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1. 发明授权

US10315306B2 Domestic robotic system 有权
公开(公告)号：US10315306B2
公开(公告)日：2019-06-11
申请号：US15299867
申请日：2016-10-21
申请人： F Robotis Acquisitions Ltd.
发明人： Shai Abramson
IPC分类号： B25J9/00 , G05D1/02
摘要： A domestic robotic system including a robot, which includes a movement system for moving the robot over a surface, an image obtaining device, and a processor. The processor is programmed to detect a predetermined pattern within the images, the 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 processor and the image obtaining device thereby forming part of a first positioning system, determine, by a second process, an alternative estimate of the robot's position and/or orientation, the processor thereby forming part of a second positioning system, and perform at least one calibration of the second positioning system using the first positioning system.

2. 发明申请

US20110234153A1 Robotic Lawnmower and Charging and Control Systems Therefor 有权
标题翻译：机器人割草机及其充电和控制系统
公开(公告)号：US20110234153A1
公开(公告)日：2011-09-29
申请号：US13074607
申请日：2011-03-29
申请人： Shai Abramson
发明人： Shai Abramson
IPC分类号： H02J7/00
CPC分类号： G05D1/0265 , A01D34/008 , B60L3/0069 , B60L11/1805 , B60L11/1816 , B60L11/1824 , B60L11/1846 , B60L2200/40 , B60L2230/16 , B60L2230/22 , B60L2240/547 , B60L2240/62 , B60L2260/32 , B60L2270/36 , G05D1/0225 , G05D2201/0208 , Y02T10/7005 , Y02T10/7088 , Y02T10/7291 , Y02T90/121 , Y02T90/128 , Y02T90/14 , Y02T90/16 , Y02T90/162 , Y02T90/163 , Y02T90/169 , Y04S30/14
摘要： A charging and control system for a robotic lawnmower, having a circuit loop that includes several wire segments, of which one or more are boundary wire segments that may define or demarcate the boundary of an area within which the lawnmower is permitted to move; a charging voltage signal, for charging the lawnmower's internal battery, and a positioning voltage signal for assisting the lawnmower in determining its current position, are produced respectively by a power supply and a signal generator, which are both provided within the same housing; the two signals are both communicated from this housing over the same wire segments of the circuit loop; a charging station may then be electrically connected to the circuit loop by an end-user so that the charging voltage signal may in use of the system be communicated to the lawnmower when it is docked at the charging station, thus charging the internal battery of the lawnmower.
摘要翻译：一种用于机器人割草机的充电和控制系统，具有包括多个线段的电路回路，其中一个或多个是可以限定或划定割草机允许移动的区域的边界的边界线段; 用于对割草机的内部电池充电的充电电压信号和用于辅助割草机确定其当前位置的定位电压信号分别由同时设置在同一壳体内的电源和信号发生器产生; 两个信号都通过电路回路的相同线段从该壳体传送; 然后充电站可以由终端用户电连接到电路回路，使得充电电压信号可以在使用时被传送到割草机，当它们对准在充电站时，从而为割草机。

3. 发明授权

US07769490B2 Robotic vacuum cleaner 有权
标题翻译：机器人吸尘器
公开(公告)号：US07769490B2
公开(公告)日：2010-08-03
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： 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.
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。

4. 外观设计

USD559867S1 Robotic lawnmower 有权
标题翻译：机器人割草机
公开(公告)号：USD559867S1
公开(公告)日：2008-01-15
申请号：US29278037
申请日：2007-03-16
申请人： Shai Abramson
设计人： Shai Abramson

5. 发明授权

US10442083B2 Domestic robotic system and method 有权
公开(公告)号：US10442083B2
公开(公告)日：2019-10-15
申请号：US16021910
申请日：2018-06-28
申请人： F Robotics Acquisitions Ltd.
发明人： Karni Wolowelsky , Shai Abramson
IPC分类号： G06F19/00 , B25J9/16 , G05D1/02 , B25J5/00 , B25J9/00
摘要： 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.

6. 外观设计

USD718341S1 Self-powered robotic lawn mower 有权
公开(公告)号：USD718341S1
公开(公告)日：2014-11-25
申请号：US29485722
申请日：2014-03-21
申请人： F Robotics Acquisitions Ltd.
设计人： Yael Gur , Izikim Goldman , Eran Shafir , Ran Litvak , Yoav Tikochinsky

7. 发明申请

US20140324269A1 Domestic Robotic System and Robot Therefor 有权
标题翻译：国内机器人系统及其机器人
公开(公告)号：US20140324269A1
公开(公告)日：2014-10-30
申请号：US14249102
申请日：2014-04-09
申请人： F. Robotics Acquisitions Ltd
发明人： Shai Abramson , Ran Zaslavsky , Ido Ikar
IPC分类号： G05D1/02
CPC分类号： 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
摘要： 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.
摘要翻译：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。

8. 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。

9. 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.

10. 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.

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