公开(公告)号：EP2273335A2

公开(公告)日：2011-01-12

申请号：EP10181174.3

申请日：2004-01-21

Applicant: iRobot Corporation

Inventor： Mass, Philip R. ,  Cohen, David A. ,  Lynch, James ,  Vu, Clara ,  Ozick, Daniel N.

IPC: G05D1/02 ,  G01S1/16 ,  G01S1/70

CPC classification number: B25J9/1664 ,  A47L9/0063 ,  A47L9/009 ,  A47L9/2805 ,  A47L9/2852 ,  A47L9/2857 ,  A47L9/2873 ,  A47L9/2889 ,  A47L9/2894 ,  A47L2201/02 ,  A47L2201/022 ,  A47L2201/04 ,  B25J5/00 ,  B25J11/0085 ,  B25J19/005 ,  B60L11/1816 ,  G01S1/16 ,  G01S1/70 ,  G05D1/0219 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0242 ,  G05D2201/0203 ,  G05D2201/0208 ,  G05D2201/0215 ,  H02J7/0026 ,  H02J7/0036 ,  H02J7/0044 ,  H02J7/0045 ,  H02J7/0052 ,  H02J7/045 ,  Y10S901/01

Abstract: A method of docking a robotic device with a base station includes the steps of detecting a low energy level in an on-board battery, orienting the robot in relation to a detected overlap between two infrared beams emitted by the station, detecting contact between the charging terminals on the robot and on the base station, charging the on-board battery and resuming a robot's task, such as vacuuming. Also disclosed are systems for emitting avoidance signals to prevent inadvertent contract between the robot and the base station, and systems for emitting homing signals to allow the robot device to accurately dock with the base station.

Abstract translation: 一种将机器人设备与基站对接的方法包括以下步骤：检测车载电池中的低能量水平，使机器人相对于由站发射的两个红外线之间的检测重叠进行定向，检测充电之间的接触 机器人和基站上的终端，对车载电池充电并恢复机器人的任务，如抽真空。 还公开了用于发出回避信号以防止机器人与基站之间的意外收缩的系统，以及用于发射归巢信号的系统，以允许机器人装置准确地与基站对接。

公开(公告)号：EP2853976A3

公开(公告)日：2015-04-08

申请号：EP14177333.3

申请日：2004-01-28

Applicant: iRobot Corporation

Inventor： Landry, Gregg W. ,  Cohen, David A. ,  Ozick, Daniel

IPC: G05D1/02 ,  A47L9/28

CPC classification number: A47L9/2889 ,  A47L9/281 ,  A47L9/2842 ,  A47L9/2852 ,  A47L9/2857 ,  A47L2201/06 ,  G05D1/0227 ,  G05D1/0242 ,  G05D1/0272 ,  G05D2201/0215

Abstract: A piezoelectric debris sensor (125L, 125R) and associated signal processor (135) responsive to debris strikes enable an autonomous or non-autonomous cleaning device to detect the presence of debris and in response, to select a behavioral mode, operational condition or pattern of movement, such as spot coverage or the like. Multiple sensor channels (125, 125R) can be used to enable the detection or generation of differential left/right debris signals and thereby enable an autonomous device to steer in the direction of debris.

Abstract translation: 响应于碎片撞击的压电碎片传感器（125L，125R）和相关联的信号处理器（135）使得自主或非自主清洁设备能够检测碎片的存在，并且作为响应，选择行为模式，操作条件或 运动，如现场报道等。 可以使用多个传感器通道（125,125R）来启用差分左/右碎片信号的检测或生成，从而使自主设备能够沿碎片方向转向。

公开(公告)号：EP2273335B1

公开(公告)日：2013-10-30

申请号：EP10181174.3

申请日：2004-01-21

Applicant: iRobot Corporation

Inventor： Mass, Philip R. ,  Cohen, David A. ,  Lynch, James ,  Vu, Clara ,  Ozick, Daniel N.

IPC: G05D1/02 ,  G01S1/16 ,  G01S1/70 ,  H02J7/00

CPC classification number: B25J9/1664 ,  A47L9/0063 ,  A47L9/009 ,  A47L9/2805 ,  A47L9/2852 ,  A47L9/2857 ,  A47L9/2873 ,  A47L9/2889 ,  A47L9/2894 ,  A47L2201/02 ,  A47L2201/022 ,  A47L2201/04 ,  B25J5/00 ,  B25J11/0085 ,  B25J19/005 ,  B60L11/1816 ,  G01S1/16 ,  G01S1/70 ,  G05D1/0219 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0242 ,  G05D2201/0203 ,  G05D2201/0208 ,  G05D2201/0215 ,  H02J7/0026 ,  H02J7/0036 ,  H02J7/0044 ,  H02J7/0045 ,  H02J7/0052 ,  H02J7/045 ,  Y10S901/01

Abstract: A method of charging a battery of a device (40), the method comprising the steps of: providing a non-charging energy to charging terminals (16) of a charger (10); detecting a presence of a robotic device (40) docked with the charger (10) by recognizing a load formed by a circuit in the charger (10) combined with a complementary circuit in the robotic device (40); and increasing energy to the charging terminals (16) to a charging current to charge the battery.

公开(公告)号：EP2204717B1

公开(公告)日：2013-07-31

申请号：EP10160949.3

申请日：2004-01-21

Applicant: iRobot Corporation

Inventor： Cohen, David A. ,  Ozick, Daniel N. ,  Vu, Clara ,  Lynch, James ,  Mass, Philip R.

