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111. 发明授权

EP2158528B1 A SYSTEM AS WELL AS A METHOD FOR CONTROLLING A SELF MOVING ROBOT 有权
标题翻译：系统以及用于控制自行走动机器人的方法
公开(公告)号：EP2158528B1
公开(公告)日：2010-12-29
申请号：EP08751320.6
申请日：2008-06-02
申请人： Koninklijke Philips Electronics N.V.
发明人： VROOMEN, Hubert, G., J., J., A.
IPC分类号： G05D1/02
CPC分类号： G05D1/028 , B25J9/0003 , G05D1/0212 , G05D1/0225 , G05D1/0276 , G05D2201/0203
摘要： A system provided with a base station (2) comprising a signal emitting module, a self movable robot comprising at least an energy storage, a sensor for sensing this signal emitted by signal emitting module of the base station and a processor for controlling the movement of the robot by means of the sensed signal to return the robot to the base station. The robot comprises means for controlling the movement of the robot to move the robot randomly over a surface, whereby the absolute position of the robot is not memorized, means for marking the interrupt location (5) where the movement of the robot is interrupted to return to the base station and means for returning the robot from the base station to the interrupt location (5) by means of said marking.
摘要翻译：一种设置有包括信号发射模块的基站（2）的系统，包括至少一个能量存储器的自移动机器人，用于感测由基站的信号发射模块发射的该信号的传感器以及用于控制机器人通过感测到的信号将机器人返回到基站。机器人包括用于控制机器人的移动以使机器人在表面上随机移动从而机器人的绝对位置不被记忆的装置，用于标记中断位置（5）的装置，其中机器人的移动被中断以返回以及用于通过所述标记将机器人从基站返回到中断位置（5）的装置。

112. 发明公开

EP2251757A2 Coverage robot mobility 有权
标题翻译： Abdeckungsrobotermobilität
公开(公告)号：EP2251757A2
公开(公告)日：2010-11-17
申请号：EP10174129.6
申请日：2006-12-04
申请人： iRobot Corporation
发明人： Svendsen, Selma , Ozick, Daniel N. , Casey, Christopher M. , Kapoor, Deepak Ramesh , Campbell, Tony L. , Won, Chikyung , Morse, Christopher , Burnett, Scott Thomas
IPC分类号： G05D1/02
CPC分类号： 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 , Y02T90/16 , Y10S901/01 , Y10S901/50
摘要： 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.
摘要翻译：自主机器人包括底盘（102），安装在底盘（102）上并被配置为操纵机器人的驱动系统（104），由底盘（102）承载的地板接近传感器（140），并配置成检测相邻传感器（140）包括被配置为将射束引向地板表面的射束发射器（148），以及响应于来自地板表面的定向光束的反射并且安装在底面上的光束接收器（150）底架（102）的导向插座（144,146）和横梁透明盖（152），其具有横跨插座（144,146）的下端布置的向前（158）和后边缘（159），以防止沉积物所述容器，所述前边缘（158）在所述后边缘（159）上方升高。

113. 发明授权

EP1708065B1 Method and system for following a lead vehicle 有权
标题翻译：方法和系统，用于以下的引导车辆
公开(公告)号：EP1708065B1
公开(公告)日：2010-01-13
申请号：EP06111003.7
申请日：2006-03-13
申请人： Deere & Company
发明人： Holm, David R , Hunt, Kenneth E , Schmidt, Mark A , Stephens, Scott A
IPC分类号： G05D1/02
CPC分类号： G05D1/0278 , G05D1/028 , G05D1/0295

