公开(公告)号：EP2330473B2

公开(公告)日：2019-06-19

申请号：EP10184290.4

申请日：2002-06-12

Applicant: iRobot Corporation

Inventor： Jones, Joseph ,  Mass, Philip R.

IPC: G05D1/02

公开(公告)号：EP2287695B1

公开(公告)日：2014-08-06

申请号：EP10183299.6

申请日：2002-06-12

Applicant: iRobot Corporation

Inventor： Jones, Joseph ,  Mass, Philip R.

IPC: G05D1/02

CPC classification number: G05D1/0272 ,  G05D1/0219 ,  G05D1/0227 ,  G05D1/0238 ,  G05D1/0242 ,  G05D2201/0203

公开(公告)号：EP2273336B1

公开(公告)日：2013-10-02

申请号：EP10181187.5

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：EP2386924A1

公开(公告)日：2011-11-16

申请号：EP10184046.0

申请日：2002-06-12

Applicant: iRobot Corporation

Inventor： Jones, Joseph ,  Mass, Philip R.

IPC: G05D1/02

CPC classification number: G05D1/0272 ,  G05D1/0219 ,  G05D1/0227 ,  G05D1/0238 ,  G05D1/0242 ,  G05D2201/0203

Abstract: A mobile robot comprises a means for moving the robot over a surface, an obstacle detection sensor; a control system operatively connected to said obstacle detection sensor and said means for moving; and one or more sensors for sensing a need for an escape situation. The control system is configured to operate the robot in a plurality of behaviours including one or more escape behaviours and wherein the control system switches to operate in a said escape behaviour in response to said one or more sensors sensing a need for an escape situation.

Abstract translation: 移动机器人包括用于使机器人在表面上移动的装置，障碍物检测传感器; 可操作地连接到所述障碍物检测传感器和所述移动装置的控制系统; 以及用于感测对逃生情况的需要的一个或多个传感器。 控制系统被配置成以包括一个或多个逃生行为的多种行为来操作机器人，并且其中响应于所述一个或多个传感器感测到对逃生情况的需要，控制系统切换到以所述逃生行为操作。

公开(公告)号：EP2330473A3

公开(公告)日：2011-09-28

申请号：EP10184290.4

申请日：2002-06-12

Applicant: iRobot Corporation

Inventor： Jones, Joseph ,  Mass, Philip R.

IPC: G05D1/02

CPC classification number: G05D1/0272 ,  G05D1/0219 ,  G05D1/0227 ,  G05D1/0238 ,  G05D1/0242 ,  G05D2201/0203

Abstract: A mobile robot (10) comprises a means for moving the robot over a surface, an obstacle detection sensor, and a control system operatively connected to said obstacle detection sensor and said means for moving. The control system has an obstacle following mode, whereby said robot travels adjacent to a detected obstacle, and a room coverage mode, whereby the robot travels substantially in a direction away from the obstacle. Moreover, the control system is configured to operate the robot in one or more behaviours including one coverage behaviour in which the control system cycles between said obstacle following mode and said room coverage mode.

Abstract translation: 移动机器人（10）包括用于使机器人在表面上移动的装置，障碍物检测传感器以及可操作地连接到所述障碍物检测传感器和所述移动装置的控制系统。 控制系统具有障碍物跟随模式，由此所述机器人在检测到的障碍物附近行进，并且房间覆盖模式使机器人基本沿远离障碍物的方向行进。 此外，控制系统被配置为以一种或多种行为来操作机器人，所述行为包括控制系统在所述障碍物跟随模式和所述房间覆盖模式之间循环的一个覆盖行为。

公开(公告)号：EP2204717A1

公开(公告)日：2010-07-07

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

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 detesting 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 contact 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: 将机器人设备与基站对接的方法包括以下步骤：在车载电池中抑制低能量水平，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无意接触的系统，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：EP2287696B1

公开(公告)日：2018-01-10

申请号：EP10183321.8

申请日：2002-06-12

Applicant: iRobot Corporation

Inventor： Jones, Joseph ,  Mass, Philip R.

IPC: G05D1/02

CPC classification number: G05D1/0272 ,  G05D1/0219 ,  G05D1/0227 ,  G05D1/0238 ,  G05D1/0242 ,  G05D2201/0203

Abstract: 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 (48). 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.

公开(公告)号：EP2273335B8

公开(公告)日：2013-12-18

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.

Abstract translation: 一种对装置（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; 通过识别与机器人设备（40）中的互补电路组合的充电器（10）中的电路形成的负载，检测与充电器（10）对接的机器人设备（40）的存在; 并将充电端子（16）的能量增加到充电电流以给电池充电。

公开(公告)号：EP2287696A3

公开(公告)日：2011-10-05

申请号：EP10183321.8

申请日：2002-06-12

Applicant: iRobot Corporation

Inventor： Jones, Joseph ,  Mass, Philip R.

IPC: G05D1/02

CPC classification number: G05D1/0272 ,  G05D1/0219 ,  G05D1/0227 ,  G05D1/0238 ,  G05D1/0242 ,  G05D2201/0203

Abstract: 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 (48). 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.

公开(公告)号：EP2287697A2

公开(公告)日：2011-02-23

申请号：EP10183338.2

申请日：2002-06-12

Applicant: iRobot Corporation

Inventor： Jones, Joseph ,  Mass, Philip R.

IPC: G05D1/02

CPC classification number: G05D1/0272 ,  G05D1/0219 ,  G05D1/0227 ,  G05D1/0238 ,  G05D1/0242 ,  G05D2201/0203

Abstract: 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 (48). 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.

Abstract translation: 提供用于移动机器人（10）的控制系统，以通过以包括障碍物跟随模式（51）和随机反弹模式（48）的多种模式操作来有效地覆盖给定区域。 在其他实施例中，诸如螺旋（45）等点覆盖或其他模式也用于增加有效性。 另外，使用基于行为的架构来实现控制系统，并且使用各种逃生行为来确保完全覆盖。