telemetry systems |
US7155308B2 (en) * | 2000-01-24 | 2006-12-26 | Irobot Corporation | Robot obstacle detection system |
US6594844B2 (en) * | 2000-01-24 | 2003-07-22 | Irobot Corporation | Robot obstacle detection system |
GB2358843B (en) * | 2000-02-02 | 2002-01-23 | Logical Technologies Ltd | An autonomous mobile apparatus for performing work within a pre-defined area |
JP2001289939A (en) | 2000-02-02 | 2001-10-19 | Mitsubishi Electric Corp | Ultrasonic wave transmitter/receiver and peripheral obstacle detector for vehicle |
US6418586B2 (en) | 2000-02-02 | 2002-07-16 | Alto U.S., Inc. | Liquid extraction machine |
US6421870B1 (en) | 2000-02-04 | 2002-07-23 | Tennant Company | Stacked tools for overthrow sweeping |
DE10006493C2 (en) | 2000-02-14 | 2002-02-07 | Hilti Ag | Method and device for optoelectronic distance measurement |
US6276478B1 (en) | 2000-02-16 | 2001-08-21 | Kathleen Garrubba Hopkins | Adherent robot |
DE10007864A1 (en) | 2000-02-21 | 2001-08-30 | Wittenstein Gmbh & Co Kg | Detecting, determining, locating at least one object and/or space involves transmitting spatial coordinates and/or coordinates of any object in space to robot to orient it |
WO2001062173A2 (en) | 2000-02-25 | 2001-08-30 | The Board Of Trustees Of The Leland Stanford Junior University | Methods and apparatuses for maintaining a trajectory in sterotaxi for tracking a target inside a body |
US6285930B1 (en) | 2000-02-28 | 2001-09-04 | Case Corporation | Tracking improvement for a vision guidance system |
US6278918B1 (en) | 2000-02-28 | 2001-08-21 | Case Corporation | Region of interest selection for a vision guidance system |
US6490539B1 (en) | 2000-02-28 | 2002-12-03 | Case Corporation | Region of interest selection for varying distances between crop rows for a vision guidance system |
JP2001258807A (en) | 2000-03-16 | 2001-09-25 | Sharp Corp | Self-traveling vacuum cleaner |
JP2001265437A (en) | 2000-03-16 | 2001-09-28 | Figla Co Ltd | Traveling object controller |
US6443509B1 (en) | 2000-03-21 | 2002-09-03 | Friendly Robotics Ltd. | Tactile sensor |
US6540424B1 (en) | 2000-03-24 | 2003-04-01 | The Clorox Company | Advanced cleaning system |
JP2001275908A (en) | 2000-03-30 | 2001-10-09 | Matsushita Seiko Co Ltd | Cleaning device |
JP4032603B2 (en) | 2000-03-31 | 2008-01-16 | コニカミノルタセンシング株式会社 | 3D measuring device |
JP2001277163A (en) | 2000-04-03 | 2001-10-09 | Sony Corp | Device and method for controlling robot |
JP4480843B2 (en) | 2000-04-03 | 2010-06-16 | ソニー株式会社 | Legged mobile robot, control method therefor, and relative movement measurement sensor for legged mobile robot |
US20010045883A1 (en) | 2000-04-03 | 2001-11-29 | Holdaway Charles R. | Wireless digital launch or firing system |
US6662889B2 (en) | 2000-04-04 | 2003-12-16 | Irobot Corporation | Wheeled platforms |
US6956348B2 (en) | 2004-01-28 | 2005-10-18 | Irobot Corporation | Debris sensor for cleaning apparatus |
US6870792B2 (en) | 2000-04-04 | 2005-03-22 | Irobot Corporation | Sonar Scanner |
KR100332984B1 (en) | 2000-04-24 | 2002-04-15 | 이충전 | Combine structure of edge brush in a vaccum cleaner type upright |
DE10020503A1 (en) | 2000-04-26 | 2001-10-31 | Bsh Bosch Siemens Hausgeraete | Machining appliance incorporates vacuum generator between machining appliance and machined surface, with support and working appliance |
JP2001306170A (en) | 2000-04-27 | 2001-11-02 | Canon Inc | Image processing device, image processing system, method for restricting use of image processing device and storage medium |
US6769004B2 (en) | 2000-04-27 | 2004-07-27 | Irobot Corporation | Method and system for incremental stack scanning |
US6845297B2 (en) * | 2000-05-01 | 2005-01-18 | Irobot Corporation | Method and system for remote control of mobile robot |
EP2363774B1 (en) | 2000-05-01 | 2017-06-21 | iRobot Corporation | Method and system for remote control of mobile robot |
WO2001082766A2 (en) * | 2000-05-02 | 2001-11-08 | Personal Robotics, Inc. | Autonomous floor mopping apparatus |
US6633150B1 (en) | 2000-05-02 | 2003-10-14 | Personal Robotics, Inc. | Apparatus and method for improving traction for a mobile robot |
JP2001320781A (en) | 2000-05-10 | 2001-11-16 | Inst Of Physical & Chemical Res | Support system using data carrier system |
US6454036B1 (en) | 2000-05-15 | 2002-09-24 | ′Bots, Inc. | Autonomous vehicle navigation system and method |
US6854148B1 (en) * | 2000-05-26 | 2005-02-15 | Poolvernguegen | Four-wheel-drive automatic swimming pool cleaner |
US6481515B1 (en) | 2000-05-30 | 2002-11-19 | The Procter & Gamble Company | Autonomous mobile surface treating apparatus |
US6385515B1 (en) | 2000-06-15 | 2002-05-07 | Case Corporation | Trajectory path planner for a vision guidance system |
US6629028B2 (en) | 2000-06-29 | 2003-09-30 | Riken | Method and system of optical guidance of mobile body |
US6397429B1 (en) | 2000-06-30 | 2002-06-04 | Nilfisk-Advance, Inc. | Riding floor scrubber |
US6539284B2 (en) | 2000-07-25 | 2003-03-25 | Axonn Robotics, Llc | Socially interactive autonomous robot |
EP1176487A1 (en) | 2000-07-27 | 2002-01-30 | Gmd - Forschungszentrum Informationstechnik Gmbh | Autonomously navigating robot system |
US6571422B1 (en) | 2000-08-01 | 2003-06-03 | The Hoover Company | Vacuum cleaner with a microprocessor-based dirt detection circuit |
KR100391179B1 (en) | 2000-08-02 | 2003-07-12 | 한국전력공사 | Teleoperated mobile cleanup device for highly radioactive fine waste |
US6720879B2 (en) * | 2000-08-08 | 2004-04-13 | Time-N-Space Technology, Inc. | Animal collar including tracking and location device |
JP2002073170A (en) | 2000-08-25 | 2002-03-12 | Matsushita Electric Ind Co Ltd | Movable working robot |
US6832407B2 (en) | 2000-08-25 | 2004-12-21 | The Hoover Company | Moisture indicator for wet pick-up suction cleaner |
US7388879B2 (en) | 2000-08-28 | 2008-06-17 | Sony Corporation | Communication device and communication method network system and robot apparatus |
JP3674481B2 (en) | 2000-09-08 | 2005-07-20 | 松下電器産業株式会社 | Self-propelled vacuum cleaner |
US7040869B2 (en) | 2000-09-14 | 2006-05-09 | Jan W. Beenker | Method and device for conveying media |
KR20020022444A (en) | 2000-09-20 | 2002-03-27 | 김대홍 | Fuselage and wings and model plane using the same |
US20050255425A1 (en) | 2000-09-21 | 2005-11-17 | Pierson Paul R | Mixing tip for dental materials |
US6502657B2 (en) * | 2000-09-22 | 2003-01-07 | The Charles Stark Draper Laboratory, Inc. | Transformable vehicle |
EP1191166A1 (en) | 2000-09-26 | 2002-03-27 | The Procter & Gamble Company | Process of cleaning the inner surface of a water-containing vessel |
US6674259B1 (en) | 2000-10-06 | 2004-01-06 | Innovation First, Inc. | System and method for managing and controlling a robot competition |
USD458318S1 (en) | 2000-10-10 | 2002-06-04 | Sharper Image Corporation | Robot |
US6658693B1 (en) | 2000-10-12 | 2003-12-09 | Bissell Homecare, Inc. | Hand-held extraction cleaner with turbine-driven brush |
US6690993B2 (en) * | 2000-10-12 | 2004-02-10 | R. Foulke Development Company, Llc | Reticle storage system |
US6457206B1 (en) | 2000-10-20 | 2002-10-01 | Scott H. Judson | Remote-controlled vacuum cleaner |
NO313533B1 (en) | 2000-10-30 | 2002-10-21 | Torbjoern Aasen | Mobile robot |
US6615885B1 (en) | 2000-10-31 | 2003-09-09 | Irobot Corporation | Resilient wheel structure |
JP2002307354A (en) | 2000-11-07 | 2002-10-23 | Sega Toys:Kk | Electronic toy |
AUPR154400A0 (en) | 2000-11-17 | 2000-12-14 | Duplex Cleaning Machines Pty. Limited | Robot machine |
