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1. 发明申请

US20080281481A1 Robotic Vacuum Cleaner 有权
标题翻译：机器人吸尘器
公开(公告)号：US20080281481A1
公开(公告)日：2008-11-13
申请号：US12181869
申请日：2008-07-29
申请人： Shai Abramson , Shalom Levin , Ran Zaslavsky
发明人： Shai Abramson , Shalom Levin , Ran Zaslavsky
IPC分类号： G05D1/00
CPC分类号： A47L5/34 , A46B13/001 , A47L5/22 , A47L5/30 , A47L9/009 , A47L9/0444 , A47L9/0477 , A47L9/0483 , A47L9/0494 , A47L2201/00 , A47L2201/04 , F04D29/281 , F04D29/30 , G05D1/0219 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0244 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D2201/0203 , G05D2201/0208 , G05D2201/0215
摘要： An autonomous robot, that is for example, suitable for operations such as vacuuming and surface cleaning includes a payload configured for vacuum cleaning, a drive system including a steering system, a navigation system, and a control system for integrating operations of the aforementioned systems.
摘要翻译：例如，适用于诸如抽真空和表面清洁等操作的自主机器人包括构造用于真空清洁的有效载荷，包括转向系统的驱动系统，导航系统和用于整合上述系统的操作的控制系统。

2. 发明申请

US20080183349A1 Autonomous Robot 有权
标题翻译：自主机器人
公开(公告)号：US20080183349A1
公开(公告)日：2008-07-31
申请号：US11950241
申请日：2007-12-04
申请人： Shai Abramson , Ido Ikar
发明人： Shai Abramson , Ido Ikar
IPC分类号： A01D34/00 , G05D1/02 , A01B69/00 , B25J9/16 , G08G1/16 , H02J7/00
CPC分类号： 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
摘要： 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.
摘要翻译：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。

3. 发明申请

US20070142972A1 Autonomous machine for docking with a docking station and method for docking 审中-公开
标题翻译：用于与坞站对接的自主机和对接方法
公开(公告)号：US20070142972A1
公开(公告)日：2007-06-21
申请号：US11593421
申请日：2006-11-06
申请人： Shai Abramson , Alon Gandel
发明人： Shai Abramson , Alon Gandel
IPC分类号： G05B11/01 , G05B19/00
CPC分类号： G05D1/0272 , G05D1/0225 , G05D1/0242 , G05D2201/0215
摘要： An autonomous robot is designed for docking in a docking station. The autonomous robot is configured such that it will locate the docking station and dock therein, before its battery power is exhausted. The docking is such that the autonomous robot is automatically charged, such that its batteries will be fully powered for the subsequent operation.
摘要翻译：自主机器人设计用于对接坞站。自主机器人被配置为使得它将在其电池电量耗尽之前将对接站定位并且停靠在其中。对接是这样的，自动机器人被自动充电，使得其电池将被完全供电用于随后的操作。

4. 发明授权

US07079923B2 Robotic vacuum cleaner 有权
公开(公告)号：US07079923B2
公开(公告)日：2006-07-18
申请号：US10360092
申请日：2003-02-07
申请人： Shai Abramson , Shalom Levin , Ran Zaslavsky
发明人： Shai Abramson , Shalom Levin , Ran Zaslavsky
IPC分类号： G06F19/00
CPC分类号： A47L5/34 , A46B13/001 , A47L5/22 , A47L5/30 , A47L9/009 , A47L9/0444 , A47L9/0477 , A47L9/0483 , A47L9/0494 , A47L2201/00 , A47L2201/04 , F04D29/281 , F04D29/30 , G05D1/0219 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0244 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D2201/0203 , G05D2201/0208 , G05D2201/0215
摘要： An autonomous robot, that is for example, suitable for operations such as vacuuming and surface cleaning includes a payload configured for vacuum cleaning, a drive system including a steering system, a navigation system, and a control system for integrating operations of the aforementioned systems.

5. 发明授权

US06984952B2 Navigation method and system for autonomous machines with markers defining the working area 失效
公开(公告)号：US06984952B2
公开(公告)日：2006-01-10
申请号：US10913596
申请日：2004-08-06
申请人： Ehud Peless , Shai Abramson , Gideon Dror
发明人： Ehud Peless , Shai Abramson , Gideon Dror
IPC分类号： G05D1/00
CPC分类号： A01D34/008 , A01D2101/00 , G01C22/00 , G05D1/0219 , G05D1/0227 , G05D1/0234 , G05D1/0261 , G05D1/0263 , G05D1/0265 , G05D1/0274 , G05D2201/0208 , G05D2201/0216
摘要： A method for automatically operating a robot, attached to a lawnmower or other unmanned machine, within an enclosed area is disclosed. The method includes the steps of: 1) providing the following elements: a proximity sensor positioned on the robot, a boundary along the perimeter of the working area and along the perimeter of each area enclosed in the working area in which the robot should not operate, the boundaries being detectable by the proximity sensor, a processing unit connected to the proximity sensor and receiving an input therefrom, a navigation unit on the robot to determine the coordinates of the robot relative to an arbitrary origin, a direction finder, and a memory to store values generated by the processing unit; and 2) causing the robot to move along each of the boundaries provided around or within the working area, to detect the boundaries and to memorize their shape, and to store in the memory values representative of the coordinates of the boundaries, thereby to generate a basic map of the working area. When the robot is to operate within the area, the method includes the steps of: (a) causing the robot to start from a starting point having known coordinates within the basic map of the working area; (b) continuously determining the coordinates of the robot by analyzing data obtained from the navigation unit and by detecting the vicinity of a boundary; and (c) correcting the actual position of the robot on the basic map by comparing the calculated and the actual coordinates of each detected boundary.

