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公开(公告)号：US20180304463A1
公开(公告)日：2018-10-25
申请号：US16021910
申请日：2018-06-28
Applicant: F Robotics Acquisitions Ltd.
Inventor： Karni Wolowelsky , Shai Abramson
CPC classification number: B25J9/1666 , B25J5/00 , B25J9/0003 , B25J9/163 , B25J9/1694 , G05D1/0221 , G05D1/0246 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0208 , G05D2201/0215 , Y10S901/01
Abstract: A domestic robotic system includes a robot and data storage operable to store data defining a boundary of a working area, the robot includes a payload actuable to perform work on a portion of the working area adjacent the robot, at least one processor, a first positioning system, one or more sensors operable to sense directly the boundary of the working area and a current distance of the robot thereto, a second positioning system, which uses data from the sensors. The processor is programmed to operate in (i) an area coverage mode, wherein the processor, using the first positioning system and the stored data defining the boundary of the working area, navigates the robot around the working area, with the payload active, and (ii) a boundary proximity mode, wherein the processor, using the second positioning system, navigates the robot around the working area, in proximity to the boundary.
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公开(公告)号：US20130274920A1
公开(公告)日：2013-10-17
申请号：US13918924
申请日：2013-06-15
Applicant: F Robotics Acquisitions Ltd.
Inventor： Shai Abramson , Ido Ikar
IPC: B25J9/00
CPC classification number: B25J9/0003 , A01D34/008 , A01G25/00 , A47L2201/00 , A47L2201/04 , G05D1/0225 , G05D1/0265 , G05D2201/0208 , G05D2201/0215 , H04B3/54 , H04B3/548 , H04B2203/5458 , Y10S901/01
Abstract: A method for communication between a charging station and a robot, via a pair of power lines coupled between a power supply in the charging station and a battery in the robot. In operation, the power supply is sequentially switched between a first voltage level and a second voltage level in accordance with a predetermined signal pattern. The voltage level on the power lines in the robot is monitored and correlated with a specific command to be executed by the robot.
Abstract translation: 一种用于充电站和机器人之间通过耦合在充电站中的电源与机器人中的电池之间的一对电力线进行通信的方法。 在操作中，根据预定的信号模式，在第一电压电平和第二电压电平之间依次切换电源。 监视机器人电源线上的电压电平，并与机器人执行的特定命令相关联。
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公开(公告)号：US20190275666A1
公开(公告)日：2019-09-12
申请号：US16425231
申请日：2019-05-29
Applicant: F Robotics Acquisitions Ltd
Inventor： Shai Abramson
Abstract: A domestic robotic system, for example for mowing the lawn, including a robot, which includes: a movement system having wheels or the like for moving the robot over a surface; an image obtaining device, such as a camera, for obtaining images of the exterior environment of the robot; and at least one processor in electronic communication with the movement system and the image obtaining device. The at least one processor is programmed to: detect a predetermined pattern within at least one of the images, with this predetermined pattern being associated with a marker provided on a base station; respond to the detection of the predetermined pattern by determining, by a first process, an estimate of the robot's position and/or orientation, this estimate of the robot's position and orientation being relative to the base station, the at least one processor and the image obtaining device thereby forming part of a first positioning system for the robot; determine, by a second process, an alternative estimate of the robot's position and/or orientation, the at least one processor thereby forming part of a second positioning system for the robot; and perform at least one calibration of the second positioning system using the first positioning system.
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公开(公告)号：US20170113342A1
公开(公告)日：2017-04-27
申请号：US15299867
申请日：2016-10-21
Applicant: F Robotics Acquisitions Ltd.
Inventor： Shai Abramson
CPC classification number: B25J9/0003 , G05D1/0225 , G05D1/0234 , G05D1/0246 , G05D1/0278 , G05D2201/0203 , G05D2201/0208 , G05D2201/0215
Abstract: A domestic robotic system, for example for mowing the lawn, including a robot, which includes: a movement system having wheels or the like for moving the robot over a surface; an image obtaining device, such as a camera, for obtaining images of the exterior environment of the robot; and at least one processor in electronic communication with the movement system and the image obtaining device. The at least one processor is programmed to: detect a predetermined pattern within at least one of the images, with this predetermined pattern being associated with a marker provided on a base station; respond to the detection of the predetermined pattern by determining, by a first process, an estimate of the robot's position and/or orientation, this estimate of the robot's position and orientation being relative to the base station, the at least one processor and the image obtaining device thereby forming part of a first positioning system for the robot; determine, by a second process, an alternative estimate of the robot's position and/or orientation, the at least one processor thereby forming part of a second positioning system for the robot; and perform at least one calibration of the second positioning system using the first positioning system.