US6496754B2 (en) | 2000-11-17 | 2002-12-17 | Samsung Kwangju Electronics Co., Ltd. | Mobile robot and course adjusting method thereof |
US6572711B2 (en) | 2000-12-01 | 2003-06-03 | The Hoover Company | Multi-purpose position sensitive floor cleaning device |
US6571415B2 (en) | 2000-12-01 | 2003-06-03 | The Hoover Company | Random motion cleaner |
SE0004465D0 (en) | 2000-12-04 | 2000-12-04 | Abb Ab | Robot system |
US6684511B2 (en) | 2000-12-14 | 2004-02-03 | Wahl Clipper Corporation | Hair clipping device with rotating bladeset having multiple cutting edges |
JP3946499B2 (en) | 2000-12-27 | 2007-07-18 | フジノン株式会社 | Method for detecting posture of object to be observed and apparatus using the same |
US6661239B1 (en) | 2001-01-02 | 2003-12-09 | Irobot Corporation | Capacitive sensor systems and methods with increased resolution and automatic calibration |
US6388013B1 (en) | 2001-01-04 | 2002-05-14 | Equistar Chemicals, Lp | Polyolefin fiber compositions |
US6444003B1 (en) | 2001-01-08 | 2002-09-03 | Terry Lee Sutcliffe | Filter apparatus for sweeper truck hopper |
JP4479101B2 (en) | 2001-01-12 | 2010-06-09 | パナソニック株式会社 | Self-propelled vacuum cleaner |
JP2002204768A (en) | 2001-01-12 | 2002-07-23 | Matsushita Electric Ind Co Ltd | Self-propelled cleaner |
US6658325B2 (en) | 2001-01-16 | 2003-12-02 | Stephen Eliot Zweig | Mobile robotic with web server and digital radio links |
US6690134B1 (en) | 2001-01-24 | 2004-02-10 | Irobot Corporation | Method and system for robot localization and confinement |
US6883201B2 (en) | 2002-01-03 | 2005-04-26 | Irobot Corporation | Autonomous floor-cleaning robot |
US7571511B2 (en) | 2002-01-03 | 2009-08-11 | Irobot Corporation | Autonomous floor-cleaning robot |
WO2002058527A1 (en) | 2001-01-25 | 2002-08-01 | Koninklijke Philips Electronics N.V. | Robot for vacuum cleaning surfaces via a cycloid movement |
FR2820216B1 (en) | 2001-01-26 | 2003-04-25 | Wany Sa | METHOD AND DEVICE FOR DETECTING OBSTACLE AND MEASURING DISTANCE BY INFRARED RADIATION |
ITMI20010193A1 (en) | 2001-02-01 | 2002-08-01 | Pierangelo Bertola | CRUSHER COLLECTION BRUSH WITH MEANS PERFECTED FOR THE HOLDING OF DIRT COLLECTION |
ITFI20010021A1 (en) | 2001-02-07 | 2002-08-07 | Zucchetti Ct Sistemi S P A | AUTOMATIC VACUUM CLEANING APPARATUS FOR FLOORS |
USD471243S1 (en) | 2001-02-09 | 2003-03-04 | Irobot Corporation | Robot |
US6530117B2 (en) | 2001-02-12 | 2003-03-11 | Robert A. Peterson | Wet vacuum |
US6810305B2 (en) | 2001-02-16 | 2004-10-26 | The Procter & Gamble Company | Obstruction management system for robots |
JP4438237B2 (en) | 2001-02-22 | 2010-03-24 | ソニー株式会社 | Receiving apparatus and method, recording medium, and program |
CA2438069C (en) | 2001-02-24 | 2010-07-20 | Dyson Limited | A collecting chamber for a vacuum cleaner |
SE518483C2 (en) | 2001-02-28 | 2002-10-15 | Electrolux Ab | Wheel suspension for a self-cleaning cleaner |
SE518482C2 (en) * | 2001-02-28 | 2002-10-15 | Electrolux Ab | Obstacle detection system for a self-cleaning cleaner |
DE10110905A1 (en) | 2001-03-07 | 2002-10-02 | Kaercher Gmbh & Co Alfred | Soil cultivation device, in particular floor cleaning device |
DE10110906A1 (en) | 2001-03-07 | 2002-09-19 | Kaercher Gmbh & Co Alfred | sweeper |
DE10110907A1 (en) | 2001-03-07 | 2002-09-19 | Kaercher Gmbh & Co Alfred | Floor cleaning device |
SE0100926L (en) | 2001-03-15 | 2002-10-01 | Electrolux Ab | Proximity sensing system for an autonomous device and ultrasonic sensor |
SE518683C2 (en) | 2001-03-15 | 2002-11-05 | Electrolux Ab | Method and apparatus for determining the position of an autonomous apparatus |
SE0100924D0 (en) | 2001-03-15 | 2001-03-15 | Electrolux Ab | Energy-efficient navigation of an autonomous surface treatment apparatus |
WO2002074150A1 (en) | 2001-03-16 | 2002-09-26 | Vision Robotics Corporation | Autonomous mobile canister vacuum cleaner |
SE523318C2 (en) | 2001-03-20 | 2004-04-13 | Ingenjoers N D C Netzler & Dah | Camera based distance and angle gauges |
JP3849442B2 (en) | 2001-03-27 | 2006-11-22 | 株式会社日立製作所 | Self-propelled vacuum cleaner |
DE10116892A1 (en) | 2001-04-04 | 2002-10-17 | Outokumpu Oy | Process for conveying granular solids |
US7328196B2 (en) * | 2003-12-31 | 2008-02-05 | Vanderbilt University | Architecture for multiple interacting robot intelligences |
JP2002369778A (en) | 2001-04-13 | 2002-12-24 | Yashima Denki Co Ltd | Dust detecting device and vacuum cleaner |
RU2220643C2 (en) | 2001-04-18 | 2004-01-10 | Самсунг Гванджу Электроникс Ко., Лтд. | Automatic cleaning apparatus, automatic cleaning system and method for controlling of system (versions) |
KR100437372B1 (en) | 2001-04-18 | 2004-06-25 | 삼성광주전자 주식회사 | Robot cleaning System using by mobile communication network |
AU767561B2 (en) | 2001-04-18 | 2003-11-13 | Samsung Kwangju Electronics Co., Ltd. | Robot cleaner, system employing the same and method for reconnecting to external recharging device |
US6929548B2 (en) | 2002-04-23 | 2005-08-16 | Xiaoling Wang | Apparatus and a method for more realistic shooting video games on computers or similar devices |
FR2823842B1 (en) | 2001-04-24 | 2003-09-05 | Romain Granger | MEASURING METHOD FOR DETERMINING THE POSITION AND ORIENTATION OF A MOBILE ASSEMBLY, AND DEVICE FOR CARRYING OUT SAID METHOD |
US6408226B1 (en) | 2001-04-24 | 2002-06-18 | Sandia Corporation | Cooperative system and method using mobile robots for testing a cooperative search controller |
US6687571B1 (en) * | 2001-04-24 | 2004-02-03 | Sandia Corporation | Cooperating mobile robots |
US6438456B1 (en) | 2001-04-24 | 2002-08-20 | Sandia Corporation | Portable control device for networked mobile robots |
JP2002323925A (en) | 2001-04-26 | 2002-11-08 | Matsushita Electric Ind Co Ltd | Moving working robot |
US6540607B2 (en) | 2001-04-26 | 2003-04-01 | Midway Games West | Video game position and orientation detection system |
US20020159051A1 (en) | 2001-04-30 | 2002-10-31 | Mingxian Guo | Method for optical wavelength position searching and tracking |
US7809944B2 (en) | 2001-05-02 | 2010-10-05 | Sony Corporation | Method and apparatus for providing information for decrypting content, and program executed on information processor |
US6487474B1 (en) | 2001-05-10 | 2002-11-26 | International Business Machines Corporation | Automated data storage library with multipurpose slots providing user-selected control path to shared robotic device |
JP2002333920A (en) | 2001-05-11 | 2002-11-22 | Figla Co Ltd | Movement controller for traveling object for work |
US6711280B2 (en) | 2001-05-25 | 2004-03-23 | Oscar M. Stafsudd | Method and apparatus for intelligent ranging via image subtraction |
WO2002096184A1 (en) | 2001-05-28 | 2002-12-05 | Solar & Robotics Sa | Improvement to a robotic lawnmower |
JP4802397B2 (en) | 2001-05-30 | 2011-10-26 | コニカミノルタホールディングス株式会社 | Image photographing system and operation device |
US6763282B2 (en) | 2001-06-04 | 2004-07-13 | Time Domain Corp. | Method and system for controlling a robot |
JP2002355206A (en) | 2001-06-04 | 2002-12-10 | Matsushita Electric Ind Co Ltd | Traveling vacuum cleaner |
JP2002366227A (en) | 2001-06-05 | 2002-12-20 | Matsushita Electric Ind Co Ltd | Movable working robot |
JP3356170B1 (en) | 2001-06-05 | 2002-12-09 | 松下電器産業株式会社 | Cleaning robot |
JP4017840B2 (en) | 2001-06-05 | 2007-12-05 | 松下電器産業株式会社 | Self-propelled vacuum cleaner |
US6901624B2 (en) | 2001-06-05 | 2005-06-07 | Matsushita Electric Industrial Co., Ltd. | Self-moving cleaner |
