公开(公告)号：WO2007065030A2

公开(公告)日：2007-06-07

申请号：PCT/US2006/046395

申请日：2006-12-04

Applicant: IROBOT CORPORATION ,  OZICK, Daniel N. ,  OKERHOLM, Andrea M. ,  MAMMEN, Jeffry W. ,  HALLORAN, Michael J. ,  SANDIN, Paul E. ,  WON, Chikyung

Inventor： OZICK, Daniel N. ,  OKERHOLM, Andrea M. ,  MAMMEN, Jeffry W. ,  HALLORAN, Michael J. ,  SANDIN, Paul E. ,  WON, Chikyung

IPC: G05D1/02

CPC classification number: A47L11/40 ,  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 ,  Y10S901/01 ,  Y10S901/50

Abstract: An autonomous mobile robot system for adjacent bounded areas (204;206) including a navigation beacon (150,202,203,304) and an autonomous coverage robot (100,212,302). The navigation beacon has a gateway beacon emitter (152) arranged to transmit a gateway marking emission (208,316) with the navigation beacon disposed within a gateway (210) between the first bounded area (204) and an adjacent second bounded area (206). The autonomous coverage robot includes a beacon emission sensor (104,106) responsive to the beacon emission, and a drive system (130,132) configured to maneuver the robot about the first bounded area (204) in a cleaning mode in which the robot is redirected in response to detecting the gateway marking emission (208,316). The drive system is also configured to maneuver the robot through the gateway (210) into the second bounded area (206) in a migration mode.

Abstract translation: 一种用于包括导航信标（150,202,203,304）和自主覆盖机器人（100,212,302）的相邻有界区域（204; 206）的自主移动机器人系统。 所述导航信标具有网关信标发射器（152），网关信标发射器（152）布置成用位于所述第一有界区域（204）和相邻的第二有界区域（206）之间的网关（210）内的所述导航信标发送网关标识发射（208,316）。 所述自主覆盖机器人包括响应于所述信标发射的信标发射传感器（104,106）以及驱动系统（130,132），所述驱动系统被配置为在所述机器人响应于重定向的清洁模式中围绕所述第一有界区域（204）操纵所述机器人 检测网关标记发射（208,316）。 驱动系统还被配置为以迁移模式将机器人通过网关（210）操纵进入第二有界区域（206）。

公开(公告)号：WO2007109624A2

公开(公告)日：2007-09-27

申请号：PCT/US2007/064323

申请日：2007-03-19

Applicant: IROBOT CORPORATION ,  SANDIN, Paul E. ,  JONES, Joseph L. ,  OZICK, Daniel N. ,  COHEN, David A. ,  LEWIS, JR., David M. ,  VU, Clara ,  DUBROVSKY, Zivthan A. ,  PRENETA, Joshua B. ,  MAMMEN, Jeffry W. ,  GILBERT, Duane L. ,  CAMPBELL, Tony L. ,  BERGMAN, John

Inventor： SANDIN, Paul E. ,  JONES, Joseph L. ,  OZICK, Daniel N. ,  COHEN, David A. ,  LEWIS, JR., David M. ,  VU, Clara ,  DUBROVSKY, Zivthan A. ,  PRENETA, Joshua B. ,  MAMMEN, Jeffry W. ,  GILBERT, Duane L. ,  CAMPBELL, Tony L. ,  BERGMAN, John

CPC classification number: A01D34/008 ,  B60L3/0023 ,  B60L11/126 ,  B60L11/1803 ,  B60L11/1805 ,  B60L11/1816 ,  B60L11/1861 ,  B60L11/1877 ,  B60L2200/40 ,  B60L2210/30 ,  B60L2210/40 ,  B60L2240/36 ,  B60L2240/425 ,  B60L2240/662 ,  B60L2250/16 ,  B60L2260/32 ,  B60L2270/145 ,  G05D1/0225 ,  G05D1/0255 ,  G05D1/0259 ,  G05D1/0261 ,  G05D1/0265 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0208 ,  G05D2201/0215 ,  Y02T10/6217 ,  Y02T10/642 ,  Y02T10/7005 ,  Y02T10/7044 ,  Y02T10/705 ,  Y02T10/7072 ,  Y02T10/7077 ,  Y02T10/7094 ,  Y02T10/7241 ,  Y02T10/7291 ,  Y02T90/127 ,  Y02T90/14 ,  Y02T90/16 ,  Y10S901/01 ,  Y10S901/09

