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公开(公告)号：EP2267568A2
公开(公告)日：2010-12-29
申请号：EP10181669.2
申请日：2006-12-04
Applicant: iRobot Corporation
Inventor： Ozick, Daniel N. , Okerholm, Andrea M. , Mammen, Jeffry W. , Halloran, Michael J. , Sandin, Paul E. , Won, Chikyung
IPC: G05D1/02
CPC classification number: A47L11/4011 , A47L5/30 , A47L9/009 , A47L9/0411 , A47L9/0466 , A47L9/0477 , A47L9/0488 , A47L9/12 , A47L9/1409 , A47L9/2826 , A47L9/2852 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/40 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , A47L2201/04 , B25J5/007 , B25J9/0003 , B25J9/1666 , B25J9/1694 , B25J11/0085 , B25J13/006 , B60L1/003 , B60L11/1805 , B60L11/1816 , B60L11/1825 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , B60R19/38 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04B1/02 , H04B1/06 , H04L1/16 , Y02P90/60 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/50
Abstract: A method of navigating an autonomous coverage robot (100,212,302) between bounded areas. A navigation beacon (150,202,203,304) is positioned in a gateway (210) between adjoining first and second bounded areas (204;206). The beacon is configured to transmit a gateway marking emission (208) across the gateway. The coverage robot (100,212,302) is placed within the first bounded area and autonomously traverses the first bounded area (204) in a cleaning mode. Upon encountering the gateway marking emission in the gateway, the robot remains in the first bounded area (204), thereby avoiding migration into the second area (206). Upon termination of the cleaning mode in the first area (204), the robot autonomously initiates a migration mode to move through the gateway (210), past the beacon (150,202,203,304), into the second bounded area (206).
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公开(公告)号：EP2120122B1
公开(公告)日：2013-10-30
申请号：EP09169766.4
申请日：2006-12-04
Applicant: iRobot Corporation
Inventor： Svendsen, Selma , Ozick, Daniel N. , Casey, Christopher M. , Kapoor, Deepak Ramesh , Campbell, Tony L. , Won, Chikyung , Morse, Christopher , Burnett, Scott Thomas
CPC classification number: A47L11/40 , A47L5/30 , A47L9/009 , A47L9/0466 , A47L9/12 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/4011 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , B25J9/0003 , B60L11/1805 , B60L11/1816 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04L1/16 , Y02P90/60 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/50
Abstract: An autonomous coverage robot includes a chassis (102), a drive system (104) to maneuver the robot, an edge cleaning head (106,214,274,316), and a controller (108) configured to monitor motor current associated with the edge cleaning head and to reverse bias the edge cleaning head motor in response to an elevated motor current, while continuing to maneuver the robot across the floor. In another aspect, the autonomous coverage robot includes a bump sensor (132) and a proximity sensor (134). The drive system is configured to reduce a speed setting in response to a signal from the proximity sensor (134) indicating detection of a potential obstacle in a forward direction, while continuing to advance the robot according to a heading setting. Furthermore, the drive system is configured to alter the heading setting in response to a signal received from the bump sensor (132) indicating contact with an obstacle.
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公开(公告)号：EP2065774B1
公开(公告)日：2013-10-23
申请号：EP09154458.5
申请日：2006-12-04
Applicant: iRobot Corporation
Inventor： Ozick, Daniel N. , Okerholm, Andrea M. , Mammen, Jeffry W. , Halloran, Michael J. , Sandin, Paul E. , Won, Chikyung
CPC classification number: A47L11/4011 , A47L5/30 , A47L9/009 , A47L9/0411 , A47L9/0466 , A47L9/0477 , A47L9/0488 , A47L9/12 , A47L9/1409 , A47L9/2826 , A47L9/2852 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/40 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , A47L2201/04 , B25J5/007 , B25J9/0003 , B25J9/1666 , B25J9/1694 , B25J11/0085 , B25J13/006 , B60L1/003 , B60L11/1805 , B60L11/1816 , B60L11/1825 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , B60R19/38 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04B1/02 , H04B1/06 , H04L1/16 , Y02P90/60 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/50
Abstract: A method of navigating an autonomous coverage robot (100,212,302) between bounded areas. A navigation beacon (150,202,203,304) is positioned in a gateway (210) between adjoining first and second bounded areas (204;206). The beacon is configured to transmit a gateway marking emission (208) across the gateway. The coverage robot (100,212,302) is placed within the first bounded area and autonomously traverses the first bounded area (204) in a cleaning mode. Upon encountering the gateway marking emission in the gateway, the robot remains in the first bounded area (204), thereby avoiding migration into the second area (206). Upon termination of the cleaning mode in the first area (204), the robot autonomously initiates a migration mode to move through the gateway (210), past the beacon (150,202,203,304), into the second bounded area (206).