US6670817B2 (en) | 2001-06-07 | 2003-12-30 | Heidelberger Druckmaschinen Ag | Capacitive toner level detection |
US20050053912A1 (en) | 2001-06-11 | 2005-03-10 | Roth Mark B. | Methods for inducing reversible stasis |
EP2287696B1 (en) | 2001-06-12 | 2018-01-10 | iRobot Corporation | Method and system for multi-code coverage for an autonomous robot |
US7429843B2 (en) | 2001-06-12 | 2008-09-30 | Irobot Corporation | Method and system for multi-mode coverage for an autonomous robot |
US6473167B1 (en) | 2001-06-14 | 2002-10-29 | Ascension Technology Corporation | Position and orientation determination using stationary fan beam sources and rotating mirrors to sweep fan beams |
US6507773B2 (en) | 2001-06-14 | 2003-01-14 | Sharper Image Corporation | Multi-functional robot with remote and video system |
US6685092B2 (en) | 2001-06-15 | 2004-02-03 | Symbol Technologies, Inc. | Molded imager optical package and miniaturized linear sensor-based code reading engines |
JP2003005296A (en) | 2001-06-18 | 2003-01-08 | Noritsu Koki Co Ltd | Photographic processing device |
US6604021B2 (en) | 2001-06-21 | 2003-08-05 | Advanced Telecommunications Research Institute International | Communication robot |
JP4553524B2 (en) | 2001-06-27 | 2010-09-29 | フィグラ株式会社 | Liquid application method |
JP2003010076A (en) | 2001-06-27 | 2003-01-14 | Figla Co Ltd | Vacuum cleaner |
JP4032672B2 (en) | 2001-06-29 | 2008-01-16 | カシオ電子工業株式会社 | Printing system |
JP2003015740A (en) | 2001-07-04 | 2003-01-17 | Figla Co Ltd | Traveling controller for traveling object for work |
US6622465B2 (en) | 2001-07-10 | 2003-09-23 | Deere & Company | Apparatus and method for a material collection fill indicator |
JP4601215B2 (en) | 2001-07-16 | 2010-12-22 | 三洋電機株式会社 | Cryogenic refrigerator |
US20030233870A1 (en) | 2001-07-18 | 2003-12-25 | Xidex Corporation | Multidimensional sensing system for atomic force microscopy |
US20030015232A1 (en) * | 2001-07-23 | 2003-01-23 | Thomas Nguyen | Portable car port |
JP2003036116A (en) | 2001-07-25 | 2003-02-07 | Toshiba Tec Corp | Autonomous travel robot |
US6671925B2 (en) | 2001-07-30 | 2004-01-06 | Tennant Company | Chemical dispenser for a hard floor surface cleaner |
US6735811B2 (en) | 2001-07-30 | 2004-05-18 | Tennant Company | Cleaning liquid dispensing system for a hard floor surface cleaner |
US6585827B2 (en) | 2001-07-30 | 2003-07-01 | Tennant Company | Apparatus and method of use for cleaning a hard floor surface utilizing an aerated cleaning liquid |
US7051399B2 (en) * | 2001-07-30 | 2006-05-30 | Tennant Company | Cleaner cartridge |
JP2003038401A (en) | 2001-08-01 | 2003-02-12 | Toshiba Tec Corp | Cleaner |
JP2003038402A (en) | 2001-08-02 | 2003-02-12 | Toshiba Tec Corp | Cleaner |
JP2003047579A (en) | 2001-08-06 | 2003-02-18 | Toshiba Tec Corp | Vacuum cleaner |
KR100420171B1 (en) | 2001-08-07 | 2004-03-02 | 삼성광주전자 주식회사 | Robot cleaner and system therewith and method of driving thereof |
FR2828589B1 (en) | 2001-08-07 | 2003-12-05 | France Telecom | ELECTRIC CONNECTION SYSTEM BETWEEN A VEHICLE AND A CHARGING STATION OR THE LIKE |
US6580246B2 (en) | 2001-08-13 | 2003-06-17 | Steven Jacobs | Robot touch shield |
JP2003061882A (en) | 2001-08-28 | 2003-03-04 | Matsushita Electric Ind Co Ltd | Self-propelled vacuum cleaner |
US20030168081A1 (en) | 2001-09-06 | 2003-09-11 | Timbucktoo Mfg., Inc. | Motor-driven, portable, adjustable spray system for cleaning hard surfaces |
JP2003084994A (en) | 2001-09-12 | 2003-03-20 | Olympus Optical Co Ltd | Medical system |
DE10242257C5 (en) | 2001-09-14 | 2017-05-11 | Vorwerk & Co. Interholding Gmbh | Automatically movable floor dust collecting device, and combination of such a collecting device and a base station |
WO2003024292A2 (en) | 2001-09-14 | 2003-03-27 | Vorwerk & Co. Interholding Gmbh | Automatically displaceable floor-type dust collector and combination of said collector and a base station |
JP2003179556A (en) | 2001-09-21 | 2003-06-27 | Casio Comput Co Ltd | Information transmission method, information transmission system, imaging apparatus and information transmission method |
IL145680A0 (en) | 2001-09-26 | 2002-06-30 | Friendly Robotics Ltd | Robotic vacuum cleaner |
WO2003026474A2 (en) | 2001-09-26 | 2003-04-03 | Friendly Robotics Ltd. | Robotic vacuum cleaner |
US6624744B1 (en) | 2001-10-05 | 2003-09-23 | William Neil Wilson | Golf cart keyless control system |
US6980229B1 (en) | 2001-10-16 | 2005-12-27 | Ebersole Jr John F | System for precise rotational and positional tracking |
GB0126492D0 (en) | 2001-11-03 | 2002-01-02 | Dyson Ltd | An autonomous machine |
GB0126497D0 (en) | 2001-11-03 | 2002-01-02 | Dyson Ltd | An autonomous machine |
DE10155271A1 (en) | 2001-11-09 | 2003-05-28 | Bosch Gmbh Robert | Common rail injector |
US6776817B2 (en) | 2001-11-26 | 2004-08-17 | Honeywell International Inc. | Airflow sensor, system and method for detecting airflow within an air handling system |
JP2003167628A (en) | 2001-11-28 | 2003-06-13 | Figla Co Ltd | Autonomous traveling service car |
KR100449710B1 (en) | 2001-12-10 | 2004-09-22 | 삼성전자주식회사 | Remote pointing method and apparatus therefor |
US6860206B1 (en) | 2001-12-14 | 2005-03-01 | Irobot Corporation | Remote digital firing system |
JP3626724B2 (en) | 2001-12-14 | 2005-03-09 | 株式会社日立製作所 | Self-propelled vacuum cleaner |
JP3986310B2 (en) | 2001-12-19 | 2007-10-03 | シャープ株式会社 | Parent-child type vacuum cleaner |
JP3907169B2 (en) | 2001-12-21 | 2007-04-18 | 富士フイルム株式会社 | Mobile robot |
JP2003190064A (en) | 2001-12-25 | 2003-07-08 | Duskin Co Ltd | Self-traveling vacuum cleaner |
US7335271B2 (en) | 2002-01-02 | 2008-02-26 | Lewis & Clark College | Adhesive microstructure and method of forming same |
US6886651B1 (en) | 2002-01-07 | 2005-05-03 | Massachusetts Institute Of Technology | Material transportation system |
USD474312S1 (en) | 2002-01-11 | 2003-05-06 | The Hoover Company | Robotic vacuum cleaner |
JP4088589B2 (en) | 2002-01-18 | 2008-05-21 | 株式会社日立製作所 | Radar equipment |
US9128486B2 (en) | 2002-01-24 | 2015-09-08 | Irobot Corporation | Navigational control system for a robotic device |
EP1331537B1 (en) | 2002-01-24 | 2005-08-03 | iRobot Corporation | Method and system for robot localization and confinement of workspace |
US6674687B2 (en) | 2002-01-25 | 2004-01-06 | Navcom Technology, Inc. | System and method for navigation using two-way ultrasonic positioning |
US6856811B2 (en) * | 2002-02-01 | 2005-02-15 | Warren L. Burdue | Autonomous portable communication network |
US6844606B2 (en) | 2002-02-04 | 2005-01-18 | Delphi Technologies, Inc. | Surface-mount package for an optical sensing device and method of manufacture |
JP2003241836A (en) | 2002-02-19 | 2003-08-29 | Keio Gijuku | Control method and apparatus for free-running mobile unit |
US6735812B2 (en) | 2002-02-22 | 2004-05-18 | Tennant Company | Dual mode carpet cleaning apparatus utilizing an extraction device and a soil transfer cleaning medium |
US6756703B2 (en) | 2002-02-27 | 2004-06-29 | Chi Che Chang | Trigger switch module |
US7860680B2 (en) | 2002-03-07 | 2010-12-28 | Microstrain, Inc. | Robotic system for powering and interrogating sensors |
JP3812463B2 (en) | 2002-03-08 | 2006-08-23 | 株式会社日立製作所 | Direction detecting device and self-propelled cleaner equipped with the same |
JP3863447B2 (en) | 2002-03-08 | 2006-12-27 | インターナショナル・ビジネス・マシーンズ・コーポレーション | Authentication system, firmware device, electrical device, and authentication method |