114. 发明公开

EP2120122A1 Coverage robot mobility 有权转让
标题翻译： Abdeckungsrobotermobilität
公开(公告)号：EP2120122A1
公开(公告)日：2009-11-18
申请号：EP09169766.4
申请日：2006-12-04
申请人： iRobot Corporation
发明人： Svendsen, Selma , Ozick, Daniel N. , Casey, Christopher M. , Kapoor, Deepak Ramesh , Campbell, Tony L. , Won, Chikyung , Morse, Christopher , Burnett, Scott Thomas
IPC分类号： G05D1/02
CPC分类号： 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 , Y02T90/16 , Y10S901/01 , Y10S901/50
摘要： 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.
摘要翻译：自动覆盖机器人包括底盘（102），用于操纵机器人的驱动系统（104），边缘清洁头（106,214,274,316）以及控制器（108），其被配置为监测与边缘清洁头相关联的电动机电流并且反向偏置边缘清洁头电机以响应电动机电流的升高，同时继续机器人操纵地板。在另一方面，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）的信号来减小速度设置，指示在向前方向上检测潜在障碍物，同时根据标题设置继续推进机器人。此外，驱动系统被配置为响应于从凸块传感器（132）接收的指示与障碍物的接触的信号来改变标题设置。

115. 发明公开

EP2116914A1 Modular robot 有权
标题翻译：模块化机器人
公开(公告)号：EP2116914A1
公开(公告)日：2009-11-11
申请号：EP09168571.9
申请日：2006-12-04
申请人： iRobot Corporation
发明人： Won, Chikyung , Svendsen, Selma , Sandin, Paul E. , Burnett, Scott Thomas , Kapoor, Deepak Ramesh , Hickey, Stephen , Rizzari, Robert , Dubrovsky, Zivthan A.C.
IPC分类号： G05D1/02 , A47L9/00
CPC分类号： 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
摘要： A coverage robot (100) including a chassis (202), multiple drive wheel assemblies (110a-b) disposed on the chassis, and a cleaning assembly (112, 102) carried by the chassis. Each drive wheel assembly includes a drive wheel assembly housing (324a-b), a wheel (326a-b) rotatably coupled to the housing, and a wheel drive motor (328a-b) carried by the drive wheel assembly housing and operable to drive the wheel. The cleaning assembly (112, 102) includes a cleaning assembly housing (332, 338), a cleaning head (334, 340) rotatably coupled to the cleaning assembly housing, and a cleaning drive motor (336, 342) carried by cleaning assembly housing and operable to drive the cleaning head. The wheel assemblies (110a-b) and the cleaning assembly (112, 102) are each separately and independently removable from respective receptacles (304, 306, 308, 310) of the chassis as complete units.

116. 发明公开

EP2073088A3 Robot docking station and robot for use therewith 失效转让
标题翻译： Roboterandocktation和机器人的
公开(公告)号：EP2073088A3
公开(公告)日：2009-08-19
申请号：EP09157042.4
申请日：2005-02-02
申请人： F. Robotics Aquisitions Ltd.
发明人： Abramson, Shai
IPC分类号： G05D1/02 , H01R13/631 , A01D34/00 , A01G25/09
CPC分类号： G05D1/0265 , A01D34/008 , A47L9/009 , A47L9/2805 , A47L9/2852 , A47L9/2873 , A47L9/2884 , A47L9/2894 , A47L2201/00 , A47L2201/02 , A47L2201/022 , G05D1/0225 , G05D1/0234 , G05D1/028 , G05D2201/0208 , G05D2201/0215 , H01R13/6315
摘要： A docking station 20 and a robot 22 for docking therein, include corresponding transmission parts. These transmission parts are for the transmission of energy, such as electricity, for recharging the robot, and/or signals, for operating the robot, the energy and/or signals passing between the docking station and the robot. In examples described, the transmission parts may include a magnetic contact so that the transmission parts are magnetically attracted to each other.

