A mobile cleaning robot an include a body, a drive wheel, a wheel stop, and an actuator system. The drive wheel can be connected to the body and can be operable to move the mobile cleaning robot about an environment. The wheel stop can be movable with respect to the body. The actuator system can be operable to move the wheel stop to engage the drive wheel to extend the drive wheel from the body.
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
A47L 9/06 - Nozzles with fixed, e.g. adjustably fixed brushes or the like
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
2.
CONTEXTUAL AND USER EXPERIENCE BASED MOBILE ROBOT CONTROL
A machine-readable medium can include instructions for presenting a user interface, which when executed by a processor, can cause the processor to display an image on the user interface representing a mobile cleaning robot that is in communication with the processor. The processor can also display lines representing an environment of the mobile cleaning robot, where the image and the lines can together be indicative of a status of the mobile cleaning robot.
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A mobile cleaning robot can include a body and a cleaning assembly. The body can include a suction duct. The cleaning assembly can be operable to ingest debris from a surface of an environment. The cleaning assembly can include a dustpan engageable with the surface to direct debris toward the suction duct. The dust pan can be movable with respect to the body.
A method of operating an autonomous mobile cleaning robot using image processing can include producing, using a front-facing camera of the robot, an imaging output based on an optical field of view of the front-facing camera, the imaging output. A first portion of the imaging output and a second portion of the imaging output can be determined. An image capture parameter of the front-facing camera can be adjusted based on the upper portion of the imaging output and the lower portion of the imaging output.
H04N 23/62 - Control of parameters via user interfaces
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A computer-implemented method for receiving user commands for a remote cleaning robot and sending the user commands to the remote cleaning robot, the remote cleaning robot including a drive motor and a cleaning motor, includes displaying a user interface including a control area, and within the control area: a user-manipulable launch control group including a plurality of control elements, the launch control group having a deferred launch control state and an immediate launch control state; at least one user-manipulable cleaning strategy control element having a primary cleaning strategy control state and an alternative cleaning strategy control state; and a physical recall control group including a plurality of control elements, the physical recall control group having an immediate recall control state and a remote audible locator control state. The method further includes: receiving user input via the user-manipulable control elements; responsive to the user inputs, displaying simultaneously within the same control area a real-time robot state reflecting a unique combination of control states; and commanding the remote cleaning robot to actuate the drive motor and cleaning motor to clean a surface based on the received input and unique combination of control states.
B25J 11/00 - Manipulators not otherwise provided for
G05D 1/224 - Output arrangements on the remote controller, e.g. displays, haptics or speakers
G06Q 10/1093 - Calendar-based scheduling for persons or groups
H04B 5/20 - Near-field transmission systems, e.g. inductive or capacitive transmission systems characterised by the transmission techniqueNear-field transmission systems, e.g. inductive or capacitive transmission systems characterised by the transmission medium
H04B 5/70 - Near-field transmission systems, e.g. inductive or capacitive transmission systems specially adapted for specific purposes
H04L 12/28 - Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
H04L 67/125 - Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
H04L 67/62 - Establishing a time schedule for servicing the requests
H04W 4/30 - Services specially adapted for particular environments, situations or purposes
A mobile cleaning robot can include a body, a debris bin connected to the body, and one or more drive wheels connected to the body and operable to move the mobile cleaning robot about an environment. The mobile cleaning robot can include an extractor connected to the body that can be operable to extract debris from the environment. The mobile cleaning robot can also include a vacuum system connected to the body and configured to generate a flow stream through the extractor. The mobile cleaning robot can include a compaction system connected to the body and a discharge of the extractor. The compaction system can include a plenum configured to receive debris and the flow stream from the discharge and a compactor located at least partially within the plenum and operable to compact debris from the plenum into the debris bin.
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
A47L 9/14 - Bags or the likeAttachment of, or closures for, bags
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
7.
MOBILE CLEANING ROBOT WITH VARIABLE CLEANING FEATURES
A mobile cleaning robot can include a body movable within an environment and a debris bin located at least partially within the body. The robot can include a cleaning assembly connected to the body, where the cleaning assembly includes a first debris port connected to the debris bin and a second debris port connected to the debris bin.
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
A47L 9/04 - Nozzles with driven brushes or agitators
A47L 9/14 - Bags or the likeAttachment of, or closures for, bags
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
A cleaning bin mountable to an autonomous cleaning robot operable to receive debris from a floor surface includes an inlet positioned between lateral sides of the cleaning bin and an outlet configured to connect to a vacuum assembly, the vacuum assembly operable to direct an airflow from the inlet of the cleaning bin to the outlet of the cleaning bin. The cleaning bin also includes a debris chamber to receive debris from the airflow, an airflow chamber separated from the debris chamber by a prefilter, the prefilter forming at least a portion of a top surface of the debris chamber and at least a portion of a bottom surface of the airflow chamber, and a filter socket configured to receive a filter and provide the airflow to through the filter to the outlet of the cleaning bin, wherein the filter is positioned substantially perpendicular to the prefilter when the filter is positioned in the filter socket.
Robot localization or mapping can be provided without requiring the expense or complexity an “at-a-distance” sensor, such as a camera, a LIDAR sensor, or the like. Adjacency-derived landmark features can be used and non-unique landmark features can be accommodated. Uncertainty in robot pose can be tracked and compared to an adaptive threshold, and non-dock and dock-based localization behavior can be controlled based on the uncertainty, the adaptive threshold, one or more other thresholds, and the accessibility of available differently oriented landmark features, such as perpendicularly oriented straight wall segments landmark features. Available features can be sorted according to a quality metric, and path planning and navigation techniques are also included for helping obtain successful wall-following and localization observations.
G05D 1/241 - Means for detecting physical contact, e.g. touch sensors or bump sensors
G05D 1/244 - Arrangements for determining position or orientation using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means
G05D 1/246 - Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
A method includes receiving mapping data collected by an autonomous cleaning robot as the autonomous cleaning robot moves about an environment. A portion of the mapping data is indicative of a location of an object in the environment. The method includes defining a clean zone at the location of the object such that the autonomous cleaning robot initiates a clean behavior constrained to the clean zone in response to encountering the clean zone in the environment.