JP2002360482A (en) | 2002-03-15 | 2002-12-17 | Matsushita Electric Ind Co Ltd | Self-propelled cleaner |
US6658354B2 (en) | 2002-03-15 | 2003-12-02 | American Gnc Corporation | Interruption free navigator |
US6832139B2 (en) | 2002-03-21 | 2004-12-14 | Rapistan Systems Advertising Corp. | Graphical system configuration program for material handling |
JP4032793B2 (en) | 2002-03-27 | 2008-01-16 | ソニー株式会社 | Charging system, charging control method, robot apparatus, charging control program, and recording medium |
JP2004001162A (en) * | 2002-03-28 | 2004-01-08 | Fuji Photo Film Co Ltd | Pet robot charging system, receiving arrangement, robot, and robot system |
US7103457B2 (en) | 2002-03-28 | 2006-09-05 | Dean Technologies, Inc. | Programmable lawn mower |
JP2003296855A (en) | 2002-03-29 | 2003-10-17 | Toshiba Corp | Monitoring device |
KR20030082040A (en) | 2002-04-16 | 2003-10-22 | 삼성광주전자 주식회사 | Robot cleaner |
JP2003304992A (en) | 2002-04-17 | 2003-10-28 | Hitachi Ltd | Self-running type vacuum cleaner |
US20040030449A1 (en) * | 2002-04-22 | 2004-02-12 | Neal Solomon | Methods and apparatus for multi robotic system involving coordination of weaponized unmanned underwater vehicles |
US20040068416A1 (en) | 2002-04-22 | 2004-04-08 | Neal Solomon | System, method and apparatus for implementing a mobile sensor network |
US20040030570A1 (en) * | 2002-04-22 | 2004-02-12 | Neal Solomon | System, methods and apparatus for leader-follower model of mobile robotic system aggregation |
US20040068351A1 (en) | 2002-04-22 | 2004-04-08 | Neal Solomon | System, methods and apparatus for integrating behavior-based approach into hybrid control model for use with mobile robotic vehicles |
US20040068415A1 (en) | 2002-04-22 | 2004-04-08 | Neal Solomon | System, methods and apparatus for coordination of and targeting for mobile robotic vehicles |
US20040030448A1 (en) * | 2002-04-22 | 2004-02-12 | Neal Solomon | System, methods and apparatus for managing external computation and sensor resources applied to mobile robotic network |
US20040030571A1 (en) * | 2002-04-22 | 2004-02-12 | Neal Solomon | System, method and apparatus for automated collective mobile robotic vehicles used in remote sensing surveillance |
JP2003310509A (en) | 2002-04-23 | 2003-11-05 | Hitachi Ltd | Mobile cleaner |
US6691058B2 (en) * | 2002-04-29 | 2004-02-10 | Hewlett-Packard Development Company, L.P. | Determination of pharmaceutical expiration date |
US7113847B2 (en) * | 2002-05-07 | 2006-09-26 | Royal Appliance Mfg. Co. | Robotic vacuum with removable portable vacuum and semi-automated environment mapping |
US6836701B2 (en) | 2002-05-10 | 2004-12-28 | Royal Appliance Mfg. Co. | Autonomous multi-platform robotic system |
JP2003330543A (en) | 2002-05-17 | 2003-11-21 | Toshiba Tec Corp | Charging type autonomous moving system |
JP2003340759A (en) | 2002-05-20 | 2003-12-02 | Sony Corp | Robot device and robot control method, recording medium and program |
GB0211644D0 (en) | 2002-05-21 | 2002-07-03 | Wesby Philip B | System and method for remote asset management |
DE10226853B3 (en) | 2002-06-15 | 2004-02-19 | Kuka Roboter Gmbh | Method for limiting the force of a robot part |
US6967275B2 (en) | 2002-06-25 | 2005-11-22 | Irobot Corporation | Song-matching system and method |
KR100483548B1 (en) * | 2002-07-26 | 2005-04-15 | 삼성광주전자 주식회사 | Robot cleaner and system and method of controlling thereof |
KR100556612B1 (en) * | 2002-06-29 | 2006-03-06 | 삼성전자주식회사 | Apparatus and method of localization using laser |
US6750783B2 (en) | 2002-07-05 | 2004-06-15 | Halliburton Energy Services, Inc. | Low frequency electromagnetic telemetry system employing high cardinality phase shift keying |
DE10231390A1 (en) | 2002-07-08 | 2004-02-05 | Alfred Kärcher Gmbh & Co. Kg | Suction device for cleaning purposes |
DE10231388A1 (en) | 2002-07-08 | 2004-02-05 | Alfred Kärcher Gmbh & Co. Kg | Tillage system |
DE10231384A1 (en) | 2002-07-08 | 2004-02-05 | Alfred Kärcher Gmbh & Co. Kg | Method for operating a floor cleaning system and floor cleaning system for applying the method |
DE10231391A1 (en) | 2002-07-08 | 2004-02-12 | Alfred Kärcher Gmbh & Co. Kg | Tillage system |
DE10231387A1 (en) | 2002-07-08 | 2004-02-12 | Alfred Kärcher Gmbh & Co. Kg | Floor cleaning device |
DE10231386B4 (en) | 2002-07-08 | 2004-05-06 | Alfred Kärcher Gmbh & Co. Kg | Sensor device and self-propelled floor cleaning device with a sensor device |
US20050150519A1 (en) | 2002-07-08 | 2005-07-14 | Alfred Kaercher Gmbh & Co. Kg | Method for operating a floor cleaning system, and floor cleaning system for use of the method |
US6925357B2 (en) | 2002-07-25 | 2005-08-02 | Intouch Health, Inc. | Medical tele-robotic system |
US6741364B2 (en) | 2002-08-13 | 2004-05-25 | Harris Corporation | Apparatus for determining relative positioning of objects and related methods |
US20040031113A1 (en) * | 2002-08-14 | 2004-02-19 | Wosewick Robert T. | Robotic surface treating device with non-circular housing |
US7085623B2 (en) | 2002-08-15 | 2006-08-01 | Asm International Nv | Method and system for using short ranged wireless enabled computers as a service tool |
AU2003256435A1 (en) | 2002-08-16 | 2004-03-03 | Evolution Robotics, Inc. | Systems and methods for the automated sensing of motion in a mobile robot using visual data |
USD478884S1 (en) | 2002-08-23 | 2003-08-26 | Motorola, Inc. | Base for a cordless telephone |
US7103447B2 (en) | 2002-09-02 | 2006-09-05 | Sony Corporation | Robot apparatus, and behavior controlling method for robot apparatus |
US7054716B2 (en) | 2002-09-06 | 2006-05-30 | Royal Appliance Mfg. Co. | Sentry robot system |
US20040143919A1 (en) | 2002-09-13 | 2004-07-29 | Wildwood Industries, Inc. | Floor sweeper having a viewable receptacle |
WO2004025947A2 (en) | 2002-09-13 | 2004-03-25 | Irobot Corporation | A navigational control system for a robotic device |
US8428778B2 (en) | 2002-09-13 | 2013-04-23 | Irobot Corporation | Navigational control system for a robotic device |
AU2002344061A1 (en) | 2002-10-01 | 2004-04-23 | Fujitsu Limited | Robot |
JP2004123040A (en) | 2002-10-07 | 2004-04-22 | Figla Co Ltd | Omnidirectional moving vehicle |
US6871115B2 (en) | 2002-10-11 | 2005-03-22 | Taiwan Semiconductor Manufacturing Co., Ltd | Method and apparatus for monitoring the operation of a wafer handling robot |
US7054718B2 (en) | 2002-10-11 | 2006-05-30 | Sony Corporation | Motion editing apparatus and method for legged mobile robot and computer program |
US7303010B2 (en) | 2002-10-11 | 2007-12-04 | Intelligent Robotic Corporation | Apparatus and method for an autonomous robotic system for performing activities in a well |
US6804579B1 (en) * | 2002-10-16 | 2004-10-12 | Abb, Inc. | Robotic wash cell using recycled pure water |
KR100492577B1 (en) | 2002-10-22 | 2005-06-03 | 엘지전자 주식회사 | Suction head of robot cleaner |
KR100459465B1 (en) | 2002-10-22 | 2004-12-03 | 엘지전자 주식회사 | Dust suction structure of robot cleaner |
US7069124B1 (en) | 2002-10-28 | 2006-06-27 | Workhorse Technologies, Llc | Robotic modeling of voids |
KR100466321B1 (en) | 2002-10-31 | 2005-01-14 | 삼성광주전자 주식회사 | Robot cleaner, system thereof and method for controlling the same |
KR100468107B1 (en) | 2002-10-31 | 2005-01-26 | 삼성광주전자 주식회사 | Robot cleaner system having external charging apparatus and method for docking with the same apparatus |
JP2004148021A (en) | 2002-11-01 | 2004-05-27 | Hitachi Home & Life Solutions Inc | Self-traveling cleaner |