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公开(公告)号：US20160129593A1
公开(公告)日：2016-05-12
申请号：US14935935
申请日：2015-11-09
Applicant: F Robotics Acquisitions Ltd.
Inventor： Karni Wolowelsky , Shai Abramson
CPC classification number: B25J9/1666 , B25J5/00 , B25J9/0003 , B25J9/163 , B25J9/1694 , G05D1/0221 , G05D1/0274 , G05D2201/0203 , G05D2201/0208 , G05D2201/0215 , Y10S901/01
Abstract: A domestic robotic system including a robot having a payload for carrying out a domestic task within a working area. The robot also includes a plurality of sensors, including one or more local environment sensors that are configured to receive signals from exterior sources local to the robot. The system further includes data storage, which is operable to store boundary information that defines the path of a predetermined boundary within which the robot is permitted to move. The robot is programmed to operate in at a reference trail recording mode and a navigation mode. In the reference trail recording mode, the robot moves along a reference trail while receiving sensor information from its sensors, with the path of the reference trail being calculated by the system based on the stored boundary information so as to be spaced apart from the path of the predetermined boundary. Also in the reference trail recording mode, the system stores reference trail information corresponding to a first plurality of points along the reference trail. This reference trail information is derived from the sensor information corresponding to the first plurality of points. In the navigation mode, the robot moves within the working area and navigates by: receiving current sensor information from its sensors; and, when it is in the vicinity of the reference trail, comparing the current sensor information with the reference trail information in order to determine its current position.
Abstract translation: 一种家用机器人系统，包括具有用于在工作区域内执行家庭任务的有效载荷的机器人。 机器人还包括多个传感器，包括一个或多个本地环境传感器，其被配置为从机器人本地的外部源接收信号。 该系统还包括数据存储器，其可操作用于存储限定机器人被允许移动的预定边界的路径的边界信息。 机器人被编程为在参考轨迹记录模式和导航模式下操作。 在参考轨迹记录模式中，机器人沿着参考轨迹移动，同时从其传感器接收传感器信息，其中参考轨迹的路径由系统基于存储的边界信息计算，以便与 预定边界。 同样在参考轨迹记录模式中，系统存储对应于沿着参考轨迹的第一多个点的参考轨迹信息。 该参考路径信息是从对应于第一多个点的传感器信息导出的。 在导航模式下，机器人在工作区域内移动，通过以下方式导航：从传感器接收当前的传感器信息; 并且当其在参考轨迹附近时，将当前传感器信息与参考轨迹信息进行比较，以便确定其当前位置。
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Patent Agency Ranking
公开(公告)号：US20200033386A1
公开(公告)日：2020-01-30
申请号：US16337674
申请日：2017-09-29
Applicant: F ROBOTICS ACQUISITIONS LTD.
Inventor： Shai Abramson
Abstract: A demarcating system for indicating the boundary of an area to an object (for example a robot, such as a robotic lawnmower), which has a receiver for receiving electromagnetic signals. The system includes a control system, a wire loop, a signal generator, and current sensing circuitry. The wire loop can be arranged by a user along a path, so as to indicate the path to the object as part of a boundary of the area. The signal generator is electrically connected to the wire loop in order to apply voltage signals thereto, such signals causing the emission of corresponding electromagnetic boundary indicating signals from the wire loop that may be received by the receiver of the object. The signal generator is under the control of the control system with the voltage signals applied by the signal generator to the wire loop being controlled by the control system. The current sensing circuitry senses current signals present within the wire loop and the processors of the control system analyse such current signals. The processors of the control system are programmed to operate in a calibration mode whereby they: cause the signal generator to apply a series of test voltage waveforms to the wire loop, each of the test voltage waveforms generating a corresponding current waveform within the wire loop; and analyse the series of corresponding current waveforms, as sensed by the current sensing circuitry, so as to determine an operating voltage waveform that, when applied to the wire loop, generates a corresponding operating current waveform that is substantially the same shape as a predetermined current waveform.
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公开(公告)号：US10442083B2
公开(公告)日：2019-10-15
申请号：US16021910
申请日：2018-06-28
Applicant: F Robotics Acquisitions Ltd.
Inventor： Karni Wolowelsky , Shai Abramson
Abstract: A domestic robotic system includes a robot and data storage operable to store data defining a boundary of a working area, the robot includes a payload actuable to perform work on a portion of the working area adjacent the robot, at least one processor, a first positioning system, one or more sensors operable to sense directly the boundary of the working area and a current distance of the robot thereto, a second positioning system, which uses data from the sensors. The processor is programmed to operate in (i) an area coverage mode, wherein the processor, using the first positioning system and the stored data defining the boundary of the working area, navigates the robot around the working area, with the payload active, and (ii) a boundary proximity mode, wherein the processor, using the second positioning system, navigates the robot around the working area, in proximity to the boundary.