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
A47L 9/04 - Nozzles with driven brushes or agitators
A mobile cleaning robot can include a body, a pad assembly, and a pad drive system. The pad assembly can be connected to the body and can be movable relative thereto. The pad drive system can be connected to the body and can be operable to move the pad assembly relative to the body between a stored position and a cleaning position.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A47L 11/30 - Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
A mobile cleaning robot can include a body, a drive system, a mopping pad assembly, and a fluid distribution system. The drive system can be connected to the body and can be operable to move the mobile cleaning robot about a floor surface of an environment. The mopping pad assembly can be connected to the body and can be configured to hold a mopping pad that is engageable with the floor surface. The fluid distribution system can be couplable to the body, and can include a plurality of outlets separated from each other and a plurality of pumps. The plurality of outlets can each be configured to provide fluid to the mopping map or the floor surface. The plurality of pumps can each be operable to independently deliver fluid to the plurality of outlets, respectively.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A method of prioritizing cleaning of rooms of an environment for a mobile cleaning robot can include generating a cleanliness score for each room of the environment using a controller. Each of the cleanliness scores can be indicative of an amount of debris expected in each respective room by the mobile cleaning robot. The method can also include generating a room cleaning priority based at least partially on the cleanliness score of each of the rooms. The method can also include scheduling operations of the mobile cleaning robot for a planned mission based on the room cleaning priority of each of the rooms of the environment.
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A mobile cleaning robot configured to clean an environment. The mobile cleaning robot can include a body and a drivetrain operable to move the body within the environment. The robot can include a sensor connected to the body and configured to generate a sensor signal based on interactions between the mobile cleaning robot and the environment. The robot can include an image capture device connected to the body and configured to generate an image stream based on an optical filed of view of the image capture device. The robot can include a controller connected to the body and configured to determine whether the mobile cleaning robot is in a stasis condition based on the image stream and the sensor signal. The controller can also update a map of the environment based on the stasis determination.
G05D 1/246 - Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
G05D 1/243 - Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
G05D 1/648 - Performing a task within a working area or space, e.g. cleaning
G05D 105/10 - Specific applications of the controlled vehicles for cleaning, vacuuming or polishing
A mobile computing device includes a user input device and a controller. The user input device includes a display, and the controller is operably connected to the user input device and configured to execute instructions to perform operations. The operations include presenting on the display, information about one or more areas that were not cleaned by an autonomous cleaning robot during a first mission. The operations further include transmitting data corresponding to a user-selected subset of the one or more areas to cause the robot to clean the user-selected subset during a second mission.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A docking station for a mobile cleaning robot can include a base configured to receive at least a portion of the mobile cleaning robot thereon, where the base can include a debris port. The docking station can include a canister connected to the base and located at least partially above the base. The canister can include a debris bin to receive debris from the mobile cleaning robot. The canister can include a debris duct connected to the debris port and to the debris bin. The canister can include a debris collector connected to the debris duct upstream of the debris bin, where the debris collector can collect debris from a debris airstream of the debris duct.
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
A mobile cleaning robot can include a body, a debris bin connected to the body, and one or more drive wheels connected to the body and operable to move the mobile cleaning robot about an environment. The mobile cleaning robot can include an extractor connected to the body that can be operable to extract debris from the environment. The mobile cleaning robot can also include a vacuum system connected to the body and configured to generate a flow stream through the extractor. The mobile cleaning robot can include a compaction system connected to the body and a discharge of the extractor. The compaction system can include a plenum configured to receive debris and the flow stream from the discharge and a compactor located at least partially within the plenum and operable to compact debris from the plenum into the debris bin.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A mobile cleaning robot can include a body, a debris bin connected to the body, and one or more drive wheels connected to the body and operable to move the mobile cleaning robot about an environment. The mobile cleaning robot can include an extractor connected to the body that can be operable to extract debris from the environment. The mobile cleaning robot can also include a vacuum system connected to the body and configured to generate a flow stream through the extractor. The mobile cleaning robot can include a compaction system connected to the body and a discharge of the extractor. The compaction system can include a plenum configured to receive debris and the flow stream from the discharge and a compactor located at least partially within the plenum and operable to compact debris from the plenum into the debris bin.
A cleaning pad for a mobile cleaning robot can include a backing layer, a cleaning layer, and a card. The backing layer can be user-releasably securable to a pad tray of the mobile cleaning robot. The cleaning layer can be affixed to the backing layer and engageable with a floor surface. The card can be connected to at least one of the backing layer and the cleaning layer and can be engaged with the backing layer. The card can be slidably insertable into a retainer of the pad tray to align the cleaning pad with the pad tray of the mobile cleaning robot.
A47L 9/06 - Nozzles with fixed, e.g. adjustably fixed brushes or the like
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
B32B 3/04 - Layered products comprising a layer with external or internal discontinuities or unevennesses, or a layer of non-planar shapeLayered products comprising a layer having particular features of form characterised by features of form at particular places, e.g. in edge regions characterised by a layer folded at the edge, e.g. over another layer
B32B 3/08 - Layered products comprising a layer with external or internal discontinuities or unevennesses, or a layer of non-planar shapeLayered products comprising a layer having particular features of form characterised by features of form at particular places, e.g. in edge regions characterised by added members at particular parts
B32B 7/09 - Interconnection of layers by mechanical means by stitching, needling or sewing
26.
SYSTEMS AND METHODS FOR DOCK PLACEMENT FOR AN AUTONOMOUS MOBILE ROBOT
Described herein are systems, devices, and methods for validating location of a docking station for docking a mobile robot. In an example, a mobile robot system includes a docking station and a mobile cleaning robot. The mobile cleaning robot includes a drive system to move the mobile cleaning robot about an environment including a docking area within a distance of the docking station, and a controller circuit to detect, from an image of the docking area, a presence or absence of one or more obstacles in the docking area. A notification may be generated to inform a user about the detected obstacles. The mobile device may generate a recommendation to the user to clear the docking area or reposition the docking station, or suggest one or more candidate locations for placing the docking station.
A mobile cleaning robot movable within an environment can include a body, a drive arm, a container, a biasing element, and a link. The drive arm can be connected to the body and can be movable with respect to the body. The drive arm can support a drive wheel. The container can be connectable to the body and can be configured to carry a fluid therein. The biasing element can be connected to the drive arm to bias the drive wheel toward a floor surface. The link can be pivotably connected to the body and can be connected to the biasing element. The link can be engageable with the tank to adjust the biasing element based on an amount of the fluid in the container.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A mobile cleaning robot can be movable within an environment. The mobile cleaning robot can include a body, a cleaning head, a biasing element, and a linkage. The cleaning head can be operable to extract debris from a floor surface and can be configured to move vertically relative to the body between an extended position and a retracted position. The biasing element can be connected to the body and can be movable with the cleaning head. The linkage can be connected to the cleaning head and the biasing element. The linkage can be rotatably connected to the body to, together with the biasing element, bias the cleaning head toward the retracted position.