US7079924B2 (en) | 2002-11-07 | 2006-07-18 | The Regents Of The University Of California | Vision-based obstacle avoidance |
JP2004160102A (en) | 2002-11-11 | 2004-06-10 | Figla Co Ltd | Vacuum cleaner |
GB2395261A (en) | 2002-11-11 | 2004-05-19 | Qinetiq Ltd | Ranging apparatus |
US7032469B2 (en) | 2002-11-12 | 2006-04-25 | Raytheon Company | Three axes line-of-sight transducer |
JP2004174228A (en) | 2002-11-13 | 2004-06-24 | Figla Co Ltd | Self-propelled work robot |
US20050209736A1 (en) | 2002-11-13 | 2005-09-22 | Figla Co., Ltd. | Self-propelled working robot |
KR100542340B1 (en) | 2002-11-18 | 2006-01-11 | 삼성전자주식회사 | home network system and method for controlling home network system |
JP2004166968A (en) | 2002-11-20 | 2004-06-17 | Zojirushi Corp | Self-propelled cleaning robot |
US7346428B1 (en) * | 2002-11-22 | 2008-03-18 | Bissell Homecare, Inc. | Robotic sweeper cleaner with dusting pad |
US7320149B1 (en) * | 2002-11-22 | 2008-01-22 | Bissell Homecare, Inc. | Robotic extraction cleaner with dusting pad |
JP3885019B2 (en) | 2002-11-29 | 2007-02-21 | 株式会社東芝 | Security system and mobile robot |
US7496665B2 (en) | 2002-12-11 | 2009-02-24 | Broadcom Corporation | Personal access and control of media peripherals on a media exchange network |
GB2396407A (en) | 2002-12-19 | 2004-06-23 | Nokia Corp | Encoder |
JP3731123B2 (en) | 2002-12-20 | 2006-01-05 | 新菱冷熱工業株式会社 | Object position detection method and apparatus |
DE10262191A1 (en) | 2002-12-23 | 2006-12-14 | Alfred Kärcher Gmbh & Co. Kg | Mobile tillage implement |
DE10261788B3 (en) | 2002-12-23 | 2004-01-22 | Alfred Kärcher Gmbh & Co. Kg | Mobile tillage device |
JP3884377B2 (en) * | 2002-12-27 | 2007-02-21 | ジーイー・メディカル・システムズ・グローバル・テクノロジー・カンパニー・エルエルシー | X-ray equipment |
JP2004219185A (en) | 2003-01-14 | 2004-08-05 | Meidensha Corp | Electrical inertia evaluation device for dynamometer and its method |
US20040148419A1 (en) | 2003-01-23 | 2004-07-29 | Chen Yancy T. | Apparatus and method for multi-user entertainment |
US7146682B2 (en) | 2003-01-31 | 2006-12-12 | The Hoover Company | Powered edge cleaner |
JP2004237392A (en) | 2003-02-05 | 2004-08-26 | Sony Corp | Robotic device and expression method of robotic device |
JP2004237075A (en) | 2003-02-06 | 2004-08-26 | Samsung Kwangju Electronics Co Ltd | Robot cleaner system provided with external charger and connection method for robot cleaner to external charger |
KR100485696B1 (en) | 2003-02-07 | 2005-04-28 | 삼성광주전자 주식회사 | Location mark detecting method for a robot cleaner and a robot cleaner using the same method |
GB2398394B (en) * | 2003-02-14 | 2006-05-17 | Dyson Ltd | An autonomous machine |
JP2004267236A (en) * | 2003-03-05 | 2004-09-30 | Hitachi Ltd | Self-traveling type vacuum cleaner and charging device used for the same |
US20040181706A1 (en) | 2003-03-13 | 2004-09-16 | Chen Yancy T. | Time-controlled variable-function or multi-function apparatus and methods |
US7801645B2 (en) | 2003-03-14 | 2010-09-21 | Sharper Image Acquisition Llc | Robotic vacuum cleaner with edge and object detection system |
US20040200505A1 (en) | 2003-03-14 | 2004-10-14 | Taylor Charles E. | Robot vac with retractable power cord |
US20050010331A1 (en) * | 2003-03-14 | 2005-01-13 | Taylor Charles E. | Robot vacuum with floor type modes |
US7805220B2 (en) * | 2003-03-14 | 2010-09-28 | Sharper Image Acquisition Llc | Robot vacuum with internal mapping system |
KR100492590B1 (en) * | 2003-03-14 | 2005-06-03 | 엘지전자 주식회사 | Auto charge system and return method for robot |
US20040204792A1 (en) | 2003-03-14 | 2004-10-14 | Taylor Charles E. | Robotic vacuum with localized cleaning algorithm |
JP2004275468A (en) | 2003-03-17 | 2004-10-07 | Hitachi Home & Life Solutions Inc | Self-traveling vacuum cleaner and method of operating the same |
JP3484188B1 (en) | 2003-03-31 | 2004-01-06 | 貴幸 関島 | Steam injection cleaning device |
KR20040086940A (en) * | 2003-04-03 | 2004-10-13 | 엘지전자 주식회사 | Mobile robot in using image sensor and his mobile distance mesurement method |
US7627197B2 (en) | 2003-04-07 | 2009-12-01 | Honda Motor Co., Ltd. | Position measurement method, an apparatus, a computer program and a method for generating calibration information |
KR100486737B1 (en) | 2003-04-08 | 2005-05-03 | 삼성전자주식회사 | Method and apparatus for generating and tracing cleaning trajectory for home cleaning robot |
US7057120B2 (en) | 2003-04-09 | 2006-06-06 | Research In Motion Limited | Shock absorbent roller thumb wheel |
KR100488524B1 (en) | 2003-04-09 | 2005-05-11 | 삼성전자주식회사 | Charging equipment for robot |
US20040221790A1 (en) | 2003-05-02 | 2004-11-11 | Sinclair Kenneth H. | Method and apparatus for optical odometry |
US6975246B1 (en) | 2003-05-13 | 2005-12-13 | Itt Manufacturing Enterprises, Inc. | Collision avoidance using limited range gated video |
US6888333B2 (en) | 2003-07-02 | 2005-05-03 | Intouch Health, Inc. | Holonomic platform for a robot |
US7133746B2 (en) | 2003-07-11 | 2006-11-07 | F Robotics Acquistions, Ltd. | Autonomous machine for docking with a docking station and method for docking |
DE10331874A1 (en) | 2003-07-14 | 2005-03-03 | Robert Bosch Gmbh | Remote programming of a program-controlled device |
DE10333395A1 (en) | 2003-07-16 | 2005-02-17 | Alfred Kärcher Gmbh & Co. Kg | Floor Cleaning System |
AU2004202834B2 (en) | 2003-07-24 | 2006-02-23 | Samsung Gwangju Electronics Co., Ltd. | Robot Cleaner |
AU2004202836B2 (en) | 2003-07-24 | 2006-03-09 | Samsung Gwangju Electronics Co., Ltd. | Dust Receptacle of Robot Cleaner |
KR20050012047A (en) * | 2003-07-24 | 2005-01-31 | 삼성광주전자 주식회사 | Robot cleaner having a rotating damp cloth |
KR100478681B1 (en) | 2003-07-29 | 2005-03-25 | 삼성광주전자 주식회사 | an robot-cleaner equipped with floor-disinfecting function |
CN2637136Y (en) | 2003-08-11 | 2004-09-01 | 泰怡凯电器(苏州)有限公司 | Self-positioning mechanism for robot |
CN100436082C (en) | 2003-08-12 | 2008-11-26 | 株式会社国际电气通信基础技术研究所 | Communication robot control system |
US7027893B2 (en) | 2003-08-25 | 2006-04-11 | Ati Industrial Automation, Inc. | Robotic tool coupler rapid-connect bus |
US7174238B1 (en) * | 2003-09-02 | 2007-02-06 | Stephen Eliot Zweig | Mobile robotic system with web server and digital radio links |
US20070061041A1 (en) | 2003-09-02 | 2007-03-15 | Zweig Stephen E | Mobile robot with wireless location sensing apparatus |
US7784147B2 (en) | 2003-09-05 | 2010-08-31 | Brunswick Bowling & Billiards Corporation | Bowling lane conditioning machine |
US7014714B2 (en) | 2003-09-05 | 2006-03-21 | Brunswick Bowling & Billiards Corporation | Apparatus and method for conditioning a bowling lane using precision delivery injectors |
US7225501B2 (en) | 2003-09-17 | 2007-06-05 | The Hoover Company | Brush assembly for a cleaning device |
JP2005088179A (en) | 2003-09-22 | 2005-04-07 | Honda Motor Co Ltd | Autonomous mobile robot system |
US7030768B2 (en) | 2003-09-30 | 2006-04-18 | Wanie Andrew J | Water softener monitoring device |
EP1672455A4 (en) | 2003-10-08 | 2007-12-05 | Figla Co Ltd | Self-propelled working robot |
JP2005135400A (en) | 2003-10-08 | 2005-05-26 | Figla Co Ltd | Self-propelled working robot |
TWM247170U (en) | 2003-10-09 | 2004-10-21 | Cheng-Shiang Yan | Self-moving vacuum floor cleaning device |
JP2005118354A (en) | 2003-10-17 | 2005-05-12 | Matsushita Electric Ind Co Ltd | House interior cleaning system and operation method |
US7392566B2 (en) | 2003-10-30 | 2008-07-01 | Gordon Evan A | Cleaning machine for cleaning a surface |
