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1. 发明申请

WO2007109627A2 LAWN CARE ROBOT 审中-公开
标题翻译：护理机器人
公开(公告)号：WO2007109627A2
公开(公告)日：2007-09-27
申请号：PCT/US2007064326
申请日：2007-03-19
申请人： IROBOT CORP , 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
发明人： 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分类号： 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 , G05D1/0265 , 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
摘要： 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).
摘要翻译：机器人割草机（10,11,12,13,14,15,16,17,18,19）包括由主体（100）承载并被构造成操纵机器人（10,11,12）的驱动系统（400），13,14,15,16,17,18,19）穿过草坪（20,1020）。机器人（10,11,12,13,14,15,16,17,18,19）包括由本体（100）承载的割草机（200,200A，200B，2000A，2050,2100,2200）和由所述主体（100）承载并被配置为检测切割草（24）和未切割草（24）之间的条带边缘（26）的条带边缘检测器（310A，310B，310C，310D，310E，310F，310G，310H， 22），同时驱动系统（400）在沿着检测到的条带边缘（26）的同时操纵跨越草坪（20,1020）的机器人（10,11,12,13,14,15,16,17,18,19）。所述条带边缘检测器（310,310A，310B，310C，310D，310E，310F，310C，310D，310E，310F，310G，310H，310I）包括校准器（320,320A，320B），其监测与所述条边缘（26）相邻的未切割草条边缘检测器（310,310A，310B，310C，310D，310E，310F，310G，310H，310I）的校准。

2. 发明申请

WO2007109624A3 ROBOT CONFINEMENT 审中-公开
标题翻译：机器人约束
公开(公告)号：WO2007109624A3
公开(公告)日：2008-07-31
申请号：PCT/US2007064323
申请日：2007-03-19
申请人： IROBOT CORP , 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
发明人： 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分类号： G05D1/02
CPC分类号： 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 , G05D1/0265 , 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
摘要： 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, 6001, 6010) placed on a property interior (1001A) circumscribed by the active boundary responder (600, 6012), and an autonomous coverage robot (10- 19). The robot (10 - 19) includes drive system (400) carried by a body (100) and configured to maneuver the robot (10 - 19) across the property interior (1001A). A signal emitter (1510) emits a signal, where the passive boundary responder 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 boundary responders. The drive system (400) is configured to redirect the robot' 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.
摘要翻译：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。被动边界响应器（600,6001,6010）放置在由主动边界应答器（600,6012）限定的属性内部（1001A）和自动覆盖机器人（10-19）上。机器人（10-19）包括由主体（100）承载并被构造成通过物业内部（1001A）操纵机器人（10-19）的驱动系统（400）。信号发射器（1510）发射信号，其中无源边界响应器响应信号。边界应答器检测系统（1500,1520）由主体（100）承载并且被配置为检测活动（600,6012）和被动边界应答器。驱动系统（400）被配置为响应于检测活动边界应答器（600,6012）的响应器检测系统（1500,1520）以及响应于检测到被动边界应答器而重定向机器人。

3. 发明申请

WO2007065031A2 ROBOT SYSTEM 审中-公开
标题翻译：机器人系统
公开(公告)号：WO2007065031A2
公开(公告)日：2007-06-07
申请号：PCT/US2006046398
申请日：2006-12-04
申请人： IROBOT CORP , HALLORAN MICHAEL J , MAMMEN JEFFRY W , CAMPBELL TONY L , WALKER JASON S , SANDIN PAUL E , BILLINGTON JOHN N JR , OZICK DANIEL N
发明人： HALLORAN MICHAEL J , MAMMEN JEFFRY W , CAMPBELL TONY L , WALKER JASON S , SANDIN PAUL E , BILLINGTON JOHN N JR , OZICK DANIEL N
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 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/50
摘要： A power-saving robot system (100) includes at least one peripheral device (102) to be placed in an environment with a mobile robot (104). The peripheral device has a controller (1026) with an active mode (938) in which the peripheral device is fully operative, and a hibernation mode (932) in which the peripheral device is at least partly inactive. The mobile robot (104) has a controller (1046) with an activating routine (904) that communicates with the peripheral device (102) via wireless communication components (1024, 1044) and temporarily activates the peripheral device (102) from the hibernation mode (932) when the wireless communication components (1024, 1044) of the peripheral device (102) and the robot (104) come within range of one another.
摘要翻译：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）。