A method for operating or interacting with a mobile robot includes determining, using at least one processor, a mapping between a first coordinate system associated with a mobile device and a second coordinate system associated with the mobile robot, in which the first coordinate system is different from the second coordinate system. The method includes providing at the mobile device a user interface to enable a user to interact with the mobile robot in which the interaction involves usage of the mapping between the first coordinate system and the second coordinate system.
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
G06F 3/0484 - Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
A method of operating a computing device includes receiving occupancy data for an operating environment of a mobile robot based on localization data detected by at least one localization sensor of the mobile robot responsive to navigation thereof in the operating environment, and receiving signal coverage data for the operating environment based on wireless communication signals acquired by at least one wireless receiver of the mobile robot responsive to navigation thereof in the operating environment. The wireless communication signals are transmitted by at least one electronic device that is local to the operating environment. The method further includes generating a map indicating coverage patterns of the wireless communication signals at respective locations in the operating environment by correlating the occupancy data and the signal coverage data. Related methods, mobile robots, and user terminals are also discussed.
H04W 4/02 - Services making use of location information
H04W 4/33 - Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
H04W 4/70 - Services for machine-to-machine communication [M2M] or machine type communication [MTC]
H04W 4/80 - Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
A docking station for a mobile cleaning robot can include a housing. The housing can define or comprise a pad receptacle and a pad dispenser. The pad receptacle can be configured to receive a soiled pad from a pad tray of the mobile cleaning robot. The pad dispenser can be configured to provide a fresh pad to the pad tray of the mobile cleaning robot.
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
A47L 9/06 - Nozzles with fixed, e.g. adjustably fixed brushes or the like
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
A mobile cleaning robot can be movable within an environment, the mobile cleaning robot can include a body, a drive wheel arm, a drive wheel, a cam, and a cam follower. The drive wheel arm can be connected to the body and can be movable with respect to the body between an extended position and a retracted position. The drive wheel can be connected to the drive wheel arm and can be movable therewith. The drive wheel can be operable to move the mobile cleaning robot. The cam can be connected to the drive wheel arm and can be movable therewith. The cam follower can be connected to the body and can be engaged with the cam to move the drive wheel arm toward the extended position.
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
B60G 3/00 - Resilient suspensions for a single wheel
B60G 17/00 - Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
A docking station for a mobile cleaning robot can include a canister and a base configured to receive the mobile cleaning robot thereon, where the base can include a front portion and a back portion opposite the front portion. The base can include a vacuum port extending at least partially through the base. The canister can be connected to the back portion of the base and can be located at least partially above the base. The canister can include a debris bin connected to the vacuum port to receive debris therefrom and a fan compartment connected to a side wall of the debris bin and including a fan system operable to draw debris through the vacuum port and the debris bin.
A mobile cleaning robot includes a cleaning head configured to clean a floor surface in an environment, and at least one camera having a field of view that extends above the floor surface. The at least one camera is configured to capture images that include portions of the environment above the floor surface. The robot includes a recognition module is configured to recognize objects in the environment based on the images captured by the at least one camera, in which the recognition module is trained at least in part using the images captured by the at least one camera. The robot includes a storage device is configured to store a map of the environment. The robot includes a control module configured to control the mobile cleaning robot to navigate in the environment using the map and operate the cleaning head to perform cleaning tasks taking into account of the objects recognized by the recognition module.
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
G05D 1/2285 - Command input arrangements located on-board unmanned vehicles using voice or gesture commands
G05D 1/243 - Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
G05D 1/246 - Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
G05D 1/648 - Performing a task within a working area or space, e.g. cleaning
G05D 105/10 - Specific applications of the controlled vehicles for cleaning, vacuuming or polishing
G06F 18/2413 - Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches based on distances to training or reference patterns
G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods
G06V 10/44 - Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersectionsConnectivity analysis, e.g. of connected components
G06V 10/82 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
A filtering device for an evacuation station includes a filter bag configured to collect debris evacuated from a cleaning robot by an evacuation station. The filtering device includes an interface assembly configured to interface with the evacuation station. The interface assembly includes (i) a base attached to the filter bag along an opening of the filter bag, (ii) an access door configured to provide or limit access to a space within the filter bag depending on whether the access door is in an open position or a closed position, and (iii) one or more hinges connecting the base to the access door. The access door is rotatable around the one or more hinges from the closed position to the open position.
A telepresence robot may include a drive system, a control system, an imaging system, and a mapping module. The mapping module may access a plan view map of an area and tags associated with the area. In various embodiments, each tag may include tag coordinates and tag information, which may include a tag annotation. A tag identification system may identify tags within a predetermined range of the current position and the control system may execute an action based on an identified tag whose tag information comprises a telepresence robot action modifier. The telepresence robot may rotate an upper portion independent from a lower portion. A remote terminal may allow an operator to control the telepresence robot using any combination of control methods, including by selecting a destination in a live video feed, by selecting a destination on a plan view map, or by using a joystick or other peripheral device.
G16H 40/67 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
B25J 5/00 - Manipulators mounted on wheels or on carriages
A method of operating a mobile robot includes generating a segmentation map defining respective regions of a surface based on occupancy data that is collected by a mobile robot responsive to navigation of the surface, identifying sub-regions of at least one of the respective regions as non-clutter and clutter areas, and computing a coverage pattern based on identification of the sub-regions. The coverage pattern indicates a sequence for navigation of the non-clutter and clutter areas, and is provided to the mobile robot. Responsive to the coverage pattern, the mobile robot sequentially navigates the non-clutter and clutter areas of the at least one of the respective regions of the surface in the sequence indicated by the coverage pattern. Related methods, computing devices, and computer program products are also discussed.