ATE388568T1 (en) | 2003-11-07 | 2008-03-15 | Harman Becker Automotive Sys | METHOD AND DEVICES FOR ACCESS CONTROL TO ENCRYPTED DATA SERVICES FOR AN ENTERTAINMENT AND INFORMATION PROCESSING DEVICE IN A VEHICLE |
DE10357637A1 (en) | 2003-12-10 | 2005-07-07 | Vorwerk & Co. Interholding Gmbh | Self-propelled or traveling sweeper and combination of a sweeper with a base station |
DE10357636B4 (en) | 2003-12-10 | 2013-05-08 | Vorwerk & Co. Interholding Gmbh | Automatically movable floor dust collecting device |
DE10357635B4 (en) | 2003-12-10 | 2013-10-31 | Vorwerk & Co. Interholding Gmbh | Floor cleaning device |
US7201786B2 (en) | 2003-12-19 | 2007-04-10 | The Hoover Company | Dust bin and filter for robotic vacuum cleaner |
ITMI20032565A1 (en) | 2003-12-22 | 2005-06-23 | Calzoni Srl | OPTICAL DEVICE INDICATOR OF PLANATA ANGLE FOR AIRCRAFT |
KR20050063546A (en) | 2003-12-22 | 2005-06-28 | 엘지전자 주식회사 | Robot cleaner and operating method thereof |
EP1553472A1 (en) | 2003-12-31 | 2005-07-13 | Alcatel | Remotely controlled vehicle using wireless LAN |
KR20050072300A (en) * | 2004-01-06 | 2005-07-11 | 삼성전자주식회사 | Cleaning robot and control method thereof |
US7624473B2 (en) | 2004-01-07 | 2009-12-01 | The Hoover Company | Adjustable flow rate valve for a cleaning apparatus |
JP2005210199A (en) | 2004-01-20 | 2005-08-04 | Alps Electric Co Ltd | Inter-terminal connection method in radio network |
US7332890B2 (en) * | 2004-01-21 | 2008-02-19 | Irobot Corporation | Autonomous robot auto-docking and energy management systems and methods |
KR101358475B1 (en) | 2004-01-21 | 2014-02-06 | 아이로보트 코퍼레이션 | Method of docking an autonomous robot |
DE102004004505B9 (en) | 2004-01-22 | 2010-08-05 | Alfred Kärcher Gmbh & Co. Kg | Soil cultivation device and method for its control |
AU2004316426B2 (en) | 2004-01-28 | 2010-08-19 | Irobot Corporation | Debris sensor for cleaning apparatus |
US20050183230A1 (en) | 2004-01-30 | 2005-08-25 | Funai Electric Co., Ltd. | Self-propelling cleaner |
JP2005211364A (en) | 2004-01-30 | 2005-08-11 | Funai Electric Co Ltd | Self-propelled cleaner |
JP2005211493A (en) | 2004-01-30 | 2005-08-11 | Funai Electric Co Ltd | Self-propelled cleaner |
JP2005211365A (en) | 2004-01-30 | 2005-08-11 | Funai Electric Co Ltd | Autonomous traveling robot cleaner |
JP2005211360A (en) | 2004-01-30 | 2005-08-11 | Funai Electric Co Ltd | Self-propelled cleaner |
EP1721279B1 (en) * | 2004-02-03 | 2009-11-18 | F. Robotics Aquisitions Ltd. | Robot docking station and robot for use therewith |
WO2005077244A1 (en) | 2004-02-04 | 2005-08-25 | S. C. Johnson & Son, Inc. | Surface treating device with cartridge-based cleaning system |
DE602005024365D1 (en) | 2004-02-06 | 2010-12-09 | Koninkl Philips Electronics Nv | SYSTEM AND METHOD FOR A HIBERNATION MODE FOR BARK EQUIPMENT |
JP2005224263A (en) | 2004-02-10 | 2005-08-25 | Funai Electric Co Ltd | Self-traveling cleaner |
JP2005224265A (en) | 2004-02-10 | 2005-08-25 | Funai Electric Co Ltd | Self-traveling vacuum cleaner |
DE102004007677B4 (en) | 2004-02-16 | 2011-11-17 | Miele & Cie. Kg | Suction nozzle for a vacuum cleaner with a dust flow indicator |
JP2005230032A (en) | 2004-02-17 | 2005-09-02 | Funai Electric Co Ltd | Autonomous running robot cleaner |
KR100561863B1 (en) | 2004-02-19 | 2006-03-16 | 삼성전자주식회사 | Navigation method and navigation apparatus using virtual sensor for mobile robot |
DE102004010827B4 (en) | 2004-02-27 | 2006-01-05 | Alfred Kärcher Gmbh & Co. Kg | Soil cultivation device and method for its control |
KR100571834B1 (en) | 2004-02-27 | 2006-04-17 | 삼성전자주식회사 | Method and apparatus of detecting dust on the floor in a robot for cleaning |
JP4309785B2 (en) | 2004-03-08 | 2009-08-05 | フィグラ株式会社 | Electric vacuum cleaner |
US20060020369A1 (en) * | 2004-03-11 | 2006-01-26 | Taylor Charles E | Robot vacuum cleaner |
US20050273967A1 (en) | 2004-03-11 | 2005-12-15 | Taylor Charles E | Robot vacuum with boundary cones |
US7360277B2 (en) | 2004-03-24 | 2008-04-22 | Oreck Holdings, Llc | Vacuum cleaner fan unit and access aperture |
US7535071B2 (en) | 2004-03-29 | 2009-05-19 | Evolution Robotics, Inc. | System and method of integrating optics into an IC package |
US7148458B2 (en) | 2004-03-29 | 2006-12-12 | Evolution Robotics, Inc. | Circuit for estimating position and orientation of a mobile object |
US7720554B2 (en) | 2004-03-29 | 2010-05-18 | Evolution Robotics, Inc. | Methods and apparatus for position estimation using reflected light sources |
US20050213109A1 (en) | 2004-03-29 | 2005-09-29 | Evolution Robotics, Inc. | Sensing device and method for measuring position and orientation relative to multiple light sources |
US7617557B2 (en) | 2004-04-02 | 2009-11-17 | Royal Appliance Mfg. Co. | Powered cleaning appliance |
US7603744B2 (en) | 2004-04-02 | 2009-10-20 | Royal Appliance Mfg. Co. | Robotic appliance with on-board joystick sensor and associated methods of operation |
JP2005296511A (en) | 2004-04-15 | 2005-10-27 | Funai Electric Co Ltd | Self-propelled vacuum cleaner |
US7640624B2 (en) | 2004-04-16 | 2010-01-05 | Panasonic Corporation Of North America | Dirt cup with dump door in bottom wall and dump door actuator on top wall |
TWI258259B (en) | 2004-04-20 | 2006-07-11 | Jason Yan | Automatic charging system of mobile robotic electronic device |
TWI262777B (en) | 2004-04-21 | 2006-10-01 | Jason Yan | Robotic vacuum cleaner |
US7041029B2 (en) | 2004-04-23 | 2006-05-09 | Alto U.S. Inc. | Joystick controlled scrubber |
USD510066S1 (en) | 2004-05-05 | 2005-09-27 | Irobot Corporation | Base station for robot |
JP2005346700A (en) | 2004-05-07 | 2005-12-15 | Figla Co Ltd | Self-propelled working robot |
US7208697B2 (en) | 2004-05-20 | 2007-04-24 | Lincoln Global, Inc. | System and method for monitoring and controlling energy usage |
JP4163150B2 (en) | 2004-06-10 | 2008-10-08 | 日立アプライアンス株式会社 | Self-propelled vacuum cleaner |
WO2006002385A1 (en) * | 2004-06-24 | 2006-01-05 | Irobot Corporation | Programming and diagnostic tool for a mobile robot |
US7778640B2 (en) | 2004-06-25 | 2010-08-17 | Lg Electronics Inc. | Method of communicating data in a wireless mobile communication system |
US7254864B2 (en) * | 2004-07-01 | 2007-08-14 | Royal Appliance Mfg. Co. | Hard floor cleaner |
US8972052B2 (en) | 2004-07-07 | 2015-03-03 | Irobot Corporation | Celestial navigation system for an autonomous vehicle |
US7706917B1 (en) | 2004-07-07 | 2010-04-27 | Irobot Corporation | Celestial navigation system for an autonomous robot |
JP2006026028A (en) | 2004-07-14 | 2006-02-02 | Sanyo Electric Co Ltd | Cleaner |
US20060020370A1 (en) * | 2004-07-22 | 2006-01-26 | Shai Abramson | System and method for confining a robot |
US6993954B1 (en) * | 2004-07-27 | 2006-02-07 | Tekscan, Incorporated | Sensor equilibration and calibration system and method |
JP4201747B2 (en) * | 2004-07-29 | 2008-12-24 | 三洋電機株式会社 | Self-propelled vacuum cleaner |
DE102004038074B3 (en) | 2004-07-29 | 2005-06-30 | Alfred Kärcher Gmbh & Co. Kg | Self-propelled cleaning robot for floor surfaces has driven wheel rotated in arc about eccentric steering axis upon abutting obstacle in movement path of robot |
KR20040072581A (en) | 2004-07-29 | 2004-08-18 | (주)제이씨 프로텍 | An amplification relay device of electromagnetic wave and a radio electric power conversion apparatus using the above device |
KR100641113B1 (en) | 2004-07-30 | 2006-11-02 | 엘지전자 주식회사 | Mobile robot and his moving control method |
JP4268911B2 (en) | 2004-08-04 | 2009-05-27 | 日立アプライアンス株式会社 | Self-propelled vacuum cleaner |