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公开(公告)号：US20140324269A1
公开(公告)日：2014-10-30
申请号：US14249102
申请日：2014-04-09
Applicant: F. Robotics Acquisitions Ltd
Inventor： Shai Abramson , Ran Zaslavsky , Ido Ikar
IPC: G05D1/02
CPC classification number: G05D1/0212 , A01D34/008 , B60L1/003 , B60L11/1816 , B60L11/1864 , B60L15/2036 , B60L2200/40 , B60L2240/421 , B60L2240/461 , B60L2240/547 , B60L2240/62 , B60L2260/32 , B60L2260/44 , G05D1/0214 , G05D1/0265 , G05D2201/0208 , Y02T10/645 , Y02T10/7005 , Y02T10/7061 , Y02T10/7072 , Y02T10/72 , Y02T10/7275 , Y02T10/7291 , Y02T90/14 , Y02T90/16 , Y02T90/162 , Y10S901/01
Abstract: A domestic robotic system that includes a robot, which is programmed to move within a working area defined by a boundary and has boundary distance sensors that enable it to estimate the current distance from the boundary; the robot is programmed to move across the working area and, secondly, so that when the boundary distance sensors indicate that the robot is a distance X away from the boundary and is approaching the boundary, the robot begins performing a gradual turn; this gradual turn is such that: the robot progressively changes direction while continuing to move across said working area; and the robot transitions from approaching the boundary to receding from the boundary; the robot is also programmed to calculate a path for the gradual turn such that, during the gradual turn, the robot approaches the boundary to a predetermined closest distance before receding from the boundary.
Abstract translation: 一种国内机器人系统，其包括机器人，其被编程为在由边界限定的工作区域内移动并具有能够估计距离边界的当前距离的边界距离传感器; 机器人被编程为跨越工作区域移动，其次，当边界距离传感器指示机器人距离边界距离X并且接近边界时，机器人开始执行逐渐的转弯; 这种逐渐转向是这样的：机器人在继续移动到所述工作区域的同时逐渐改变方向; 并且机器人从接近边界过渡到从边界退出; 机器人还被编程为计算逐渐转弯的路径，使得在逐渐转弯期间，机器人从边界退出之前接近边界到预定的最近距离。
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公开(公告)号：US10029368B2
公开(公告)日：2018-07-24
申请号：US14935935
申请日：2015-11-09
Applicant: F Robotics Acquisitions Ltd.
Inventor： Karni Wolowelsky , Shai Abramson
Abstract: A domestic robotic system including a robot having a payload for carrying out a domestic task within a working area. The robot also includes a plurality of sensors, including one or more local environment sensors that are configured to receive signals from exterior sources local to the robot. The system further includes data storage, which is operable to store boundary information that defines the path of a predetermined boundary within which the robot is permitted to move. The robot is programmed to operate in at a reference trail recording mode and a navigation mode. In the reference trail recording mode, the robot moves along a reference trail while receiving sensor information from its sensors, with the path of the reference trail being calculated by the system based on the stored boundary information so as to be spaced apart from the path of the predetermined boundary. Also in the reference trail recording mode, the system stores reference trail information corresponding to a first plurality of points along the reference trail. This reference trail information is derived from the sensor information corresponding to the first plurality of points. In the navigation mode, the robot moves within the working area and navigates by: receiving current sensor information from its sensors; and, when it is in the vicinity of the reference trail, comparing the current sensor information with the reference trail information in order to determine its current position.
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公开(公告)号：US20170164797A1
公开(公告)日：2017-06-15
申请号：US15370209
申请日：2016-12-06
Applicant: F Robotics Acquisitions Ltd.
Inventor： Shai Abramson , Asaf Levin , Shalom Levin , Dedy Gur
Abstract: A window-cleaning robot that includes: a powered agitator that, when active, mechanically removes debris from a window surface; a cleaning pad, which is wetted with a cleaning fluid and contacts the window surface so as to remove debris therefrom with the aid of the cleaning fluid; and a movement system, for example including a number of wheels, which moves the robot over the window surface and has a defined forwards direction; the agitator is located forwards of the cleaning pad and the agitator and the cleaning pad are arranged such that, as the robot moves over the window surface in the forwards direction, the agitator addresses a width in a width direction, which is perpendicular to the forwards direction and parallel to the window surface, that is greater than the width addressed by the cleaning pad.
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