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
A47L 9/04 - Nozzles with driven brushes or agitators
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
G05D 1/223 - Command input arrangements on the remote controller, e.g. joysticks or touch screens
G05D 1/225 - Remote-control arrangements operated by off-board computers
G05D 1/246 - Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
G05D 1/648 - Performing a task within a working area or space, e.g. cleaning
A mobile robot includes a body configured to traverse a surface and to receive debris from the surface, and a debris bin within the body. The debris bin includes a chamber to hold the debris received by the mobile robot, an exhaust port through which the debris exits the debris bin; and a door unit over the exhaust port. The door unit includes a flap configured to move, in response to air pressure at the exhaust port, between a closed position to cover the exhaust port and an open position to open a path between the chamber and the exhaust port. The door unit, including the flap in the open position and in the closed position, is within an exterior surface of the mobile robot.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
A47L 9/14 - Bags or the likeAttachment of, or closures for, bags
A47L 9/19 - Means for monitoring filtering operation
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
A mobile cleaning robot can be movable about a flooring surface of an environment and can include a body, a pad tray, a cleaning pad, and a pad drive system. The body can at least partially define a reservoir configured to store liquid therein. The pad tray can be connected to the body and can be movable with respect to the body between a stored position and a deployed position. The valve can be connected to the body and can be movable between a closed position where liquid flow is limited and an open position where liquid flow to the cleaning pad is permitted. The drive system can be movable such that the pad tray or the cleaning pad can engage the valve to move the valve to the open position when the drive system moves the pad tray and the cleaning pad to the deployed position.
B25J 11/00 - Manipulators not otherwise provided for
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
41.
CLINICAL WORKFLOWS UTILIZING AUTONOMOUS AND SEMI-AUTONOMOUS TELEMEDICINE DEVICES
The present disclosure describes various clinical workflows and other methods that utilize a telemedicine device in a healthcare network. According to various embodiments, a healthcare practitioner may utilize a remote presence interfaces (RPIs) on a remote access device (RAD), such as a portable electronic device (PED) to interface with a telemedicine device. The healthcare practitioner may directly interface with a display interface of a telemedicine device or utilize the RPI on a RAD. The present disclosure provides various clinical workflows involving a telemedicine device to view patient data during a telepresence session, perform rounds to visit multiple patients, monitor a patient, allow for remote visitations by companions, and various other clinical workflow methods.
G06Q 50/22 - Social work or social welfare, e.g. community support activities or counselling services
G16H 40/67 - ICT specially adapted for the management or administration of healthcare resources or facilitiesICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
A method of operating a mobile cleaning robot can include navigating the mobile cleaning robot within an environment. Whether a movement condition is satisfied can be determined and a mopping pad tray can be moved relative to a body of the mobile cleaning robot between a cleaning position and a stored position in response to receipt of a command to move the mopping pad tray when the movement condition is satisfied.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A47L 11/30 - Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
An autonomous coverage robot includes a cleaning assembly having forward roller and rearward rollers counter-rotating with respect to each other. The rollers are arranged to substantially maintain a cross sectional area between the two rollers yet permitting collapsing therebetween as large debris is passed. Each roller includes a resilient elastomer outer tube and a partially air-occupied inner resilient core configured to bias the outer tube to rebound. The core includes a hub and resilient spokes extending between the inner surface of the outer tube and the hub. The spokes suspend the outer tube to float about the hub and transfer torque from the hub to the outer tube while allowing the outer tube to momentarily deform or move offset from the hub during impact with debris larger than the cross sectional area between the two rollers.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A47L 7/02 - Suction cleaners adapted for additional purposesTables with suction openings for cleaning purposesContainers for cleaning articles by suctionSuction cleaners adapted to cleaning of brushesSuction cleaners adapted to taking-up liquids with driven tools for special purposes
A47L 9/04 - Nozzles with driven brushes or agitators
A47L 9/06 - Nozzles with fixed, e.g. adjustably fixed brushes or the like
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
A docking station for a mobile cleaning robot can include a base and a storage compartment. The base can be configured to receive the mobile cleaning robot. The base can include an electrical power interface configured to provide electrical power to the mobile cleaning robot. The storage compartment can be integrated with the base and the storage compartment can be sized and shaped to receive a user-replaceable accessory associated with the base or the mobile cleaning robot.
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
B60L 53/30 - Constructional details of charging stations
A cleaning roller mountable to a cleaning robot is featured. The cleaning roller includes an elongate member extending along a longitudinal axis of the cleaning roller, and a vane extending outward from the elongate member. The vane includes a first vane portion attached to the elongate member, and a second vane portion attached to the first vane portion. The first vane portion extends from the elongate member at a location intersecting a radial axis of the cleaning roller. The first vane portion extends along a first axis angled relative to the radial axis and away from the radial axis in a tangential direction. The second vane portion extends along a second axis angled relative to the first axis. A first angle between the first axis and the radial axis is greater than a second angle between the second axis and the radial axis.
A method includes receiving sensor data collected by an autonomous mobile robot as the autonomous mobile robot moves about an environment, the sensor data being indicative of sensor events and locations associated with the sensor events. The method includes identifying a subset of the sensor events based on the locations. The method includes providing, to a user computing device, data indicative of a recommended behavior control zone in the environment, the recommended behavior control zone containing a subset of the locations associated with the subset of the sensor events. The method includes defining, in response to a user selection from the user computing device, a behavior control zone such that the autonomous mobile robot initiates a behavior in response to encountering the behavior control zone, the behavior control zone being based on the recommended behavior control zone.
An autonomous cleaning robot includes a drive system to support the autonomous cleaning robot above a floor surface, an image capture device positioned on the autonomous cleaning robot to capture imagery of a portion of the floor surface forward of the autonomous cleaning robot, and a controller operably connected to the drive system and the image capture device. The drive system is operable to maneuver the autonomous cleaning robot about the floor surface. The controller is configured to execute instructions to perform operations including initiating, based on a user-selected sensitivity and the imagery captured by the image capture device, an avoidance behavior to avoid an obstacle on the portion of the floor surface.
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A cleaning station for a mobile robot includes a fluid vessel and a roller arranged in the fluid vessel. The fluid vessel is shaped to hold a cleaning fluid that at least partially submerges the roller. The cleaning station includes a control system configured to, when the mobile robot is docked at the cleaning station, cause rotation of the roller to direct cleaning fluid from the fluid vessel to a cleaning pad of the mobile robot in order to release debris from the cleaning pad.
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
A47L 9/06 - Nozzles with fixed, e.g. adjustably fixed brushes or the like
A47L 9/14 - Bags or the likeAttachment of, or closures for, bags
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
B08B 1/20 - Cleaning of moving articles, e.g. of moving webs or of objects on a conveyor
B08B 3/14 - Removing waste, e.g. labels, from cleaning liquid
B08B 5/04 - Cleaning by suction, with or without auxiliary action
B08B 13/00 - Accessories or details of general applicability for machines or apparatus for cleaning
09 - Scientific and electric apparatus and instruments
Goods & Services
Robotic lawnmowers; Robotic lawn mowers; structural and replacement parts and fittings for robotic lawnmowers. Downloadable software in the nature of a mobile application for starting and stopping, scheduling, customizing, and monitoring robotic lawnmowers.