Abstract: An autonomous coverage robot system (5) includes an active boundary responder (600, 6012) comprising a wire (600, 6012) powered with a modulated current placed along a perimeter (1006A, 1006B) of a property (1001), at least one passive boundary responder (600, 600A, 600B, 600C, 600D, 600E, 600F, 600G, 600H, 600I, 6010A, 6010B, 6010C) placed on a property interior (1001A) circumscribed by the active boundary responder (600, 6012), and an autonomous coverage robot (10, 11, 12, 13, 14, 15, 16, 17, 18, 19). The robot (10, 11, 12, 13, 14, 15, 16, 17, 18, 19) includes drive system (400) carried by a body (100) and configured to maneuver the robot (10, 11, 12, 13, 14, 15, 16, 17, 18, 19) across the property interior (1001A). A signal emitter (1510) emits a signal, where the passive boundary responder (600, 600A, 600B, 600C, 600D, 600E, 600F, 600G, 600H, 600I, 6010A, 6010B, 6010C) responsive to the signal. A boundary responder detection system (1500, 1520) is carried by the body (100) and configured to detect both the active (600, 6012) and passive (600, 600A, 600B, 600C, 600D, 600E, 600F, 600G, 600H, 600I, 6010A, 6010B, 6010C) boundary responders. The drive system (400) is configured to redirect the robot (10, 11, 12, 13, 14, 15, 16, 17, 18, 19) both in response to the responder detection system (1500, 1520) detecting an active boundary responder (600, 6012) and in response to detecting a passive boundary responder (600, 600A, 600B, 600C, 600D, 600E, 600F, 600G, 600H, 600I, 6010A, 6010B, 6010C).

Abstract translation: 自动覆盖机器人系统（5）包括主动边界应答器（600,60612），该有源边界应答器包括由沿属性（1001）的周边（1006A，1006B）放置的调制电流供电的电线（600,61212），至少一个 放置在由有源边界应答器（600,6012）限定的属性内部（1001A）上的被动边界响应器（600,600A，600B，600C，600D，600E，600F，600G，600E，600I，6010A，6010B，6010C） 和自动覆盖机器人（10,11,12,13,14,15,16,17,18,19）。 机器人（10,11,12,13,14,15,16,17,18,19）包括由主体（100）承载并构造成操纵机器人（10,11,12,13）的驱动系统（400） ，14,15,16,17,18,19）穿过物业内部（1001A）。 信号发射器（1510）发射信号，其中对该信号作出响应的被动边界响应器（600,600A，600B，600C，600D，600E，600F，600G，600H，600I，6010A，6010B，6010C）。 边界响应器检测系统（1500,1520）由主体（100）承载，并被配置为检测有源（600,61212）和被动（600,600A，600B，600C，600D，600B，600C，600D，600E，600F，600G，600H ，600I，6010A，6010B，6010C）边界响应者。 驱动系统（400）被配置为响应于响应器检测系统（1500,1520）检测活动边界而重定向机器人（10,11,12,13,14,15,16,17,18,19） 响应者（600,6012）以及响应于被动边界响应器（600,600A，600B，600C，600D，600E，600F，600G，600H，600I，6010A，6010B，6010C）的检测。

公开(公告)号：EP1996987A2

公开(公告)日：2008-12-03

申请号：EP07758835.8

申请日：2007-03-19

Applicant: Irobot Corporation

Inventor： SANDIN, Paul E. ,  JONES, Joseph L. ,  OZICK, Daniel N. ,  COHEN, David A. ,  LEWIS, JR., David M. ,  VU, Clara ,  DUBROVSKY, Zivthan A. ,  PRENETA, Joshua B. ,  MAMMEN, Jeffry W. ,  GILBERT, Duane L. ,  CAMPBELL, Tony L. ,  BERGMAN, John