4. 发明申请

WO2007065030A3 AUTONOMOUS COVERAGE ROBOT NAVIGATION SYSTEM 审中-公开
标题翻译：自动覆盖机器人导航系统
公开(公告)号：WO2007065030A3
公开(公告)日：2007-09-20
申请号：PCT/US2006046395
申请日：2006-12-04
申请人： IROBOT CORP , OZICK DANIEL N , OKERHOLM ANDREA M , MAMMEN JEFFRY W , HALLORAN MICHAEL J , SANDIN PAUL E , WON CHIKYUNG
发明人： OZICK DANIEL N , OKERHOLM ANDREA M , MAMMEN JEFFRY W , HALLORAN MICHAEL J , SANDIN PAUL E , WON CHIKYUNG
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 , Y10S901/01 , Y10S901/50
摘要： 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.
摘要翻译：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）的邻近有界区域（204; 206）的自主移动机器人系统。导航信标具有网关信标发射器（152），网关信标发射器（152）被布置成通过布置在第一有界区域（204）和相邻的第二有界区域（206）内的网关（210）内的导航信标传输网关标记发射（208,316））。所述自动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）以及被配置为以清洁模式来操纵所述机器人围绕所述第一有界区域（204）的驱动系统（130,132），其中所述机器人响应于检测到网关标记发射而重定向（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）。

5. 发明申请

WO2011014785A3 NAVIGATIONAL CONTROL SYSTEM FOR A ROBOTIC DEVICE 审中-公开
标题翻译：机器人导航控制系统
公开(公告)号：WO2011014785A3
公开(公告)日：2011-10-27
申请号：PCT/US2010043922
申请日：2010-07-30
申请人： IROBOT CORP , LANDRY GREGG W , COHEN DAVID A , OZICK DANIEL N , CHIAPPETTA MARK J , JONES JOSEPH L
发明人： LANDRY GREGG W , COHEN DAVID A , OZICK DANIEL N , CHIAPPETTA MARK J , JONES JOSEPH L
IPC分类号： G05D1/02
CPC分类号： A47L11/4011 , A47L2201/06 , G05D1/0227 , G05D1/0242 , G05D1/0272 , G05D3/12 , G05D2201/0215
摘要： An autonomous cleaning apparatus (100) includes a chassis ( 102 ), a drive system (112) disposed on the chassis and operable to enable movement of the cleaning apparatus, and a controller (114) in communication with the drive system. The controller includes a processor operable to control the drive system to steer movement of the cleaning apparatus. The autonomous cleaning apparatus includes a cleaning head system (145) disposed on the chassis and a sensor system in communication with the controller. The sensor system includes a debris sensor (125) for generating a debris signal, a bump sensor (120) for generating a bump signal, and an obstacle following sensor (126) disposed on a side of the autonomous cleaning apparatus for generating an obstacle signal. The processor executes a prioritized arbitration scheme to identify and implement one or more dominant behavioral modes based upon at least one signal received from the sensor system.
摘要翻译：自主清洁设备（100）包括底盘（102），设置在底盘上的驱动系统（112），其可操作以使清洁设备能够移动，以及与驱动系统通信的控制器（114）。控制器包括可操作以控制驱动系统以引导清洁设备的运动的处理器。自主清洁装置包括设置在底盘上的清洁头系统（145）和与控制器通信的传感器系统。传感器系统包括用于产生碎片信号的碎片传感器（125），用于产生凸起信号的凸块传感器（120）和设置在自动清洁装置的侧面上的障碍物跟随传感器（126），用于产生障碍物信号。处理器执行优先级仲裁方案，以基于从传感器系统接收的至少一个信号来识别和实现一个或多个显性行为模式。

6. 发明申请

WO2007065033A2 COVERAGE ROBOT MOBILITY 审中-公开
标题翻译：覆盖机器人的移动性
公开(公告)号：WO2007065033A2
公开(公告)日：2007-06-07
申请号：PCT/US2006046400
申请日：2006-12-04
申请人： IROBOT CORP , SVENDSEN SELMA , OZICK DANIEL N , CASEY CHRISTOPHER M , KAPOOR DEEPAK RAMESH , CAMPBELL TONY L , WON CHIKYUNG , MORSE CHRISTOPHER , BURNETT SCOTT THOMAS
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 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , 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：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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