IPC: G05D1/02 ,  G01S1/16 ,  G01S1/70 ,  H02J7/00

CPC classification number: B25J9/1664 ,  A47L9/0063 ,  A47L9/009 ,  A47L9/2805 ,  A47L9/2852 ,  A47L9/2857 ,  A47L9/2873 ,  A47L9/2889 ,  A47L9/2894 ,  A47L2201/02 ,  A47L2201/022 ,  A47L2201/04 ,  B25J5/00 ,  B25J11/0085 ,  B25J19/005 ,  B60L11/1816 ,  G01S1/16 ,  G01S1/70 ,  G05D1/0219 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0242 ,  G05D2201/0203 ,  G05D2201/0208 ,  G05D2201/0215 ,  H02J7/0026 ,  H02J7/0036 ,  H02J7/0044 ,  H02J7/0045 ,  H02J7/0052 ,  H02J7/045 ,  Y10S901/01

Abstract: A method of charging a battery of a device (40), the method comprising the steps of: providing a non-charging energy to charging terminals (16) of a charger (10); detecting a presence of a robotic device (40) docked with the charger (10) by recognizing a load formed by a circuit in the charger (10) combined with a complementary circuit in the robotic device (40); and increasing energy to the charging terminals (16) to a charging current to charge the battery.

公开(公告)号：EP2273335A3

公开(公告)日：2011-03-16

申请号：EP10181174.3

申请日：2004-01-21

Applicant: iRobot Corporation

Inventor： Mass, Philip R. ,  Cohen, David A. ,  Lynch, James ,  Vu, Clara ,  Ozick, Daniel N.

IPC: G05D1/02 ,  G01S1/16 ,  G01S1/70

CPC classification number: B25J9/1664 ,  A47L9/0063 ,  A47L9/009 ,  A47L9/2805 ,  A47L9/2852 ,  A47L9/2857 ,  A47L9/2873 ,  A47L9/2889 ,  A47L9/2894 ,  A47L2201/02 ,  A47L2201/022 ,  A47L2201/04 ,  B25J5/00 ,  B25J11/0085 ,  B25J19/005 ,  B60L11/1816 ,  G01S1/16 ,  G01S1/70 ,  G05D1/0219 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0242 ,  G05D2201/0203 ,  G05D2201/0208 ,  G05D2201/0215 ,  H02J7/0026 ,  H02J7/0036 ,  H02J7/0044 ,  H02J7/0045 ,  H02J7/0052 ,  H02J7/045 ,  Y10S901/01

Abstract: A method of docking a robotic device with a base station includes the steps of detecting a low energy level in an on-board battery, orienting the robot in relation to a detected overlap between two infrared beams emitted by the station, detecting contact between the charging terminals on the robot and on the base station, charging the on-board battery and resuming a robot's task, such as vacuuming. Also disclosed are systems for emitting avoidance signals to prevent inadvertent contract between the robot and the base station, and systems for emitting homing signals to allow the robot device to accurately dock with the base station.

Abstract translation: 一种将机器人设备与基站对接的方法包括以下步骤：检测车载电池中的低能量水平;相对于由站发射的两个红外光束之间检测到的重叠定向机器人;检测充电之间的接触 机器人和基站上的终端，给机载电池充电以及恢复机器人的任务，如抽真空。 还公开了用于发出避免信号以防止机器人和基站之间的无意合同的系统，以及用于发出归位信号以允许机器人设备与基站精确对接的系统。

公开(公告)号：EP1921523B1

公开(公告)日：2010-07-14

申请号：EP08151962.1

申请日：2004-01-21

Applicant: iRobot Corporation

Inventor： Cohen, David A. ,  Ozick, Daniel N. ,  Vu, Clara ,  Lynch, James ,  Mass, Philip R.

IPC: H02J7/00 ,  G05D1/02

CPC classification number: B25J9/1664 ,  A47L9/0063 ,  A47L9/009 ,  A47L9/2805 ,  A47L9/2852 ,  A47L9/2857 ,  A47L9/2873 ,  A47L9/2889 ,  A47L9/2894 ,  A47L2201/02 ,  A47L2201/022 ,  A47L2201/04 ,  B25J5/00 ,  B25J11/0085 ,  B25J19/005 ,  B60L11/1816 ,  G01S1/16 ,  G01S1/70 ,  G05D1/0219 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0242 ,  G05D2201/0203 ,  G05D2201/0208 ,  G05D2201/0215 ,  H02J7/0026 ,  H02J7/0036 ,  H02J7/0044 ,  H02J7/0045 ,  H02J7/0052 ,  H02J7/045 ,  Y10S901/01

Abstract: A method of charging a battery of a device (40), the method comprising the steps of: providing a non-charging energy to charging terminals (16) of a charger (10); detecting a presence of a robotic device (40) docked with the charger (10) by recognizing a load formed by a circuit in the charger (10) combined with a complementary circuit in the robotic device (40); and increasing energy to the charging terminals (16) to a charging current to charge the battery.

Abstract translation: 一种对设备（40）的电池充电的方法，所述方法包括以下步骤：向充电器（10）的充电端子（16）提供非充电能量; 通过识别与所述机器人装置（40）中的互补电路组合的充电器（10）中的电路形成的负载来检测与所述充电器（10）对接的机器人装置（40）的存在; 并且将充电端子（16）的能量增加到充电电流以对电池充电。