A method of operating an autonomous cleaning robot is provided. The method includes receiving, at a handheld computing device, data representing a status of a debris collection bin of the autonomous cleaning robot, the status of the bin including a bin fullness reading. The method also includes receiving, at the handheld computing device, data representing a status of a filter bag of an evacuation station, the status of the filter bag including a bag fullness reading. The method also includes presenting, on a display of the handheld computing device, a first status indicator representing the bin fullness reading, and presenting, on the display of the handheld computing device, a second status indicator representing the bag fullness reading.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
G05D 1/227 - Handing over between remote control and on-board controlHanding over between remote control arrangements
A mobile cleaning robot can be movable within an environment, the mobile cleaning robot can include a body and a drive arm movable with respect to the body between an extended position and a retracted position. The robot can include a drive wheel connected to the drive arm and movable therewith. The drive wheel can be operable to move the mobile cleaning robot. The robot can include a first link connected to the body and connected to the drive arm. The robot can include a second link connected to the body and connected to the drive arm to, together with the first link, the body, and the drive arm, define a center of rotation about which the drive arm and the drive wheel rotate between the extended position and the retracted position.
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
An autonomous cleaning robot includes a drive system to move the autonomous cleaning robot about a floor surface, a cleaning head on a bottom portion of the autonomous cleaning robot, a side brush on the bottom portion of the autonomous cleaning robot, and a vacuum system in pneumatic communication with the opening. The cleaning head is configured to direct debris from the floor surface into the autonomous cleaning robot as the autonomous cleaning robot moves about the floor surface. The side brush is rotatable about a rotational axis forming a non-zero angle with a floor surface, and the side brush comprising an opening.
A method of mowing with an autonomous robot lawnmower includes traversing a mowable area with the autonomous robot lawnmower carrying a cutter and a vegetation characteristic sensor. The vegetation characteristic sensor is configured to generate sensor data in response to detecting a vegetation characteristic of the mowable area. The vegetation characteristic is selected from the group consisting of a moisture content, a grass height, and a color. The method includes storing position-referenced data representing the vegetation characteristic detected across the mowable area. The position-referenced data is based at least in part on the sensor data and position data. The method includes sending data to a remote device to cause the remote device to display a map including information based on the position-referenced data.
A mobile cleaning robot can be movable within an environment, the mobile cleaning robot can include a body and a drive arm movable with respect to the body between an extended position and a retracted position. The robot can include a drive wheel connected to the drive arm and movable therewith. The drive wheel can be operable to move the mobile cleaning robot. The robot can include a first link connected to the body and connected to the drive arm. The robot can include a second link connected to the body and connected to the drive arm to, together with the first link, the body, and the drive arm, define a center of rotation about which the drive arm and the drive wheel rotate between the extended position and the retracted position.
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
59.
SCHEDULING AND CONTROL SYSTEM FOR AUTONOMOUS ROBOTS
An autonomous cleaning robot including a drive configured to move the cleaning robot across a floor surface in an area to be cleaned and a controller. The controller is configured to receive data representing an editable mission timeline including data representing a sequence of rooms to be cleaned, navigate the cleaning robot to clean the rooms following the sequence, track operational events occurring in each of the rooms, and transmit data about time spent navigating each room included in the sequence.
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
G05B 19/042 - Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
G05D 1/223 - Command input arrangements on the remote controller, e.g. joysticks or touch screens
G05D 1/225 - Remote-control arrangements operated by off-board computers
G06F 3/04817 - Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance using icons
Systems, devices, and methods for docking a mobile robot to a dock using distinct visual fiducial markers on the dock are disclosed. A mobile robot system is provided that includes a dock and a mobile cleaning robot. The dock includes a first fiducial marker in a first plane on the dock and second one or more fiducial markers in a second plane different from the first plane. The mobile cleaning robot includes a visual system to detect the first and the second one or more fiducial markers, and a controller circuit to recognize the dock, and to determine a pose or heading direction of the mobile cleaning robot based on the detected first and the second one or more fiducial markers. The mobile drive system can adjust its heading direction, and drive to the dock according to the adjusted heading direction.
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
G05D 1/244 - Arrangements for determining position or orientation using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means
A method of prioritizing cleaning of rooms of an environment for a mobile cleaning robot can include generating a cleanliness score for each room of the environment using a controller. Each of the cleanliness scores can be indicative of an amount of debris expected in each respective room by the mobile cleaning robot. The method can also include generating a room cleaning priority based at least partially on the cleanliness score of each of the rooms. The method can also include scheduling operations of the mobile cleaning robot for a planned mission based on the room cleaning priority of each of the rooms of the environment.
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A method of prioritizing cleaning of rooms of an environment for a mobile cleaning robot can include generating a cleanliness score for each room of the environment using a controller. Each of the cleanliness scores can be indicative of an amount of debris expected in each respective room by the mobile cleaning robot. The method can also include generating a room cleaning priority based at least partially on the cleanliness score of each of the rooms. The method can also include scheduling operations of the mobile cleaning robot for a planned mission based on the room cleaning priority of each of the rooms of the environment.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A cleaning roller is mountable to a cleaning robot. The cleaning roller includes a sheath comprising a shell, an outer diameter of the shell tapering from a first end portion of the sheath and a second end portion of the sheath toward a center of the roller. The cleaning roller further includes a core including a central portion interlocked with the sheath to rotationally couple the core to the sheath and inhibit relative translation of the sheath and the core along an axis of rotation. An inner surface of the sheath and an outer surface of the core define an air gap therebetween, the air gap extending from the central portion of the core longitudinally along the axis of rotation toward the first end portion or the second end portion.
