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1. 发明授权

US10800038B1 System and method for confinement of a robotic device 有权
公开(公告)号：US10800038B1
公开(公告)日：2020-10-13
申请号：US15676902
申请日：2017-08-14
申请人： Bobsweep Inc.
发明人： Ali Ebrahimi Afrouzi , Masih Ebrahimi Afrouzi , Soroush Mehrnia
IPC分类号： B25J9/16
摘要： The disclosure relates to a system and/or method to create or otherwise define one or more virtual barriers for confining or controlling an autonomous robotic device substantially within one or more portion of one or more selected working areas, for example, to prohibit entrance of certain areas. The system and/or method may use a set of beacon transmitters that emit time-stamped signals, which are received by one or more robots and used to calculate the robotic device's distance from such beacons.

2. 发明授权

US10343280B1 Method and system for robotic surface coverage 有权
公开(公告)号：US10343280B1
公开(公告)日：2019-07-09
申请号：US15619449
申请日：2017-06-10
申请人： Bobsweep Inc.
发明人： Ali Ebrahimi Afrouzi
IPC分类号： B25J9/00 , B25J9/16
摘要： Methods for minimizing redundancy of surface coverage of a workspace using a robotic device and a base station are presented, the methods including: creating a polar map of the workspace defined by a number of cells; creating a policy by dividing the workspace into a number of zones each defined by a portion of the number of cells and by ordering the number of zones for surface coverage; selecting a zone of the number of zones for surface coverage by the robotic device; creating a cell matrix of the portion of number of cells representing the selected zone; assigning the selected zone to the robotic device; covering the selected zone by the robotic device; reporting an actual zone coverage to the base station; updating a coverage matrix corresponding with the cell matrix of the selected zone to indicate coverage; and calculating a penalty.

3. 发明授权

US10545504B2 System and method for establishing virtual boundaries for robotic devices 有权
公开(公告)号：US10545504B2
公开(公告)日：2020-01-28
申请号：US14850219
申请日：2015-09-10
申请人： Bobsweep Inc.
发明人： Ali Ebrahimi Afrouzi
IPC分类号： G05D1/02
摘要： Methods for utilizing virtual boundaries with robotic devices are presented including: positioning a boundary component having a first receiver pair to receive a first robotic device signal substantially simultaneously by each receiver of the first receiver pair from a first robotic device only when the first robotic device is positioned along a first virtual boundary; operating the first robotic device to move automatically within an area co-located with the first virtual boundary; transmitting the first robotic device signal by the first robotic device; and receiving the first robotic device signal by the first receiver pair thereby indicating that the first robotic device is positioned along the first virtual boundary.

4. 发明授权

US09701020B1 Method and system for robotic surface coverage 有权
公开(公告)号：US09701020B1
公开(公告)日：2017-07-11
申请号：US14817952
申请日：2015-08-04
申请人： Bobsweep Inc.
发明人： Ali Ebrahimi Afrouzi
IPC分类号： G05B19/418 , B25J9/16
CPC分类号： G05D1/0219 , G05D1/0274 , G05D2201/0203 , Y02P90/02 , Y10S901/01
摘要： Methods for minimizing redundancy of surface coverage of a workspace using a robotic device and a base station are presented, the methods including: creating a polar map of the workspace defined by a number of cells; creating a policy by dividing the workspace into a number of zones each defined by a portion of the number of cells and by ordering the number of zones for surface coverage; selecting a zone of the number of zones for surface coverage by the robotic device; creating a cell matrix of the portion of number of cells representing the selected zone; assigning the selected zone to the robotic device; covering the selected zone by the robotic device; reporting an actual zone coverage to the base station; updating a coverage matrix corresponding with the cell matrix of the selected zone to indicate coverage; and calculating a penalty.

5. 发明授权

US10442082B1 Methods and systems for automated robotic movement 有权
公开(公告)号：US10442082B1
公开(公告)日：2019-10-15
申请号：US15676888
申请日：2017-08-14
申请人： Bobsweep Inc.
发明人： Ali Ebrahimi Afrouzi , Masih Ebrahimi Afrouzi , Soroush Mehrnia , Amin Ebrahimi Afrouzi , Azadeh Afshar Bakooshli
IPC分类号： B25J9/16 , G05D1/02
摘要： Methods for automated robotic movement for a robotic device using an electronic computing device are presented, the methods including: causing the electronic computing device to establish a working zone; measuring distances to all obstacles in the working zone thereby detecting all obstacles in the working zone; establishing a coverage path that accounts for all detected obstacles; executing the coverage path such the robotic device covers the working zone at least once; if a new obstacle is detected, establishing an adapted coverage path that accounts for the new obstacle; and executing the adapted coverage path. In some embodiments, methods further include: bypassing the new obstacle; and returning to the coverage path.

6. 外观设计

USD841268S1 Rotating brush 有权
公开(公告)号：USD841268S1
公开(公告)日：2019-02-19
申请号：US29604571
申请日：2017-05-18
申请人： Bobsweep Inc.
设计人： Ali Ebrahimi Afrouzi , Alexander Douglas Powers

7. 发明申请

US20160291596A1 SYSTEM AND METHOD FOR ESTABLISHING VIRTUAL BOUNDARIES FOR ROBOTIC DEVICES 审中-公开
标题翻译：用于建立机器人虚拟边界的系统和方法
公开(公告)号：US20160291596A1
公开(公告)日：2016-10-06
申请号：US14850219
申请日：2015-09-10
申请人： Bobsweep Inc.
发明人： Ali Ebrahimi Afrouzi
IPC分类号： G05D1/02
CPC分类号： G05D1/0234 , G05D2201/0215 , Y10S901/01
摘要： Methods for utilizing virtual boundaries with robotic devices are presented including: positioning a boundary component having a first receiver pair to receive a first robotic device signal substantially simultaneously by each receiver of the first receiver pair from a first robotic device only when the first robotic device is positioned along a first virtual boundary; operating the first robotic device to move automatically within an area co-located with the first virtual boundary; transmitting the first robotic device signal by the first robotic device; and receiving the first robotic device signal by the first receiver pair thereby indicating that the first robotic device is positioned along the first virtual boundary.
摘要翻译：提出了利用虚拟边界与机器人装置的方法，包括：仅当第一机器人装置是第一机器人装置时，定位具有第一接收器对的边界部件，以便从第一机器人装置基本上同时由第一接收器对的每个接收器同时接收第一机器人装置信号沿着第一虚拟边界定位; 操作所述第一机器人装置在与所述第一虚拟边界共同定位的区域内自动移动; 通过第一机器人装置传输第一机器人装置信号; 以及由所述第一接收器对接收所述第一机器人装置信号，从而指示所述第一机器人装置沿着所述第一虚拟边界定位。

8. 发明授权

US10292553B1 Mopping extension for a robotic vacuum 有权
公开(公告)号：US10292553B1
公开(公告)日：2019-05-21
申请号：US14970791
申请日：2015-12-16
申请人： Bobsweep Inc.
发明人： Ali Ebrahimi Afrouzi , Soroush Mehrnia , Renee Bautista
IPC分类号： A47L5/00 , A47L7/00 , A47L9/00
摘要： A mopping extension attachable to a robotic vacuum. The mopping extension comprising, at minimum, a frame, a cloth, and a mechanism to secure the frame to the body of the robotic vacuum. The mopping extension may be installed in a dedicated compartment within the robotic vacuum body such that the cloth is dragged along the work surface as the robotic vacuum travels through the work area. In some embodiments, the mopping extension further comprises a means to automatically dampen the cloth to further improve cleaning efficiency. In some embodiments, the mopping extension further comprises means to move the mopping extension back and forth during operation to further improve cleaning efficiency. In some embodiments, the mopping extension further comprises a means to disengage and engage the mopping extension as the robotic vacuum is working.

9. 发明授权

US10254403B1 Edge detection system 有权
公开(公告)号：US10254403B1
公开(公告)日：2019-04-09
申请号：US14941385
申请日：2015-11-13
申请人： Bobsweep Inc.
发明人： Ali Ebrahimi Afrouzi , Soroush Mehrnia , Masih Ebrahimi Afrouzi
IPC分类号： G01C1/00 , G01S17/06 , G01S15/06
摘要： A method for automated mobile devices to identify and avoid dangerous edges or drop-offs. Rangefinder sensors are installed on the underside of devices to calculate distances to the work surfaces. Distances are monitored for changes greater than a predetermined threshold. Distance changes greater than the threshold cause the device to execute methods or algorithms for avoiding the identified area.

10. 发明授权

US10185815B1 Method for robotic devices to authenticate users 有权
公开(公告)号：US10185815B1
公开(公告)日：2019-01-22
申请号：US14820505
申请日：2015-08-06
申请人： Bobsweep Inc.
发明人： Ali Ebrahimi Afrouzi , Soroush Mehrnia , Amin Ebrahimi Afrouzi , Masih Ebrahimi Afrouzi , Azadeh Afshar Bakooshli
IPC分类号： G06K9/00 , G06F21/32
摘要： The present invention proposes a method for robotic devices to accurately identify authorized users. Biometric data of users is supplied to the system through biometric scanners. Biometric profiles of authorized users are identified to the system during an initial set-up phase. Subsequently, users provide biometric data to the system through the scanners in order to be authenticated. Received data is compared to the original stored profiles, and when a match is found, that user is authenticated. In another aspect of the invention, a time-activated memory storage process is utilized to prevent malicious attempts to overcome the authentication process. Memory cells become writable in successive time slots, after which point the memory cells are converted to read-only. If a user is authenticated during a particular time slot, their biometric data is written in the available memory cell. If no user is authenticated, the available memory cell is written with junk data. In this way, used memory cells may not be altered by a malicious attack. Furthermore, a loyalty metric is established for each user and stored in a loyalty index. The loyalty metric of each user is increased with each successful authentication. Functions of the robotic device may be assigned minimum loyalty requirements such that users must have had a number of successful past authentications in order to access some of the functions of the device.

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