Abstract translation: 一种节能机器人系统（100）包括至少一个外围设备（102），所述外围设备（102）被放置在具有移动机器人（104）的环境中。 外围设备具有其中外围设备完全可操作的活动模式（938）的控制器（1026）以及其中外围设备至少部分不活动的休眠模式（932）。 移动机器人（104）具有带有经由无线通信组件（1024,1044）与外围设备（102）通信的激活例程（904）的控制器（1046），并暂时激活外部设备（102）从休眠模式 当外围设备（102）和机器人（104）的无线通信组件（1024,1044）进入彼此的范围内时（932）。
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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.
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.
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公开(公告)号：EP2251757A3
公开(公告)日：2011-01-19
申请号：EP10174129.6
申请日：2006-12-04
Applicant: iRobot Corporation
Inventor： Svendsen, Selma , Ozick, Daniel N. , Casey, Christopher M. , Kapoor, Deepak Ramesh , Campbell, Tony L. , Won, Chikyung , Morse, Christopher , Burnett, Scott Thomas
IPC: G05D1/02
CPC classification number: A47L11/40 , A47L5/30 , A47L9/009 , A47L9/0466 , A47L9/12 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/4011 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , B25J9/0003 , B60L11/1805 , B60L11/1816 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04L1/16 , Y02P90/60 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/50
Abstract: An autonomous robot includes a chassis (102), a drive system (104) mounted on the chassis (102) and configured to maneuver the robot, a floor proximity sensor (140) carried by the chassis (102) and configured to detect an adjacent floor surface, the sensor (140) comprising a beam emitter (148) configured to direct a beam toward the floor surface, and a beam receiver (150) responsive to a reflection of the directed beam from the floor surface and mounted in a downwardly-directed receptacle (144,146) of the chassis (102), and a beam-transparent cover (152) having a forward (158) and rearward edge (159) disposed across a lower end of the receptacle (144,146) to prohibit accumulation of sediment in the receptacle, the forward edge (158) elevated above the rearward edge (159).
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Patent Agency Ranking
公开(公告)号：EP2251757A2
公开(公告)日：2010-11-17
申请号：EP10174129.6
申请日：2006-12-04
Applicant: iRobot Corporation
Inventor： Svendsen, Selma , Ozick, Daniel N. , Casey, Christopher M. , Kapoor, Deepak Ramesh , Campbell, Tony L. , Won, Chikyung , Morse, Christopher , Burnett, Scott Thomas
IPC: G05D1/02
CPC classification number: A47L11/40 , A47L5/30 , A47L9/009 , A47L9/0466 , A47L9/12 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/4011 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , B25J9/0003 , B60L11/1805 , B60L11/1816 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04L1/16 , Y02P90/60 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/50
Abstract: An autonomous coverage robot includes a chassis (102), a drive system (104) to maneuver the robot, an edge cleaning head (106,214,274,316), and a controller (108) configured to monitor motor current associated with the edge cleaning head and to reverse bias the edge cleaning head motor in response to an elevated motor current, while continuing to maneuver the robot across the floor. In another aspect, the autonomous coverage robot includes a bump sensor (132) and a proximity sensor (134). The drive system is configured to reduce a speed setting in response to a signal from the proximity sensor (134) indicating detection of a potential obstacle in a forward direction, while continuing to advance the robot according to a heading setting. Furthermore, the drive system is configured to alter the heading setting in response to a signal received from the bump sensor (132) indicating contact with an obstacle.