IPC: G05D1/02

CPC classification number: G05D1/0265 ,  A01D34/008 ,  B60L3/0023 ,  B60L11/126 ,  B60L11/1803 ,  B60L11/1805 ,  B60L11/1816 ,  B60L11/1861 ,  B60L11/1877 ,  B60L2200/40 ,  B60L2210/30 ,  B60L2210/40 ,  B60L2240/36 ,  B60L2240/425 ,  B60L2240/662 ,  B60L2250/16 ,  B60L2260/32 ,  B60L2270/145 ,  G05D1/0225 ,  G05D1/0255 ,  G05D1/0259 ,  G05D1/0261 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0208 ,  G05D2201/0215 ,  Y02T10/6217 ,  Y02T10/642 ,  Y02T10/7005 ,  Y02T10/7044 ,  Y02T10/705 ,  Y02T10/7072 ,  Y02T10/7077 ,  Y02T10/7094 ,  Y02T10/7241 ,  Y02T10/7291 ,  Y02T90/127 ,  Y02T90/14 ,  Y02T90/16 ,  Y10S901/01 ,  Y10S901/09

Abstract: A robot lawnmower comprises a body, a drive system carried by the body and configured to maneuver the robot a cross a lawn, a controller carried by the body and in communication with the drive system, and at least one obstacle sensor carried by the body and configured to detect a potential obstacle proximate the robot. The controller is configured to operate in a check setup mode in which a user maneuvers the robot to circumnavigate and approach boundaries, obstacles and/or marked guarded areas while the robot is in a manual mode and permit operation of the robot in an autonomous mode only after the check setup mode is completed.

Abstract translation: 机器人割草机包括主体，由主体承载并且被配置为使机器人与草坪交叉操纵的驱动系统，由主体承载并与驱动系统连通的控制器以及由主体承载的至少一个障碍物传感器，以及 被配置为检测靠近机器人的潜在障碍物。 控制器被配置为在检查设置模式中操作，其中用户操纵机器人环绕并接近边界，障碍物和/或标记的防护区域，同时机器人处于手动模式并且允许机器人仅在自主模式下操作 检查设置模式完成后。

公开(公告)号：EP1963940B1

公开(公告)日：2009-09-09

申请号：EP06839007.9

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: A47L11/40 ,  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 ,  Y10S901/01 ,  Y10S901/50

Abstract: An autonomous mobile robot system for adjacent bounded areas (204;206) including a navigation beacon (150,202,203,304) and an autonomous coverage robot (100,212,302). The navigation beacon has a gateway beacon emitter (152) arranged to transmit a gateway marking emission (208,316) with the navigation beacon disposed within a gateway (210) between the first bounded area (204) and an adjacent second bounded area (206). The autonomous coverage robot includes a beacon emission sensor (104,106) responsive to the beacon emission, and a drive system (130,132) configured to maneuver the robot about the first bounded area (204) in a cleaning mode in which the robot is redirected in response to detecting the gateway marking emission (208,316). The drive system is also configured to maneuver the robot through the gateway (210) into the second bounded area (206) in a migration mode.

公开(公告)号：EP3404505A1

公开(公告)日：2018-11-21

申请号：EP18169128.8

申请日：2007-03-19

Applicant: iRobot Corporation

Inventor： SANDIN, Paul E. ,  JONES, Joseph L. ,  OZICK, Daniel N. ,  COHEN, David A. ,  LEWIS, David M., Jr. ,  VU, Clara ,  DUBROVSKY, Zivthan A. ,  PRENETA, Joshua B. ,  MAMMEN, Jeffry W. ,  GILBERT, Duane L. ,  CAMPBELL, Tony L. ,  BERGMAN, John

IPC: G05D1/02 ,  A01D34/00 ,  B60L3/00 ,  B60L11/12 ,  B60L11/18

CPC classification number: G05D1/0265 ,  A01D34/008 ,  B60L3/0023 ,  B60L11/126 ,  B60L11/1803 ,  B60L11/1805 ,  B60L11/1816 ,  B60L11/1861 ,  B60L11/1877 ,  B60L2200/40 ,  B60L2210/30 ,  B60L2210/40 ,  B60L2240/36 ,  B60L2240/425 ,  B60L2240/662 ,  B60L2250/16 ,  B60L2260/32 ,  B60L2270/145 ,  G05D1/0225 ,  G05D1/0255 ,  G05D1/0259 ,  G05D1/0261 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0208 ,  G05D2201/0215 ,  Y02T10/6217 ,  Y02T10/642 ,  Y02T10/7005 ,  Y02T10/7044 ,  Y02T10/705 ,  Y02T10/7072 ,  Y02T10/7077 ,  Y02T10/7094 ,  Y02T10/7241 ,  Y02T10/7291 ,  Y02T90/127 ,  Y02T90/14 ,  Y02T90/16 ,  Y10S901/01 ,  Y10S901/09