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
A47L 9/04 - Nozzles with driven brushes or agitators
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A method of operating a mobile cleaning robot can include engaging a flooring surface of an environment with a cleaning pad of the mobile cleaning robot. At least one wheel of the mobile cleaning robot can be operated to move the mobile cleaning robot forward relative to the flooring surface a first time along a cleaning rank while the cleaning pad is engaged with the flooring surface. After moving forward, at least one wheel can be operated to move the mobile cleaning robot rearward relative to the flooring surface along the cleaning rank while the cleaning pad is engaged with the flooring surface. After moving rearward, at least one wheel can be operated to move the mobile cleaning robot forward a second time relative to the flooring surface along the cleaning rank while the cleaning pad is engaged with the flooring surface.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A method of operating a mobile cleaning robot can include engaging a flooring surface of an environment with a cleaning pad of the mobile cleaning robot. At least one wheel of the mobile cleaning robot can be operated to move the mobile cleaning robot forward relative to the flooring surface a first time along a cleaning rank while the cleaning pad is engaged with the flooring surface. After moving forward, at least one wheel can be operated to move the mobile cleaning robot rearward relative to the flooring surface along the cleaning rank while the cleaning pad is engaged with the flooring surface. After moving rearward, at least one wheel can be operated to move the mobile cleaning robot forward a second time relative to the flooring surface along the cleaning rank while the cleaning pad is engaged with the flooring surface.
A47L 11/292 - Floor-scrubbing machines characterised by means for taking-up dirty liquid having rotary tools
A47L 11/30 - Floor-scrubbing machines characterised by means for taking-up dirty liquid by suction
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A mobile cleaning robot can include a body, a drive wheel, and a wheel stop. The drive wheel can be connected to the body and can be operable to move the mobile cleaning robot about an environment. The wheel stop can be movable with respect to the body and the drive wheel between a stop position and a release position. The wheel stop can be engageable with the drive wheel in the stop position to limit vertical travel of the drive wheel with respect to the body.
A47L 9/06 - Nozzles with fixed, e.g. adjustably fixed brushes or the like
A47L 7/00 - Suction cleaners adapted for additional purposesTables with suction openings for cleaning purposesContainers for cleaning articles by suctionSuction cleaners adapted to cleaning of brushesSuction cleaners adapted to taking-up liquids
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A mobile cleaning robot configured to clean an environment. The mobile cleaning robot can include a body and a drivetrain operable to move the body within the environment. The robot can include a sensor connected to the body and configured to generate a sensor signal based on interactions between the mobile cleaning robot and the environment. The robot can include an image capture device connected to the body and configured to generate an image stream based on an optical field of view of the image capture device. The robot can include a controller connected to the body and configured to determine whether the mobile cleaning robot is in a stasis condition based on the image stream and the sensor signal. The controller can also update a map of the environment based on the stasis determination.
G05D 1/246 - Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
G05D 1/243 - Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
G05D 1/648 - Performing a task within a working area or space, e.g. cleaning
G05D 105/10 - Specific applications of the controlled vehicles for cleaning, vacuuming or polishing
A mobile cleaning robot configured to clean an environment. The mobile cleaning robot can include a body and a drivetrain operable to move the body within the environment. The robot can include a sensor connected to the body and configured to generate a sensor signal based on interactions between the mobile cleaning robot and the environment. The robot can include an image capture device connected to the body and configured to generate an image stream based on an optical filed of view of the image capture device. The robot can include a controller connected to the body and configured to determine whether the mobile cleaning robot is in a stasis condition based on the image stream and the sensor signal. The controller can also update a map of the environment based on the stasis determination.
G05D 1/243 - Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
G05D 1/245 - Arrangements for determining position or orientation using dead reckoning
G05D 1/246 - Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
G05D 1/628 - Obstacle avoidance following the obstacle profile, e.g. a wall or undulated terrain
G05D 1/639 - Resolving or avoiding being stuck or obstructed
A system for enabling spot cleaning includes a mobile computing device and a mobile cleaning robot. The mobile computing device includes at least one camera configured to capture images of an environment, and at least one data processor configured to (a) establish a coordinate system in the environment, (b) determine a first set of coordinates of a region at a first location, (c) determine a second set of coordinates of a mobile cleaning robot at a second location, (d) send the first set of coordinates and second set of coordinates, or coordinates of the first location relative to the second location, to the mobile cleaning robot, and (e) send an instruction to the mobile cleaning robot to request the mobile cleaning robot to travel to the first location.
G06V 10/82 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
G05D 1/223 - Command input arrangements on the remote controller, e.g. joysticks or touch screens
G05D 1/246 - Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
G05D 1/247 - Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
G05D 1/249 - Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons from positioning sensors located off-board the vehicle, e.g. from cameras
G05D 1/628 - Obstacle avoidance following the obstacle profile, e.g. a wall or undulated terrain
G05D 1/648 - Performing a task within a working area or space, e.g. cleaning
G06F 18/2413 - Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches based on distances to training or reference patterns
A mobile cleaning robot can include a body, a drive system, a mopping pad assembly, and a scrubbing system. The drive system can be connected to the body and can be operable to move the mobile cleaning robot about a floor surface of an environment. The mopping pad assembly can be connected to the body and can be configured to hold a mopping pad that is engageable with the floor surface. The scrubbing system can be connected to the body in front of the mopping pad assembly, The scrubbing system can be operable to engage and scrub the floor surface.
A47L 11/282 - Floor-scrubbing machines, motor-driven having rotary tools
A47L 11/20 - Floor surfacing or polishing machines combined with vacuum cleaning devices
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
An evacuation station includes a base and a canister removably attached to the base. The base includes a ramp having an inclined surface for receiving a robotic cleaner having a debris bin. The ramp defines an evacuation intake opening arranged to pneumatically interface with the debris bin. The base also includes a first conduit portion pneumatically connected to the evacuation intake opening, an air mover having an inlet and an exhaust, and a particle filter pneumatically the exhaust of the air mover. The canister includes a second conduit portion arranged to pneumatically interface with the first conduit portion to form a pneumatic debris intake conduit, an exhaust conduit arranged to pneumatically connect to the inlet of the air mover when the canister is attached to the base, and a separator in pneumatic communication with the second conduit portion.