117. 发明公开

EP2021823A1 ROBOTIC GOLF CADDY 审中-公开
标题翻译： ROBOTISCHER GOLF-CADDY
公开(公告)号：EP2021823A1
公开(公告)日：2009-02-11
申请号：EP07718916.5
申请日：2007-05-17
申请人： Your Shadow Technologies Pty Ltd
发明人： BALL, David Charles , NOVAK, Hubert , HAMILTON, Michael George
IPC分类号： G01S11/02 , A63B55/00 , G05D1/02
CPC分类号： G05D1/028 , A63B55/61 , A63B2055/603 , G01S17/48 , G01S17/87 , G01S17/936 , G05D1/0242 , G05D1/0278 , G05D2201/0204
摘要： The present invention is directed to a self propelled robotic vehicle that will faithfully follow a portable receiver at a defined distance. The vehicle can sense an impending collision with a solid object in its path and will stop prior to collision. The vehicle will observe objects that are parallel to its course and if within a distance of

118. 发明公开

EP1926006A2 Charging method of robot cleaner 有权转让
标题翻译：充电方法用于清洁机器人
公开(公告)号：EP1926006A2
公开(公告)日：2008-05-28
申请号：EP07012756.8
申请日：2007-06-29
申请人： Samsung Gwangju Electronics Co., Ltd.
发明人： Lee, Ju-sang , Jeung, Sam-jong , Song, Jeong-gon , Kim, Myeong-ho , Ko, Jang-youn , Kim, Kyoung-woung , Lee, Hak-bong
IPC分类号： G05D1/02
CPC分类号： G05D1/028 , G05D1/0225 , G05D1/0234 , G05D1/0238 , G05D2201/0203
摘要： A charging method of a robot cleaner is disclosed. The method includes sensing (S11) a connected state between charging terminals of a charging apparatus and connecting terminals of the robot cleaner, confirming (S13; S14) whether the robot cleaner is positioned in a predetermined range from the charging apparatus when the charging terminals and the connecting terminals are separated from each other, and carrying out (S15) an automatic charging mode where the robot cleaner automatically moves and docks with the charging apparatus thus to be charged (S16) with electricity when the robot cleaner is positioned in the predetermined range.

119. 发明公开

EP1807743A1 SYSTEM MIT LANDMARKEN UND MIT EINEM SELBSTFAHRENDEN GERÄT 失效转让
标题翻译：使用标记，并用自走式单位制
公开(公告)号：EP1807743A1
公开(公告)日：2007-07-18
申请号：EP05807884.1
申请日：2005-11-04
申请人： Inmach Intelligente Maschinen GmbH
发明人： KÄMPKE, Thomas , KLUGE, Boris , STROBEL, Matthias
IPC分类号： G05D1/02
CPC分类号： G05D1/028 , G05D2201/0203 , G05D2201/0208
摘要： The invention relates to a system for controlling a self-propelled device within an application environment of said device, for example a self-propelled cleaning device or mowing machine, by means of a plurality of landmarks (LM) distributed across the application environment. The inventive system is characterized in that the landmarks are associated with respective data that allow to deduce therefrom a local planning of movement of the device. The associated data advantageously include information on at least one additional landmark and the deduced planning of movement leads to said additional landmark, where the position of the device is again determined and a new planning of movement is deduced.

120. 发明公开

EP1708065A3 Method and system for following a lead vehicle 有权
标题翻译：方法和系统，用于以下的引导车辆
公开(公告)号：EP1708065A3
公开(公告)日：2007-05-16
申请号：EP06111003.7
申请日：2006-03-13
申请人： Deere & Company
发明人： Holm, David R , Hunt, Kenneth E , Schmidt, Mark A , Stephens, Scott A
IPC分类号： G05D1/02
CPC分类号： G05D1/0278 , G05D1/028 , G05D1/0295
摘要： A transmitter (14) at a lead vehicle (10) transmits a first transmission signal toward a first beacon (30) and a second beacon (34) associated with a following vehicle (26). A data processor (16) or estimator (18) determines a first propagation time associated with the first transmission and the first beacon (30) and a second propagation time associated with the first transmission and the second beacon (34). A vehicle controller (41) controls a heading of the following vehicle (26) to maintain a first distance substantially equal to a second distance (i.e., first propagation time substantially equal to a second propagation time) or a first distance that deviates from the second distance by a predetermined maximum amount.

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