Abstract: A robot lawnmower (10, 11, 12, 13, 14, 15, 16, 17, 18, 19) includes a drive system (400) carried by a body (100) and configured to maneuver the robot (10, 11, 12, 13, 14, 15, 16, 17, 18, 19) across a lawn (20, 1020). The robot (10, 11, 12, 13, 14, 15, 16, 17, 18, 19) includes a grass cutter (200, 200A, 200B, 2000A, 2050, 2100, 2200) carried by the body (100) and a swath edge detector (310A, 310B, 310C, 310D, 310E, 310F, 310G, 310H, 310I) carried by the body (100) and configured to detect a swath edge (26) between cut grass (24) and uncut grass (22) while the drive system (400) maneuvers the robot (10, 11, 12, 13, 14, 15, 16, 17, 18, 19) across the lawn (20, 1020) while following a detected swath edge (26). The swath edge detector (310, 310A, 310B, 310C, 310D, 310E, 310F, 310G, 310H, 310I) includes a calibrator (320, 320A, 320B) that monitors uncut grass (22) adjacent the swath edge (26) for calibration of the swath edge detector (310, 310A, 310B, 310C, 310D, 310E, 310F, 310G, 310H, 310I).

公开(公告)号：EP1996987B1

公开(公告)日：2018-10-31

申请号：EP07758835.8

申请日：2007-03-19

Applicant: iRobot Corporation

Inventor： SANDIN, Paul E. ,  JONES, Joseph L. ,  OZICK, Daniel N. ,  COHEN, David A. ,  LEWIS, David M. Jr ,  VU, Clara ,  DUBROVSKY, Zivthan A. ,  PRENETA, Joshua B. ,  MAMMEN, Jeffry W. ,  GILBERT, Duane L. ,  CAMPBELL, Tony L. ,  BERGMAN, John

IPC: G05D1/02

CPC classification number: G05D1/0265 ,  A01D34/008 ,  B60L3/0023 ,  B60L11/126 ,  B60L11/1803 ,  B60L11/1805 ,  B60L11/1816 ,  B60L11/1861 ,  B60L11/1877 ,  B60L2200/40 ,  B60L2210/30 ,  B60L2210/40 ,  B60L2240/36 ,  B60L2240/425 ,  B60L2240/662 ,  B60L2250/16 ,  B60L2260/32 ,  B60L2270/145 ,  G05D1/0225 ,  G05D1/0255 ,  G05D1/0259 ,  G05D1/0261 ,  G05D1/028 ,  G05D2201/0203 ,  G05D2201/0208 ,  G05D2201/0215 ,  Y02T10/6217 ,  Y02T10/642 ,  Y02T10/7005 ,  Y02T10/7044 ,  Y02T10/705 ,  Y02T10/7072 ,  Y02T10/7077 ,  Y02T10/7094 ,  Y02T10/7241 ,  Y02T10/7291 ,  Y02T90/127 ,  Y02T90/14 ,  Y02T90/16 ,  Y10S901/01 ,  Y10S901/09

Abstract: A robot lawnmower comprises a body, a drive system carried by the body and configured to maneuver the robot a cross a lawn, a controller carried by the body and in communication with the drive system, and at least one obstacle sensor carried by the body and configured to detect a potential obstacle proximate the robot. The controller is configured to operate in a check setup mode in which a user maneuvers the robot to circumnavigate and approach boundaries, obstacles and/or marked guarded areas while the robot is in a manual mode and permit operation of the robot in an autonomous mode only after the check setup mode is completed.

公开(公告)号：EP1963940A2

公开(公告)日：2008-09-03

申请号：EP06839007.9

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: A47L11/40 ,  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 ,  Y10S901/01 ,  Y10S901/50

Abstract: An autonomous mobile robot system for adjacent bounded areas (204;206) including a navigation beacon (150,202,203,304) and an autonomous coverage robot (100,212,302). The navigation beacon has a gateway beacon emitter (152) arranged to transmit a gateway marking emission (208,316) with the navigation beacon disposed within a gateway (210) between the first bounded area (204) and an adjacent second bounded area (206). The autonomous coverage robot includes a beacon emission sensor (104,106) responsive to the beacon emission, and a drive system (130,132) configured to maneuver the robot about the first bounded area (204) in a cleaning mode in which the robot is redirected in response to detecting the gateway marking emission (208,316). The drive system is also configured to maneuver the robot through the gateway (210) into the second bounded area (206) in a migration mode.