Abstract translation: 自主机器人包括底盘（102），安装在底盘（102）上并被配置为操纵机器人的驱动系统（104），由底盘（102）承载的地板接近传感器（140），并配置成检测相邻 传感器（140）包括被配置为将射束引向地板表面的射束发射器（148），以及响应于来自地板表面的定向光束的反射并且安装在底面上的光束接收器（150） 底架（102）的导向插座（144,146）和横梁透明盖（152），其具有横跨插座（144,146）的下端布置的向前（158）和后边缘（159），以防止沉积物 所述容器，所述前边缘（158）在所述后边缘（159）上方升高。
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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.
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。
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公开(公告)号：EP2120122A1
公开(公告)日：2009-11-18
申请号：EP09169766.4
申请日：2006-12-04
Applicant: iRobot Corporation
Inventor： Svendsen, Selma , Ozick, Daniel N. , Casey, Christopher M. , Kapoor, Deepak Ramesh , Campbell, Tony L. , Won, Chikyung , Morse, Christopher , Burnett, Scott Thomas
IPC: G05D1/02
CPC classification number: A47L11/40 , A47L5/30 , A47L9/009 , A47L9/0466 , A47L9/12 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/4011 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , B25J9/0003 , B60L11/1805 , B60L11/1816 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04L1/16 , Y02P90/60 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/50
Abstract: An autonomous coverage robot includes a chassis (102), a drive system (104) to maneuver the robot, an edge cleaning head (106,214,274,316), and a controller (108) configured to monitor motor current associated with the edge cleaning head and to reverse bias the edge cleaning head motor in response to an elevated motor current, while continuing to maneuver the robot across the floor. In another aspect, the autonomous coverage robot includes a bump sensor (132) and a proximity sensor (134). The drive system is configured to reduce a speed setting in response to a signal from the proximity sensor (134) indicating detection of a potential obstacle in a forward direction, while continuing to advance the robot according to a heading setting. Furthermore, the drive system is configured to alter the heading setting in response to a signal received from the bump sensor (132) indicating contact with an obstacle.
Abstract translation: 自动覆盖机器人包括底盘（102），用于操纵机器人的驱动系统（104），边缘清洁头（106,214,274,316）以及控制器（108），其被配置为监测与边缘清洁头相关联的电动机电流并且反向 偏置边缘清洁头电机以响应电动机电流的升高，同时继续机器人操纵地板。 在另一方面，自主覆盖机器人包括碰撞传感器（132）和接近传感器（134）。 驱动系统被配置为响应于来自接近传感器（134）的信号来减小速度设置，指示在向前方向上检测潜在障碍物，同时根据标题设置继续推进机器人。 此外，驱动系统被配置为响应于从凸块传感器（132）接收的指示与障碍物的接触的信号来改变标题设置。
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公开(公告)号：EP2829939B1
公开(公告)日：2019-11-13
申请号：EP14183566.0
申请日：2006-12-04
Applicant: iRobot Corporation
Inventor： Ozick, Daniel N. , Okerholm, Andrea M. , Mammen, Jeffry W. , Halloran, Michael J. , Sandin, Paul E. , Won, Chikyung
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公开(公告)号：EP2270620B1
公开(公告)日：2014-10-01
申请号：EP10183383.8
申请日：2006-12-04
Applicant: iRobot Corporation
Inventor： Svendsen, Selma , Ozick, Daniel N. , Casey, Christopher M. , Kapoor, Deepak Ramesh , Campbell, Tony L. , Won, Chikyung , Morse, Christopher , Burnett, Scott Thomas
CPC classification number: A47L11/40 , A47L5/30 , A47L9/009 , A47L9/0466 , A47L9/12 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/4011 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , B25J9/0003 , B60L11/1805 , B60L11/1816 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04L1/16 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y10S901/01 , Y10S901/50
Abstract: An autonomous coverage robot includes a chassis (102), a drive system (104) to maneuver the robot, an edge cleaning head (106,214,274,316), and a controller (108) configured to monitor motor current associated with the edge cleaning head and to reverse bias the edge cleaning head motor in response to an elevated motor current, while continuing to maneuver the robot across the floor. In another aspect, the autonomous coverage robot includes a bump sensor (132) and a proximity sensor (134). The drive system is configured to reduce a speed setting in response to a signal from the proximity sensor (134) indicating detection of a potential obstacle in a forward direction, while continuing to advance the robot according to a heading setting. Furthermore, the drive system is configured to alter the heading setting in response to a signal received from the bump sensor (132) indicating contact with an obstacle.
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