KR100601960B1 (en) | 2004-08-05 | 2006-07-14 | 삼성전자주식회사 | Simultaneous localization and map building method for robot |
DE102004041021B3 (en) | 2004-08-17 | 2005-08-25 | Alfred Kärcher Gmbh & Co. Kg | Floor cleaning system with self-propelled, automatically-controlled roller brush sweeper and central dirt collection station, reverses roller brush rotation during dirt transfer and battery charging |
GB0418376D0 (en) | 2004-08-18 | 2004-09-22 | Loc8Tor Ltd | Locating system |
US20060042042A1 (en) | 2004-08-26 | 2006-03-02 | Mertes Richard H | Hair ingestion device and dust protector for vacuum cleaner |
US20080184518A1 (en) | 2004-08-27 | 2008-08-07 | Sharper Image Corporation | Robot Cleaner With Improved Vacuum Unit |
KR100664053B1 (en) | 2004-09-23 | 2007-01-03 | 엘지전자 주식회사 | Cleaning tool auto change system and method for robot cleaner |
KR100677252B1 (en) | 2004-09-23 | 2007-02-02 | 엘지전자 주식회사 | Remote observation system and method in using robot cleaner |
DE102004046383B4 (en) | 2004-09-24 | 2009-06-18 | Stein & Co Gmbh | Device for brushing roller of floor care appliances |
DE102005044617A1 (en) | 2004-10-01 | 2006-04-13 | Vorwerk & Co. Interholding Gmbh | Method for the care and / or cleaning of a floor covering and flooring and Bodenpflege- and or cleaning device for this purpose |
US7430462B2 (en) | 2004-10-20 | 2008-09-30 | Infinite Electronics Inc. | Automatic charging station for autonomous mobile machine |
US8078338B2 (en) | 2004-10-22 | 2011-12-13 | Irobot Corporation | System and method for behavior based control of an autonomous vehicle |
KR100656701B1 (en) | 2004-10-27 | 2006-12-13 | 삼성광주전자 주식회사 | Robot cleaner system and Method for return to external charge apparatus |
JP4485320B2 (en) | 2004-10-29 | 2010-06-23 | アイシン精機株式会社 | Fuel cell system |
KR100575708B1 (en) | 2004-11-11 | 2006-05-03 | 엘지전자 주식회사 | Distance detection apparatus and method for robot cleaner |
KR20060059006A (en) | 2004-11-26 | 2006-06-01 | 삼성전자주식회사 | Method and apparatus of self-propelled mobile unit with obstacle avoidance during wall-following |
JP4277214B2 (en) | 2004-11-30 | 2009-06-10 | 日立アプライアンス株式会社 | Self-propelled vacuum cleaner |
KR100664059B1 (en) | 2004-12-04 | 2007-01-03 | 엘지전자 주식회사 | Obstacle position recognition apparatus and method in using robot cleaner |
WO2006061133A1 (en) | 2004-12-09 | 2006-06-15 | Alfred Kärcher Gmbh & Co. Kg | Cleaning robot |
KR100588061B1 (en) | 2004-12-22 | 2006-06-09 | 주식회사유진로보틱스 | Cleaning robot having double suction device |
US20060143295A1 (en) | 2004-12-27 | 2006-06-29 | Nokia Corporation | System, method, mobile station and gateway for communicating with a universal plug and play network |
KR100499770B1 (en) | 2004-12-30 | 2005-07-07 | 주식회사 아이오. 테크 | Network based robot control system |
KR100588059B1 (en) | 2005-01-03 | 2006-06-09 | 주식회사유진로보틱스 | A non-contact close obstacle detection device for a cleaning robot |
JP2006227673A (en) | 2005-02-15 | 2006-08-31 | Matsushita Electric Ind Co Ltd | Autonomous travel device |
US7389156B2 (en) * | 2005-02-18 | 2008-06-17 | Irobot Corporation | Autonomous surface cleaning robot for wet and dry cleaning |
US8392021B2 (en) | 2005-02-18 | 2013-03-05 | Irobot Corporation | Autonomous surface cleaning robot for wet cleaning |
US20060200281A1 (en) * | 2005-02-18 | 2006-09-07 | Andrew Ziegler | Autonomous surface cleaning robot for wet and dry cleaning |
US7620476B2 (en) * | 2005-02-18 | 2009-11-17 | Irobot Corporation | Autonomous surface cleaning robot for dry cleaning |
ES2346343T3 (en) | 2005-02-18 | 2010-10-14 | Irobot Corporation | AUTONOMOUS SURFACE CLEANING ROBOT FOR DRY AND WET CLEANING. |
KR100661339B1 (en) | 2005-02-24 | 2006-12-27 | 삼성광주전자 주식회사 | Automatic cleaning apparatus |
KR100654676B1 (en) | 2005-03-07 | 2006-12-08 | 삼성광주전자 주식회사 | Mobile robot having body sensor |
ES2238196B1 (en) | 2005-03-07 | 2006-11-16 | Electrodomesticos Taurus, S.L. | BASE STATION WITH VACUUM ROBOT. |
JP2006247467A (en) | 2005-03-08 | 2006-09-21 | Figla Co Ltd | Self-travelling working vehicle |
JP2006260161A (en) | 2005-03-17 | 2006-09-28 | Figla Co Ltd | Self-propelled working robot |
JP4533787B2 (en) | 2005-04-11 | 2010-09-01 | フィグラ株式会社 | Work robot |
JP2006296697A (en) | 2005-04-20 | 2006-11-02 | Figla Co Ltd | Cleaning robot |
TWI278731B (en) | 2005-05-09 | 2007-04-11 | Infinite Electronics Inc | Self-propelled apparatus for virtual wall system |
US20060259494A1 (en) | 2005-05-13 | 2006-11-16 | Microsoft Corporation | System and method for simultaneous search service and email search |
US7578020B2 (en) | 2005-06-28 | 2009-08-25 | S.C. Johnson & Son, Inc. | Surface treating device with top load cartridge-based cleaning system |
US7389166B2 (en) | 2005-06-28 | 2008-06-17 | S.C. Johnson & Son, Inc. | Methods to prevent wheel slip in an autonomous floor cleaner |
JP4492462B2 (en) | 2005-06-30 | 2010-06-30 | ソニー株式会社 | Electronic device, video processing apparatus, and video processing method |
US20070006404A1 (en) | 2005-07-08 | 2007-01-11 | Gooten Innolife Corporation | Remote control sweeper |
JP4630146B2 (en) | 2005-07-11 | 2011-02-09 | 本田技研工業株式会社 | Position management system and position management program |
US20070017061A1 (en) * | 2005-07-20 | 2007-01-25 | Jason Yan | Steering control sensor for an automatic vacuum cleaner |
JP2007034866A (en) | 2005-07-29 | 2007-02-08 | Hitachi Appliances Inc | Travel control method for moving body and self-propelled cleaner |
US20070028574A1 (en) * | 2005-08-02 | 2007-02-08 | Jason Yan | Dust collector for autonomous floor-cleaning device |
US7456596B2 (en) * | 2005-08-19 | 2008-11-25 | Cisco Technology, Inc. | Automatic radio site survey using a robot |
US7555363B2 (en) | 2005-09-02 | 2009-06-30 | Neato Robotics, Inc. | Multi-function robotic device |
DE102005046639A1 (en) | 2005-09-29 | 2007-04-05 | Vorwerk & Co. Interholding Gmbh | Automatically displaceable floor dust collector, has passive wheel is monitored for its movement and measure is initiated when intensity of movement of passive wheel changes |
DE102005046813A1 (en) | 2005-09-30 | 2007-04-05 | Vorwerk & Co. Interholding Gmbh | Household appliance e.g. floor dust collecting device, operating method for room, involves arranging station units that transmit radio signals, in addition to base station, and orienting household appliance in room by processing signals |
US7441298B2 (en) | 2005-12-02 | 2008-10-28 | Irobot Corporation | Coverage robot mobility |
ES2522926T3 (en) | 2005-12-02 | 2014-11-19 | Irobot Corporation | Autonomous Cover Robot |
ES2413862T3 (en) | 2005-12-02 | 2013-07-17 | Irobot Corporation | Modular robot |
EP2544066B1 (en) | 2005-12-02 | 2018-10-17 | iRobot Corporation | Robot system |
EP2270620B1 (en) | 2005-12-02 | 2014-10-01 | iRobot Corporation | Autonomous Coverage robot |
US7568259B2 (en) | 2005-12-13 | 2009-08-04 | Jason Yan | Robotic floor cleaner |
KR100683074B1 (en) * | 2005-12-22 | 2007-02-15 | (주)경민메카트로닉스 | Robot cleaner |
TWI290881B (en) | 2005-12-26 | 2007-12-11 | Ind Tech Res Inst | Mobile robot platform and method for sensing movement of the same |
TWM294301U (en) | 2005-12-27 | 2006-07-21 | Supply Internat Co Ltd E | Self-propelled vacuum cleaner with dust collecting structure |
WO2008013568A2 (en) | 2005-12-30 | 2008-01-31 | Irobot Corporation | Autonomous mobile robot |
KR20070074146A (en) | 2006-01-06 | 2007-07-12 | 삼성전자주식회사 | Cleaner system |
KR20070074147A (en) | 2006-01-06 | 2007-07-12 | 삼성전자주식회사 | Cleaner system |
