公开(公告)号：WO2005083541A1

公开(公告)日：2005-09-09

申请号：PCT/US2004/002353

申请日：2004-01-28

Applicant: IROBOT CORPORATION ,  LANDRY, Gregg, W. ,  COHEN, David, A. ,  OZICK, Daniel

Inventor： LANDRY, Gregg, W. ,  COHEN, David, A. ,  OZICK, Daniel

IPC: G05D1/02

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）使得自主或非自主的清洁装置能够检测碎屑的存在，并且作为响应，选择行为模式，操作条件或模式 运动，如斑点覆盖等。 可以使用多个传感器通道（125,125R）来检测或产生差分左/右碎片信号，从而使自主装置能够沿着碎屑的方向转向。

公开(公告)号：WO2006002385A1

公开(公告)日：2006-01-05

申请号：PCT/US2005/022526

申请日：2005-06-24

Applicant: IROBOT CORPORATION ,  LYNCH, James, Kenneth ,  COHEN, David, Andrew ,  CROSS, Matthew, Edward ,  DRISLANE, William, Francis ,  OZICK, Daniel ,  VU, Clara

Inventor： LYNCH, James, Kenneth ,  COHEN, David, Andrew ,  CROSS, Matthew, Edward ,  DRISLANE, William, Francis ,  OZICK, Daniel ,  VU, Clara

IPC: G05D1/02

CPC classification number: A47L11/4011 ,  B25J9/1674 ,  B25J13/00 ,  B25J13/006 ,  G05B19/409 ,  G05B2219/34456 ,  G05B2219/36159 ,  G05B2219/45098 ,  G05D1/0016 ,  G05D1/0022 ,  G05D1/0033 ,  G05D1/0088 ,  G05D1/0225 ,  G05D1/0242 ,  G05D1/0274 ,  G05D2201/0203 ,  G05D2201/0215 ,  Y10S901/02

Abstract: A method of communicating with a robotic device (18, 20) and associated system enables configuration information and diagnostic information to be communicated between the robotic device (18, 20) and a configuration tool (12). The method consists of using a configuration tool (12), such as a hand-held device, that can communicate information to the robotic device (18, 20) to program the device to carry out a specific task or function. The configuration tool (12) can also be configured to retrieve diagnostic information from a robotic device, and communicate this information to an analysis tool.

Abstract translation: 与机器人装置（18,20）和相关联的系统通信的方法使配置信息和诊断信息能够在机器人装置（18,20）和配置工具（12）之间进行通信。 该方法包括使用诸如手持设备的配置工具（12），其可以向机器人设备（18,20）传送信息以对设备进行编程以执行特定的任务或功能。 配置工具（12）还可以被配置为从机器人设备检索诊断信息，并将该信息传送到分析工具。

公开(公告)号：WO2005081074A1

公开(公告)日：2005-09-01

申请号：PCT/US2004/001504

申请日：2004-01-21

Applicant: IROBOT CORPORATION ,  COHEN, David, A. ,  OZICK, Daniel ,  VU, Clara ,  LYNCH, James ,  MASS, Phillip, R.

Inventor： COHEN, David, A. ,  OZICK, Daniel ,  VU, Clara ,  LYNCH, James ,  MASS, Phillip, R.

IPC: G04D1/02

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 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 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：检测车载电池中的低能量级别，使机器人相对于由站发射的两个红外线之间的检测到的重叠进行定向，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。 还公开了用于发射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：EP1776624A1

公开(公告)日：2007-04-25

申请号：EP05768115.7

申请日：2005-06-24

Applicant: Irobot Corporation

Inventor： LYNCH, James, Kenneth ,  COHEN, David, Andrew ,  CROSS, Matthew, Edward ,  DRISLANE, William, Francis ,  OZICK, Daniel ,  VU, Clara

IPC: G05D1/02

CPC classification number: A47L11/4011 ,  B25J9/1674 ,  B25J13/00 ,  B25J13/006 ,  G05B19/409 ,  G05B2219/34456 ,  G05B2219/36159 ,  G05B2219/45098 ,  G05D1/0016 ,  G05D1/0022 ,  G05D1/0033 ,  G05D1/0088 ,  G05D1/0225 ,  G05D1/0242 ,  G05D1/0274 ,  G05D2201/0203 ,  G05D2201/0215 ,  Y10S901/02

Abstract: A method of communicating with a robotic device and associated system enables configuration information and diagnostic information to be communicated between the robotic device and a configuration tool. The method consists of using a configuration tool, such as a hand-held device, that can communicate information to the robotic device to program the device to carry out a specific task or function. The configuration tool can also be configured to retrieve diagnostic information from a robotic device, and communicate this information to an analysis tool.

Abstract translation: 一种调度机器人设备的方法使得设备能够基于先前加载的调度信息自主地运行。 该方法包括可以直接控制机器人设备的通信设备，例如手持式远程设备，或者将调度信息加载到机器人设备中，使得它将在所需时间执行定义的任务，而不需要 更远的外部控制。 通信设备还可以被配置为将调度应用程序加载到现有机器人设备中，使得机器人设备可以从用户接收并实现调度信息。

公开(公告)号：EP1711873B1

公开(公告)日：2012-12-19

申请号：EP04705997.7

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

公开(公告)号：EP1706797A1

公开(公告)日：2006-10-04

申请号：EP04704061.3

申请日：2004-01-21

Applicant: Irobot Corporation

Inventor： COHEN, David, A. ,  OZICK, Daniel ,  VU, Clara ,  LYNCH, James ,  MASS, Phillip, R.

IPC: G04D1/02 ,  H02J7/00 ,  G01S5/00

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。

公开(公告)号：EP1706797B1

公开(公告)日：2008-07-02

申请号：EP04704061.3

申请日：2004-01-21

Applicant: Irobot Corporation

Inventor： COHEN, David, A. ,  OZICK, Daniel ,  VU, Clara ,  LYNCH, James ,  MASS, Phillip, R.

IPC: G01S1/16 ,  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.

公开(公告)号：EP1711873A1

公开(公告)日：2006-10-18

申请号：EP04705997.7

申请日：2004-01-28

Applicant: Irobot Corporation ,  Landry, Gregg W. ,  Cohen, David A. ,  OZICK, Daniel

Inventor： LANDRY, Gregg, W. ,  COHEN, David, A. ,  OZICK, Daniel

IPC: G05D1/02 ,  G05D1/00 ,  B62D1/24

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.