6. 发明申请

US20050113990A1 Area coverage with an autonomous robot 有权
标题翻译：具有自主机器人的区域覆盖
公开(公告)号：US20050113990A1
公开(公告)日：2005-05-26
申请号：US10987486
申请日：2004-11-12
申请人： Ehud Peless , Shai Abramson , Ronen Friedman , Ilan Peleg
发明人： Ehud Peless , Shai Abramson , Ronen Friedman , Ilan Peleg
IPC分类号： G05D1/02 , G01C22/00
CPC分类号： G05D1/0274 , A01D34/008 , G05D1/0219 , G05D1/0227 , G05D1/0236 , G05D1/0261 , G05D1/0265 , G05D1/027 , G05D1/0272 , G05D2201/0208
摘要： There is therefore provided, in accordance with a preferred embodiment of the present invention, a robotic system for systematically moving about an area to be covered. The system includes at least one boundary marker (48) located along the outer edge of the area to be covered, a robot (40) with a navigation system (41) navigates the robot (40) in generally straight, parallel lines from an initial location and turns the robot (40) when the robot (40) encounters one of the boundary markers (48), thereby to systematically move about the are to be covered. The sensor unit (43) senses proximity to one of the at least one boundary marker (48).
摘要翻译：因此，根据本发明的优选实施例，提供一种用于系统地围绕要覆盖的区域移动的机器人系统。该系统包括位于待覆盖区域的外边缘的至少一个边界标记（48），具有导航系统（41）的机器人（40）将机器人（40）从初始的当机器人（40）遇到边界标记（48）之一时，定位并转动机器人（40），从而系统地围绕被覆盖物移动。传感器单元（43）感测到至少一个边界标记（48）中的一个接近。

7. 发明授权

US06885912B2 Area coverage with an autonomous robot 有权
标题翻译：具有自主机器人的区域覆盖
公开(公告)号：US06885912B2
公开(公告)日：2005-04-26
申请号：US10445658
申请日：2003-05-27
申请人： Ehud Peless , Shai Abramson , Ronen Friedman , Ilan Peleg
发明人： Ehud Peless , Shai Abramson , Ronen Friedman , Ilan Peleg
IPC分类号： G05D1/02 , G06F19/00
CPC分类号： G05D1/0274 , A01D34/008 , G05D1/0219 , G05D1/0227 , G05D1/0236 , G05D1/0261 , G05D1/0265 , G05D1/027 , G05D1/0272 , G05D2201/0208
摘要： There is therefore provided, in accordance with a preferred embodiment of the present invention, a robotic system for systematically moving about an area to be covered. The system includes at least one boundary marker (48) located along the outer edge of the area to be covered, a robot (40) with a navigation system (41) and a sensor unit (43). The navigation system (41) navigates the robot (40) in generally straight, parallel lines from an initial location and turns the robot (40) when the robot (40) encounters one of the boundary markers (48), thereby to systematically move about the area to be covered. The sensor unit (43) senses proximity to one of the at least one boundary marker (48).
摘要翻译：因此，根据本发明的优选实施例，提供一种用于系统地围绕要覆盖的区域移动的机器人系统。该系统包括位于待覆盖区域的外缘的至少一个边界标记（48），具有导航系统（41）和传感器单元（43）的机器人（40）。导航系统（41）从初始位置导航机器人（40）大致直线的平行线，并且当机器人（40）遇到边界标记（48）之一时转动机器人（40），由此系统地围绕要覆盖的地区。传感器单元（43）感测到至少一个边界标记（48）中的一个接近。