JP2007213180A (en) | 2006-02-08 | 2007-08-23 | Figla Co Ltd | Movable body system |
EP1836941B1 (en) | 2006-03-14 | 2014-02-12 | Toshiba TEC Kabushiki Kaisha | Electric vacuum cleaner |
US8868237B2 (en) * | 2006-03-17 | 2014-10-21 | Irobot Corporation | Robot confinement |
CA2541635A1 (en) | 2006-04-03 | 2007-10-03 | Servo-Robot Inc. | Hybrid sensing apparatus for adaptive robotic processes |
EP2027806A1 (en) | 2006-04-04 | 2009-02-25 | Samsung Electronics Co., Ltd. | Robot cleaner system having robot cleaner and docking station |
KR20070104989A (en) | 2006-04-24 | 2007-10-30 | 삼성전자주식회사 | Robot cleaner system and method to eliminate dust thereof |
US8087117B2 (en) | 2006-05-19 | 2012-01-03 | Irobot Corporation | Cleaning robot roller processing |
US7211980B1 (en) | 2006-07-05 | 2007-05-01 | Battelle Energy Alliance, Llc | Robotic follow system and method |
DE602007007026D1 (en) | 2006-09-05 | 2010-07-22 | Lg Electronics Inc | cleaning robot |
US7408157B2 (en) | 2006-09-27 | 2008-08-05 | Jason Yan | Infrared sensor |
US7318248B1 (en) * | 2006-11-13 | 2008-01-15 | Jason Yan | Cleaner having structures for jumping obstacles |
US20090102296A1 (en) | 2007-01-05 | 2009-04-23 | Powercast Corporation | Powering cell phones and similar devices using RF energy harvesting |
KR101458752B1 (en) | 2007-05-09 | 2014-11-05 | 아이로보트 코퍼레이션 | Compact autonomous coverage robot |
US20080302586A1 (en) | 2007-06-06 | 2008-12-11 | Jason Yan | Wheel set for robot cleaner |
JP2009015611A (en) | 2007-07-05 | 2009-01-22 | Figla Co Ltd | Charging system, charging unit, and system for automatically charging moving robot |
US20090048727A1 (en) | 2007-08-17 | 2009-02-19 | Samsung Electronics Co., Ltd. | Robot cleaner and control method and medium of the same |
KR101330734B1 (en) | 2007-08-24 | 2013-11-20 | 삼성전자주식회사 | Robot cleaner system having robot cleaner and docking station |
JP5091604B2 (en) | 2007-09-26 | 2012-12-05 | 株式会社東芝 | Distribution evaluation method, product manufacturing method, distribution evaluation program, and distribution evaluation system |
JP5042076B2 (en) | 2008-03-11 | 2012-10-03 | 新明和工業株式会社 | Suction device and suction wheel |
JP5054620B2 (en) | 2008-06-17 | 2012-10-24 | 未来工業株式会社 | Ventilation valve |
JP2010198552A (en) | 2009-02-27 | 2010-09-09 | Konica Minolta Holdings Inc | Driving state monitoring device |
JP5046246B2 (en) | 2009-03-31 | 2012-10-10 | サミー株式会社 | Pachinko machine |
TWI399190B (en) | 2009-05-21 | 2013-06-21 | Ind Tech Res Inst | Cleaning apparatus and detecting method thereof |
JP5257533B2 (en) | 2011-09-26 | 2013-08-07 | ダイキン工業株式会社 | Power converter |
-
2005
- 2005-08-19 US US11/207,575 patent/US8392021B2/en active Active
-
2007
- 2007-08-07 US US11/835,359 patent/US8382906B2/en active Active
-
2012
- 2012-12-19 US US13/719,552 patent/US20130118524A1/en not_active Abandoned
-
2013
- 2013-10-02 US US14/044,312 patent/US8985127B2/en active Active
-
2015
- 2015-03-23 US US14/665,626 patent/US20150289741A1/en not_active Abandoned
Cited By (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9939529B2 (en) | 2012-08-27 | 2018-04-10 | Aktiebolaget Electrolux | Robot positioning system |
US10219665B2 (en) | 2013-04-15 | 2019-03-05 | Aktiebolaget Electrolux | Robotic vacuum cleaner with protruding sidebrush |
US10448794B2 (en) | 2013-04-15 | 2019-10-22 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
US9811089B2 (en) | 2013-12-19 | 2017-11-07 | Aktiebolaget Electrolux | Robotic cleaning device with perimeter recording function |
US9946263B2 (en) | 2013-12-19 | 2018-04-17 | Aktiebolaget Electrolux | Prioritizing cleaning areas |
US10045675B2 (en) | 2013-12-19 | 2018-08-14 | Aktiebolaget Electrolux | Robotic vacuum cleaner with side brush moving in spiral pattern |
US10617271B2 (en) | 2013-12-19 | 2020-04-14 | Aktiebolaget Electrolux | Robotic cleaning device and method for landmark recognition |
US10149589B2 (en) | 2013-12-19 | 2018-12-11 | Aktiebolaget Electrolux | Sensing climb of obstacle of a robotic cleaning device |
US10209080B2 (en) | 2013-12-19 | 2019-02-19 | Aktiebolaget Electrolux | Robotic cleaning device |
US10433697B2 (en) | 2013-12-19 | 2019-10-08 | Aktiebolaget Electrolux | Adaptive speed control of rotating side brush |
US10231591B2 (en) | 2013-12-20 | 2019-03-19 | Aktiebolaget Electrolux | Dust container |
US10518416B2 (en) | 2014-07-10 | 2019-12-31 | Aktiebolaget Electrolux | Method for detecting a measurement error in a robotic cleaning device |
US10729297B2 (en) | 2014-09-08 | 2020-08-04 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
US10499778B2 (en) | 2014-09-08 | 2019-12-10 | Aktiebolaget Electrolux | Robotic vacuum cleaner |
US10877484B2 (en) | 2014-12-10 | 2020-12-29 | Aktiebolaget Electrolux | Using laser sensor for floor type detection |
US10874271B2 (en) | 2014-12-12 | 2020-12-29 | Aktiebolaget Electrolux | Side brush and robotic cleaner |
US10678251B2 (en) | 2014-12-16 | 2020-06-09 | Aktiebolaget Electrolux | Cleaning method for a robotic cleaning device |
US10534367B2 (en) | 2014-12-16 | 2020-01-14 | Aktiebolaget Electrolux | Experience-based roadmap for a robotic cleaning device |
US11099554B2 (en) | 2015-04-17 | 2021-08-24 | Aktiebolaget Electrolux | Robotic cleaning device and a method of controlling the robotic cleaning device |
US11712142B2 (en) | 2015-09-03 | 2023-08-01 | Aktiebolaget Electrolux | System of robotic cleaning devices |
US10813514B2 (en) * | 2015-09-23 | 2020-10-27 | Lg Electronics Inc. | Robot cleaner |
US20180296053A1 (en) * | 2015-09-23 | 2018-10-18 | Lg Electronics Inc. | Robot cleaner |
US11169533B2 (en) | 2016-03-15 | 2021-11-09 | Aktiebolaget Electrolux | Robotic cleaning device and a method at the robotic cleaning device of performing cliff detection |
US11122953B2 (en) | 2016-05-11 | 2021-09-21 | Aktiebolaget Electrolux | Robotic cleaning device |
US11474533B2 (en) | 2017-06-02 | 2022-10-18 | Aktiebolaget Electrolux | Method of detecting a difference in level of a surface in front of a robotic cleaning device |
US11921517B2 (en) | 2017-09-26 | 2024-03-05 | Aktiebolaget Electrolux | Controlling movement of a robotic cleaning device |
Also Published As
Publication number | Publication date |
---|---|
US20060190133A1 (en) | 2006-08-24 |
US20150289741A1 (en) | 2015-10-15 |
US20140026339A1 (en) | 2014-01-30 |
US20080127445A1 (en) | 2008-06-05 |
US8382906B2 (en) | 2013-02-26 |
US8392021B2 (en) | 2013-03-05 |
US8985127B2 (en) | 2015-03-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US10470629B2 (en) | Autonomous surface cleaning robot for dry cleaning | |
US8985127B2 (en) | Autonomous surface cleaning robot for wet cleaning | |
US7389156B2 (en) | Autonomous surface cleaning robot for wet and dry cleaning | |
US20060184293A1 (en) | Autonomous surface cleaning robot for wet cleaning | |
US11185204B2 (en) | Autonomous surface cleaning robot for wet and dry cleaning | |
JP6926015B2 (en) | Cleaning robot | |
US20060190132A1 (en) | Autonomous surface cleaning robot for dry cleaning | |
AU2016202555A1 (en) | Autonomous surface cleaning robot for wet and dry cleaning |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: IROBOT CORPORATION, MASSACHUSETTS Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:KONANDREAS, STEFANOS;ZIEGLER, ANDREW;MORSE, CHRISTOPHER JOHN;SIGNING DATES FROM 20051213 TO 20060106;REEL/FRAME:030072/0464 |
|
STCB | Information on status: application discontinuation |
Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION |