A control system for a mobile robot ( 10 ) is provided to effectively cover a given area by operating in a plurality of modes, including an obstacle following mode ( 51 ) and a random bounce mode ( 49 ). In other embodiments, spot coverage, such as spiraling ( 45 ), or other modes are also used to increase effectiveness. In addition, a behavior based architecture is used to implement the control system, and various escape behaviors are used to ensure full coverage.

Method and system for multi-mode coverage for an autonomous robot

An autonomous floor-cleaning robot comprising a housing infrastructure including a chassis, a power subsystem; for providing the energy to power the autonomous floor-cleaning robot, a motive subsystem operative to propel the autonomous floor-cleaning robot for cleaning operations, a command and control subsystem operative to control the autonomous floor-cleaning robot to effect cleaning operations, and a self-adjusting cleaning head subsystem that includes a deck mounted in pivotal combination with the chassis, a brush assembly mounted in combination with the deck and powered by the motive subsystem to sweep up particulates during cleaning operations, a vacuum assembly disposed in combination with the deck and powered by the motive subsystem to ingest particulates during cleaning operations, and a deck adjusting subassembly mounted in combination with the motive subsystem for the brush assembly, the deck, and the chassis that is automatically operative in response to an increase in brush torque in said brush assembly to pivot the deck with respect to said chassis. The autonomous floor-cleaning robot also includes a side brush assembly mounted in combination with the chassis and powered by the motive subsystem to entrain particulates outside the periphery of the housing infrastructure and to direct such particulates towards the self-adjusting cleaning head subsystem.

Autonomous floor-cleaning robot

An autonomous cleaning apparatus includes a chassis, a drive system disposed on the chassis and operable to enable movement of the cleaning apparatus, and a controller in communication with the drive system. The controller includes a processor operable to control the drive system to steer movement of the cleaning apparatus. The autonomous cleaning apparatus includes a cleaning head system disposed on the chassis and a sensor system in communication with the controller. The sensor system includes a debris sensor for generating a debris signal, a bump sensor for generating a bump signal, and an obstacle following sensor disposed on a side of the autonomous cleaning apparatus for generating an obstacle signal. The processor executes a prioritized arbitration scheme to identify and implement one or more dominant behavioral modes based upon at least one signal received from the sensor system.

Navigational control system for a robotic device

An autonomous coverage robot includes a body, a drive system disposed on the body, and a cleaning assembly disposed on the body and configured to engage a floor surface while the robot is maneuvered across the floor surface. The cleaning assembly includes a driven cleaning roller, a cleaning bin disposed on the body for receiving debris agitated by the cleaning roller, and an air mover. The cleaning bin includes a cleaning bin body having a cleaning bin entrance disposed adjacent to the cleaning roller and a roller scraper disposed on the cleaning bin body for engaging the cleaning roller. The cleaning bin body has a holding portion in pneumatic communication with the cleaning bin entrance, and the air mover is operable to move air into the cleaning bin entrance.

Autonomous coverage robot

An autonomous coverage robot includes a chassis having forward and rearward portions and a drive system carried by the chassis. The forward portion of the chassis defines a substantially rectangular shape. The robot includes a cleaning assembly mounted on the forward portion of the chassis and a bin disposed adjacent the cleaning assembly and configured to receive debris agitated by the cleaning assembly. A bin cover is pivotally attached to a lower portion of the chassis and configured to rotate between a first, closed position providing closure of an opening defined by the bin and a second, open position providing access to the bin opening. The robot includes a body attached to the chassis and a handle disposed on an upper portion of the body. A bin cover release is actuatable from substantially near the handle.

Compact autonomous coverage robot

Molten carbonate type or phosphoric acid type fuel cells and a method for supplementing these fuel cells with an electrolyte are disclosed. A fuel cell having an extended life is provided by scattering a plurality of sealed supplementary electrolyte containers made of a material which is soluble in the electrolyte at elevated temperatures, and supplying the supplementary electrolyte from the dissolved containers to the fuel cell while the cell is working.

Fuel cell and supplementary electrolyte container and method for supplementing fuel cell with electrolyte

PURPOSE:To separate a material other than a target component even when present in a sample, and perform the precise analysis for porosity, pore distribution, the occupying ratio in a porous body pore of the material present in the porous body pore, and the grain size and grain outer circumference in the porous body or a powder forming its starting material. CONSTITUTION:A determined section of a porous body is subjected to two-dimensional matrix processing, component analysis, and binary processing, and one or two or more components are combined to each other, whereby porosity, pore distribution, the occupying ratio in the porous body pore of a material present in the porous body pore, and the grain size and grain outer circumference in the porous body or a powder forming its starting material are analyzed. Thus, the analysis related to a target material in the porous body can be precisely performed, and the measurement error by the contamination of impurities can be eliminated.

Method for analyzing porosity in porous body

PURPOSE:To stop gas crossing when gas crossing is generated in a fuel cell and automatically repair a gas crossing part. CONSTITUTION:A fuel cell comprises an electrolyte plate 1 retaining an electrolyte, an anode 2 to which a fuel gas is supplied, a cathode 3 to which an oxidizing agent gas is supplied, a repairing material 4a made of a nonconductive porous body which melts at a temperature higher than the operation temperature of the fuel cell, interposed between the electrolyte plate 1 and the anode 2, and a repairing material 4b made of a nonconductive porous material which melts at a temperature higher than the operation temperature of the fuel cell, interposed between the electrolyte plate 1 and the cathode 3. The repairing materials 4a, 4b are melted by temperature rising caused by gas crossing between the anode 2 and the cathode 3 and a gas crossing generating part is blocked to stop gas crossing. By the stop of gas crossing, temperature is decreased and the repairing materials are solidified to automatically repair the gas crossing part.

Fuel cell and its repairing method

PURPOSE:To provide a case for carrying a fuel cell without degrading the performance of the cell. CONSTITUTION:A fuel cell stack 3 is fastened by a fastening spring 4, and is stored in a carrying case main body 1 in the fastened condition, while a lid 5 is mounted on the carrying case, and a hanging tool 6 is mounted. The inside of the container in which the fuel cell stack is stored is purged by the inactive gas supplied from an inactive gas cylinder 2. The fuel cell can thus be carried to a remote place without degrading the performance.

Carrying case of fuel cell

PURPOSE:To connect numerous conductors to one terminal and also retain a good insulating property of a fuel cell storage container by filling the current terminal and voltage terminal of the fuel cell storage container with insulating material having good heat conductivity, and cooling the filling material by means of a cooling jacket CONSTITUTION:A lead 14 serving as an electricity transmitting portion is passed through the center of a terminal box 2 and the lead 14 is supported by the terminal box 2 while in an insulated state by an insulator 15 from the terminal box 2 The terminal box 2 and the insulator 15, and the insulator 15 and the lead 14 have sealing property by which they can withstand the inner pressure of a storage container Insulating material having good heat conductivity is packed around the lead 14 in the storage container 2 while under good gas permeability, and a cooling jacket 17 is installed around the insulating material Thus a fuel cell storage container is obtained which has a compact current terminal having good insulating performance against current cables through which big current flows and which further has a compact voltage terminal having good cooling performance from which several voltage cables can be taken out all together

Fuel cell storage container

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