8. 发明申请

US20050007057A1 Navigation method and system for autonomous machines with markers defining the working area 失效
标题翻译：具有定义工作区域的标记的自动机器的导航方法和系统
公开(公告)号：US20050007057A1
公开(公告)日：2005-01-13
申请号：US10913596
申请日：2004-08-06
申请人： Ehud Peless , Shai Abramson , Gideon Dror
发明人： Ehud Peless , Shai Abramson , Gideon Dror
IPC分类号： A01D34/00 , G05D1/02 , G05D1/00
CPC分类号： A01D34/008 , A01D2101/00 , G01C22/00 , G05D1/0219 , G05D1/0227 , G05D1/0234 , G05D1/0261 , G05D1/0263 , G05D1/0265 , G05D1/0274 , G05D2201/0208 , G05D2201/0216
摘要： A method for automatically operating a robot, attached to a lawnmower or other unmanned machine, within an enclosed area is disclosed. The method includes the steps of: 1) providing the following elements: a proximity sensor positioned on the robot, a boundary along the perimeter of the working area and along the perimeter of each area enclosed in the working area in which the robot should not operate, the boundaries being detectable by the proximity sensor, a processing unit connected to the proximity sensor and receiving an input therefrom, a navigation unit on the robot to determine the coordinates of the robot relative to an arbitrary origin, a direction finder, and a memory to store values generated by the processing unit; and 2) causing the robot to move along each of the boundaries provided around or within the working area, to detect the boundaries and to memorize their shape, and to store in the memory values representative of the coordinates of the boundaries, thereby to generate a basic map of the working area. When the robot is to operate within the area, the method includes the steps of: (a) causing the robot to start from a starting point having known coordinates within the basic map of the working area; (b) continuously determining the coordinates of the robot by analyzing data obtained from the navigation unit and by detecting the vicinity of a boundary; and (c) correcting the actual position of the robot on the basic map by comparing the calculated and the actual coordinates of each detected boundary.
摘要翻译：公开了一种在封闭区域内自动操作连接到割草机或其他无人机器的机器人的方法。该方法包括以下步骤：1）提供以下元件：定位在机器人上的接近传感器，沿着工作区域的周边的边界，以及围绕在机器人不应该操作的工作区域中的每个区域的周边边界可由接近传感器检测，处理单元连接到接近传感器并从其接收输入;机器人上的导航单元，用于确定机器人相对于任意原点的坐标，方向取景器和存储器存储由处理单元生成的值; 和2）使机器人沿着设置在工作区域周围或内部的每个边界移动，以检测边界并记住它们的形状，并将存储在存储器中的值代表边界的坐标，从而产生工作区基本图。当机器人在该区域内操作时，该方法包括以下步骤：（a）使机器人从工作区域的基本图中具有已知坐标的起点开始; （b）通过分析从导航单元得到的数据和检测边界附近，连续地确定机器人的坐标; 和（c）通过比较计算出的每个检测到的边界的实际坐标来校正机器人在基本地图上的实际位置。

9. 外观设计

USD474868S1 Dust bin viewing window for a robotic vacuum cleaner 失效
标题翻译：机器人吸尘器的垃圾桶查看窗口
公开(公告)号：USD474868S1
公开(公告)日：2003-05-20
申请号：US29153723
申请日：2002-01-11
申请人： Ronald J. Stephens , Matthew J. Archer , Shai Abramson , Shalom Levin , Oded Davidovitch , Yoav Tikochinksy
设计人： Ronald J. Stephens , Matthew J. Archer , Shai Abramson , Shalom Levin , Oded Davidovitch , Yoav Tikochinksy

10. 发明授权

US06443509B1 Tactile sensor 有权
标题翻译：触觉传感器
公开(公告)号：US06443509B1
公开(公告)日：2002-09-03
申请号：US09531393
申请日：2000-03-21
申请人： Shalom Levin , Shai Abramson
发明人： Shalom Levin , Shai Abramson
IPC分类号： B61F1900
CPC分类号： B60R19/483 , A01D34/008 , B60L1/003 , B60L11/1868 , B60L15/2036 , B60L2200/40 , B60L2220/46 , B60L2260/32 , B60L2270/145 , Y02T10/645 , Y02T10/7005 , Y02T10/7066 , Y02T10/72 , Y02T10/7275
摘要： There is provided a tactile sensor that is a status sensor that move between inactive and active states. The tactile sensor can cover a large area and can be in the form of long strips. Its construction allows it to cover surfaces that are flat or curved or that include bends. In an exemplary application, these tactile sensors may be used as vehicle bumpers or in other applications where contact with an object, surface or the like needs to be detected. Activation of the sensor, typically coupled to a control system that controls motion of the vehicle, may cause the vehicle to shut off, typically ceasing motion, within a predetermined distance.
摘要翻译：提供了一种触觉传感器，它是一种在非活动状态和活动状态之间移动的状态传感器。触觉传感器可以覆盖大面积，并且可以是长条形的形式。其结构允许它覆盖平坦或弯曲或包括弯曲的表面。在示例性应用中，这些触觉传感器可以用作车辆保险杠或者在需要检测与物体，表面等接触的其它应用中。通常耦合到控制车辆运动的控制系统的传感器的激活可能导致车辆在预定距离内关闭，通常停止运动。

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