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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）。
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公开(公告)号：WO2011020040A1
公开(公告)日：2011-02-17
申请号：PCT/US2010/045502
申请日：2010-08-13
Applicant: IROBOT CORPORATION , HUSSEY, Patrick Alan , ROY, Robert Paul , NEUMANN, Rogelio Manfred , SVENDSEN, Selma , OZICK, Daniel N. , CASEY, Christopher M. , KAPOOR, Deepak Ramesh , CAMPBELL, Tony L. , WON, Chikyung , MORSE, Christopher John , BURNETT, Scott Thomas
Inventor： HUSSEY, Patrick Alan , ROY, Robert Paul , NEUMANN, Rogelio Manfred , SVENDSEN, Selma , OZICK, Daniel N. , CASEY, Christopher M. , KAPOOR, Deepak Ramesh , CAMPBELL, Tony L. , WON, Chikyung , MORSE, Christopher John , BURNETT, Scott Thomas
CPC classification number: A47L9/0477 , A47L5/30 , A47L9/009 , A47L9/0466 , A47L9/0488 , A47L9/12 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/40 , A47L11/4011 , A47L11/4013 , A47L11/4027 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , A47L2201/04 , 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 , Y02T90/16 , Y10S901/01 , Y10S901/50
Abstract: An autonomous coverage robot includes a body, a drive system disposed on the body, and a cleaning assembly disposed on the body and configured to engage a floor surface while the robot is maneuvered across the floor surface. The cleaning assembly includes a driven cleaning roller, a cleaning bin disposed on the body for receiving debris agitated by the cleaning roller, and an air mover. The cleaning bin includes a cleaning bin body having a cleaning bin entrance disposed adjacent to the cleaning roller and a roller scraper disposed on the cleaning bin body for engaging the cleaning roller. The cleaning bin body has a holding portion in pneumatic communication with the cleaning bin entrance, and the air mover is operable to move air into the cleaning bin entrance.
Abstract translation: 自主覆盖机器人包括主体，设置在主体上的驱动系统以及设置在主体上并构造成在机器人横穿地板表面操纵时与地板表面接合的清洁组件。 清洁组件包括驱动的清洁辊，设置在主体上用于接收由清洁辊搅动的碎屑的清洁仓和一个鼓风机。 清洁箱包括清洁箱体，其具有邻近清洁辊设置的清洁箱入口和设置在清洁箱本体上用于接合清洁辊的辊刮刀。 清洁箱本体具有与清洁仓入口气动连通的保持部分，并且空气推动器可操作以将空气移动到清洁仓入口中。
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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。
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公开(公告)号：WO2007065033A3
公开(公告)日：2007-06-07
申请号：PCT/US2006/046400
申请日：2006-12-04
Applicant: IROBOT CORPORATION , SVENDSEN, Selma , OZICK, Daniel N. , CASEY, Christopher M. , KAPOOR, Deepak Ramesh , CAMPBELL, Tony L. , WON, Chikyung , MORSE, Christopher , BURNETT, Scott Thomas
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
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：EP1969437B1
公开(公告)日：2009-09-09
申请号：EP06839010.3
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 , 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.
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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Patent Agency Ranking
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。
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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.
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公开(公告)号：EP1969437A2
公开(公告)日：2008-09-17
申请号：EP06839010.3
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 , 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.
Abstract translation: 一种自主覆盖机器人包括机架（102），用于操纵机器人的驱动系统（104），边缘清洁头（106,214,274,316）和控制器（108），所述控制器被配置为监控与边缘清洁头相关联的电动机电流并且反转 响应于升高的电机电流偏置边缘清洁头电机，同时继续在地板上操纵机器人。 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）的指示沿向前方向检测到潜在障碍物的信号来减小速度设置，同时根据航向设置继续前进机器人。 此外，驱动系统被配置为响应于从碰撞传感器（132）接收的指示与障碍物接触的信号而改变航向设置。
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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
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).
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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.
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