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
A47L 7/00 - Suction cleaners adapted for additional purposesTables with suction openings for cleaning purposesContainers for cleaning articles by suctionSuction cleaners adapted to cleaning of brushesSuction cleaners adapted to taking-up liquids
A47L 9/10 - FiltersDust separatorsDust removalAutomatic exchange of filters
A mobile cleaning robot can include a body, a drive system, a mopping pad assembly, and a scrubbing system. The drive system can be connected to the body and can be operable to move the mobile cleaning robot about a floor surface of an environment. The mopping pad assembly can be connected to the body and can be configured to hold a mopping pad that is engageable with the floor surface. The scrubbing system can be connected to the body in front of the mopping pad assembly, The scrubbing system can be operable to engage and scrub the floor surface.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
An evacuation station for collecting debris from a cleaning robot includes a controller configured to execute instructions to perform one or more operations. The one or more operations includes initiating an evacuation operation such that an air mover draws air containing debris from the cleaning robot, through an intake of the evacuation station, and through a canister of the evacuation station and such that a receptacle received by the evacuation station receives at least a portion of the debris drawn from the cleaning robot. The one or more operations includes ceasing the evacuation operation in response to a pressure value being within a range. The pressure value is determined based at least in part on data indicative of an air pressure, and the range is set based at least in part on a number of evacuation operations initiated before the evacuation operation.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
B01D 46/00 - Filters or filtering processes specially modified for separating dispersed particles from gases or vapours
B01D 46/02 - Particle separators, e.g. dust precipitators, having hollow filters made of flexible material
B01D 46/44 - Auxiliary equipment or operation thereof controlling filtration
G05D 7/06 - Control of flow characterised by the use of electric means
A cleaning roller mountable to a cleaning robot includes an elongate shaft extending from a first end portion to a second end portion along an axis of rotation. The first and second end portions are mountable to the cleaning robot for rotating about the axis of rotation. The cleaning roller further includes a core affixed around the shaft and having outer end portions positioned along the elongate shaft and proximate the first and second end portions. The core tapers from proximate the first end portion of the shaft toward a center of the shaft. The cleaning roller further includes a sheath affixed to the core and extending beyond the outer end portions of the core. The sheath includes a first half and a second half each tapering toward the center of the shaft.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A47L 9/04 - Nozzles with driven brushes or agitators
A mobile cleaning robot can include a body, a drive wheel, and a plurality of skids. The drive wheel can be connected to the body and can be engageable with a floor surface of an environment. The drive wheel can be operable to move the mobile cleaning robot about an environment. The skids can be separate skids that can be connected to the body and can be engageable with the floor surface to support, together with the drive wheel, the mobile cleaning robot with respect to the floor surface.
A46B 13/02 - Brushes with driven brush bodies power-driven
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
A47L 9/04 - Nozzles with driven brushes or agitators
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
A mobile cleaning robot an include a body, a drive wheel, a wheel stop, and an actuator system. The drive wheel can be connected to the body and can be operable to move the mobile cleaning robot about an environment. The wheel stop can be movable with respect to the body. The actuator system can be operable to move the wheel stop to engage the drive wheel to extend the drive wheel from the body.
A47L 9/06 - Nozzles with fixed, e.g. adjustably fixed brushes or the like
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A mobile cleaning robot an include a body, a drive wheel (518), a wheel stop (558), and an actuator system (660). The drive wheel can be connected to the body and can be operable to move the mobile cleaning robot about an environment. The wheel stop can be movable with respect to the body. The actuator system can be operable to move the wheel stop to engage the drive wheel to extend the drive wheel from the body.
A docking station for a mobile cleaning robot can include a base and a cannister. The base can be configured to receive at least a portion of the mobile cleaning robot thereon, where the base can include a debris port. The cannister can be connected to the base and can be located at least partially above the base. The cannister can include a debris duct connected to the debris port and configured to receive an air stream from the mobile cleaning robot. The lid assembly can be connected to the debris duct and can be configured to receive at least a portion of the air stream from the mobile cleaning robot. A receptacle can be connected to the lid assembly, where the receptacle can be configured to receive at least a portion of debris from the air stream or the lid assembly.
A47L 9/14 - Bags or the likeAttachment of, or closures for, bags
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
A docking station for a mobile cleaning robot can include a base and a cannister. The base can be configured to receive at least a portion of the mobile cleaning robot thereon, where the base can include a debris port. The cannister can be connected to the base and can be located at least partially above the base. The cannister can include a debris duct connected to the debris port and configured to receive an air stream from the mobile cleaning robot. The lid assembly can be connected to the debris duct and can be configured to receive at least a portion of the air stream from the mobile cleaning robot. A receptacle can be connected to the lid assembly, where the receptacle can be configured to receive at least a portion of debris from the air stream or the lid assembly.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A non-transitory machine-readable medium, including instructions, which when executed, cause processing circuitry to perform operations to receive sensor data from a mobile cleaning robot based on interactions between the mobile cleaning robot and an environment. The instructions can further cause the processing circuitry to perform operations to generate a boundary of traversable space by the mobile cleaning robot within the environment using the sensor data, the boundary at least partially defining non-traversable space of the environment, and the non-traversable space including a region beyond the boundary. The instructions can further cause the processing circuitry to perform operations to generate a modified boundary of the environment using the non-traversable space and the sensor data.
G05D 1/02 - Control of position or course in two dimensions
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
G01C 21/00 - NavigationNavigational instruments not provided for in groups
G05B 19/4155 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
87.
MAPPING NEGATIVE SPACE FOR AUTONOMOUS MOBILE ROBOT
A non-transitory machine-readable medium, including instructions, which when executed, cause processing circuitry to perform operations to receive sensor data from a mobile cleaning robot based on interactions between the mobile cleaning robot and an environment. The instructions can further cause the processing circuitry to perform operations to generate a boundary of traversable space by the mobile cleaning robot within the environment using the sensor data, the boundary at least partially defining non-traversable space of the environment, and the non- traversable space including a region beyond the boundary. The instructions can further cause the processing circuitry to perform operations to generate a modified boundary of the environment using the non-traversable space and the sensor data.
G05D 1/224 - Output arrangements on the remote controller, e.g. displays, haptics or speakers
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
G05D 105/10 - Specific applications of the controlled vehicles for cleaning, vacuuming or polishing
A docking station (200) for a mobile cleaning robot (100) can include a base (204), a housing, and a pad cleaning system (226). The base (204) can be configured to receive the mobile cleaning robot (100). The housing can be connected to the base. The pad cleaning system (226) can be connected to the housing and can include a reservoir (234) configured to retain liquid therein. The pad cleaning system can also include an agitator (298) located at least partially within the reservoir (234). The agitator can be engageable with a cleaning pad of the mobile cleaning robot.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A cleaning roller mountable to a cleaning robot is featured. The cleaning roller includes an elongate member extending along a longitudinal axis of the cleaning roller, and a vane extending outward from the elongate member. The vane includes a first vane portion attached to the elongate member, and a second vane portion attached to the first vane portion. The first vane portion extends from the elongate member at a location intersecting a radial axis of the cleaning roller. The first vane portion extends along a first axis angled relative to the radial axis and away from the radial axis in a tangential direction. The second vane portion extends along a second axis angled relative to the first axis. A first angle between the first axis and the radial axis is greater than a second angle between the second axis and the radial axis.
