公开(公告)号：EP2386924B1

公开(公告)日：2019-05-29

申请号：EP10184046.0

申请日：2002-06-12

Applicant: iRobot Corporation

Inventor： Jones, Joseph ,  Mass, Philip R.

IPC: G05D1/02

公开(公告)号：EP2345945B1

公开(公告)日：2016-08-10

申请号：EP10184177.3

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：EP2287697A3

公开(公告)日：2011-10-05

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.

公开(公告)号：EP2330473A2

公开(公告)日：2011-06-08

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，障碍物检测传感器和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，由此所述机器人邻近检测到的障碍物行进，并且房间覆盖模式，从而机器人大致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操作机器人，该行为包括控制系统在所述障碍物跟踪模式和所述房间覆盖模式之间循环的一种覆盖行为。

公开(公告)号：EP2273336A3

公开(公告)日：2011-03-16

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

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 contact between the robot and the base station, and systems for emitting horning 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与基站之间无意接触的系统，以及用于发出号令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：EP2287697B1

公开(公告)日：2017-11-29

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.

公开(公告)号：EP2287695A3

公开(公告)日：2011-10-05

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

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：EP1921523A3

公开(公告)日：2008-10-08

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：EP1331537B1

公开(公告)日：2005-08-03

申请号：EP03250141.3

申请日：2003-01-09

Applicant: iRobot Corporation

Inventor： Jones, Joseph L. ,  Mass, Philip R.

IPC: G05D1/03 ,  A47L11/40

CPC classification number: G05D1/0225 ,  A47L2201/04 ,  G05D1/0227 ,  G05D1/0238 ,  G05D1/0242 ,  G05D1/0272 ,  G05D2201/0215

公开(公告)号：EP1331537A1

公开(公告)日：2003-07-30

申请号：EP03250141.3

申请日：2003-01-09

Applicant: iRobot Corporation

Inventor： Jones, Joseph L. ,  Mass, Philip R.

IPC: G05D1/03 ,  A47L11/40

CPC classification number: G05D1/0225 ,  A47L2201/04 ,  G05D1/0227 ,  G05D1/0238 ,  G05D1/0242 ,  G05D1/0272 ,  G05D2201/0215

Abstract: The present invention discloses a system and method for confining a robot (20) to a particular space. The system includes a portable barrier signal transmitter (30) that produces a barrier signal (42) primarily along an axis, and a mobile robot capable of avoiding the barrier signal upon detection of the barrier signal. In the preferred embodiment the barrier signal is emitted in an infrared frequency and the robot includes an omni-directional signal detector. Upon detection of the signal, the robot turns in a direction selected by a barrier avoidance algorithm until the barrier signal is no longer detected.

Abstract translation: 本发明公开了一种用于将机器人（20）限制在特定空间的系统和方法。 该系统包括主要沿轴线产生屏障信号（42）的便携式屏障信号发射器（30），以及能够在检测到屏障信号时避免屏障信号的移动机器人。 在优选实施例中，屏障信号以红外频率发射，并且机器人包括全向信号检测器。 在检测到信号时，机器人沿着屏障避免算法选择的方向转动，直到不再检测到屏障信号。