A docking station for a mobile cleaning robot can include a base, a housing, and a pad cleaning system. The base can be configured to receive the mobile cleaning robot. The housing can be connected to the base. The pad cleaning system can be connected to the housing and can include a reservoir configured to retain liquid therein. The pad cleaning system can also include an agitator located at least partially within the reservoir. The agitator can be engageable with a cleaning pad of the mobile cleaning robot.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
A47L 9/14 - Bags or the likeAttachment of, or closures for, bags
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
B08B 1/04 - Cleaning by methods involving the use of tools, brushes, or analogous members using rotary operative members
A method of operating an autonomous cleaning robot is provided. The method includes receiving, at a handheld computing device, data representing a status of a debris collection bin of the autonomous cleaning robot, the status of the bin including a bin fullness reading. The method also includes receiving, at the handheld computing device, data representing a status of a filter bag of an evacuation station, the status of the filter bag including a bag fullness reading. The method also includes presenting, on a display of the handheld computing device, a first status indicator representing the bin fullness reading, and presenting, on the display of the handheld computing device, a second status indicator representing the bag fullness reading.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
G05D 1/227 - Handing over between remote control and on-board controlHanding over between remote control arrangements
A method includes maneuvering a robot in (i) a following mode in which the robot is controlled to travel along a path segment adjacent an obstacle, while recording data indicative of the path segment, and (ii) in a coverage mode in which the robot is controlled to traverse an area. The method includes generating data indicative of a layout of the area, updating data indicative of a calculated robot pose based at least on odometry, and calculating a pose confidence level. The method includes, in response to the confidence level being below a confidence limit, maneuvering the robot to a suspected location of the path segment, based on the calculated robot pose and the data indicative of the layout and, in response to detecting the path segment within a distance from the suspected location, updating the data indicative of the calculated pose and/or the layout.
A method of detecting a location of an impact event for a mobile robot. The mobile robot can include a robot body and a bumper. The bumper configured to bend in response to an impact event. The method can include receiving a first signal from a proximity sensor attached to the robot body. The first signal can be indicative of a first distance between the bumper and the robot body at a first location of the bumper. The method can also include receiving a second signal from the proximity sensor attached to the robot body. The second signal can be indicative of a second distance between the bumper and the robot body at a second location of the bumper. The method can also include determining the location of the impact event by comparing the first signal and the second signal to at least one of a plurality of reference signals.
B60R 19/48 - Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects combined with, or convertible into, other devices or objects, e.g. bumpers combined with road brushes, bumpers convertible into beds
B60R 19/02 - Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
94.
Adjustable parameters for autonomous cleaning robots
A method of operating an autonomous cleaning robot includes presenting, on a display of a mobile device, a representation of each of multiple cleaning levels, each cleaning level corresponding to a respective rank overlap parameter for a wet cleaning mission of the autonomous cleaning robot. The method includes receiving, at the mobile device, an input indicative of a selection of one of the cleaning levels; and controlling the autonomous cleaning robot to execute a wet cleaning mission according to the rank overlap parameter corresponding to the selected one of the cleaning levels.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
A docking station for a mobile cleaning robot can include a canister and a base configured to receive the mobile cleaning robot thereon, where the base can include a front portion and a back portion opposite the front portion. The base can include a vacuum port extending at least partially through the base. The canister can be connected to the back portion of the base and can be located at least partially above the base. The canister can include a debris bin connected to the vacuum port to receive debris therefrom and a fan compartment connected to a side wall of the debris bin and including a fan system operable to draw debris through the vacuum port and the debris bin.
A docking station for a mobile cleaning robot can include a base configured to receive at least a portion of the mobile cleaning robot thereon, where the base can include a debris port. The docking station can include a canister connected to the base and located at least partially above the base. The canister can include a debris bin to receive debris from the mobile cleaning robot. The canister can include a debris duct connected to the debris port and to the debris bin. The canister can include a debris collector connected to the debris duct upstream of the debris bin, where the debris collector can collect debris from a debris airstream of the debris duct.
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
A47L 9/00 - Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating actionStoring devices specially adapted to suction cleaners or parts thereofCarrying-vehicles specially adapted for suction cleaners
A pet feeding system can include a housing, a food tray connected to the housing, and a liquid tray connected to the housing. The pet feeding system can include a food dispenser connected to the housing and configured to dispense food into the food tray. The pet feeding system can include a liquid dispenser connected to the housing and configured to dispense liquid into the liquid tray. The pet feeding system can include a controller communicatively connected to the food dispenser and the liquid dispenser. The controller can operate the food dispenser to dispense the food into the food tray and can operate the liquid dispenser to dispense liquid into the liquid tray.
A roller for a mobile cleaning robot can include a roller core, a first elongated member, a second elongated member, and a spacer. The roller core can extend along a longitudinal axis of the roller. The first elongated member can be engageable with a floor surface. The first elongated member can at least partially surround a first portion of the roller core. The second elongated member can also be engageable with the floor surface. The second elongated member can at least partially surround a second section of the roller core. The spacer can at least partially surround the roller core between the first elongated member and the second elongated member. The spacer can be engageable with the floor surface and can be configured to prevent debris collection between the first elongated member and the second elongated member.
A roller for a mobile cleaning robot can include a roller core, a first elongated member, a second elongated member, and a spacer. The roller core can extend along a longitudinal axis of the roller. The first elongated member can be engageable with a floor surface. The first elongated member can at least partially surround a first portion of the roller core. The second elongated member can also be engageable with the floor surface. The second elongated member can at least partially surround a second section of the roller core. The spacer can at least partially surround the roller core between the first elongated member and the second elongated member. The spacer can be engageable with the floor surface and can be configured to prevent debris collection between the first elongated member and the second elongated member.
A mobile cleaning robot system (406) includes including a mobile cleaning robot (100, 408), processing circuity, and memory circuitry. The memory circuitry includes instructions, which when executed by the processing circuitry, can cause the processing circuitry to perform operations to receive a maintenance indication from a remote device indicative of whether maintenance on the mobile cleaning robot is recommended, where the maintenance indication can be based at least in part on factory test data. The processing circuitry also transmits a maintenance instruction to a user device when maintenance on the mobile cleaning robot is recommended.
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleanerControlling suction cleaners by electric means
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
