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Extract from the Register of European Patents

EP About this file: EP2812766

EP2812766 - METHOD FOR AUTOMATICALLY TRIGGERING A SELF-POSITIONING PROCESS [Right-click to bookmark this link]
StatusPatent maintained as amended
Status updated on  15.05.2020
Database last updated on 24.04.2024
FormerThe patent has been granted
Status updated on  12.05.2017
FormerGrant of patent is intended
Status updated on  15.03.2017
FormerExamination is in progress
Status updated on  09.12.2016
Most recent event   Tooltip29.10.2021Lapse of the patent in a contracting state
New state(s): IT		published on 01.12.2021  [2021/48]
Applicant(s)For all designated states
Robart GmbH
Friedhofstrasse 4
4020 Linz / AT
[2014/51]
Inventor(s)01 / ARTES, Harold
c/o RobArt GmbH
Friedhofstr. 4
4020 Linz / AT
02 / SEETHALER, Dominik
c/o RobArt GmbH
Friedhofstr. 4
4020 Linz / AT
03 / SCHAHPAR, Michael
c/o RobArt GmbH
Friedhofstr. 4
4020 Linz / AT
 [2017/24]
Former [2014/51]01 / ARTES, Harold
c/o RobArt GmbH
Hamoderstraße 2
A-4020 Linz / AT
02 / SEETHALER, Dominik
c/o RobArt GmbH
Hamoderstraße 2
A-4020 Linz / AT
03 / SCHAHPAR, Michael
c/o RobArt GmbH
Hamoderstraße 2
A-4020 Linz / AT
Representative(s)Westphal, Mussgnug & Partner Patentanwälte mbB
Werinherstrasse 79
81541 München / DE
[2020/25]
Former [2017/24]Westphal, Mussgnug & Partner Patentanwälte mbB
Herzog-Wilhelm-Strasse 26
80331 München / DE
Former [2014/51]Patentanwälte Westphal, Mussgnug & Partner
Herzog-Wilhelm-Strasse 26
80331 München / DE
Application number, filing date13713066.208.02.2013
[2017/24]
WO2013AT50031
Priority number, dateDE20121020187008.02.2012         Original published format: DE102012201870
[2014/51]
Filing languageDE
Procedural languageDE
PublicationType: A1 Application with search report
No.:WO2013116887
Date:15.08.2013
Language:DE
[2013/33]
Type: A1 Application with search report 
No.:EP2812766
Date:17.12.2014
Language:DE
The application published by WIPO in one of the EPO official languages on 15.08.2013 takes the place of the publication of the European patent application.
[2014/51]
Type: B1 Patent specification 
No.:EP2812766
Date:14.06.2017
Language:DE
[2017/24]
Type: B2 New European patent specification 
No.:EP2812766
Date:17.06.2020
Language:DE
[2020/25]
Search report(s)International search report - published on:EP15.08.2013
ClassificationIPC:G05D1/02, B25J5/00, B25J9/16, B25J11/00
[2017/14]
CPC:
G05D1/0274 (EP,US); B25J9/1692 (US); B25J11/0085 (US);
B25J5/00 (US); B25J9/1664 (US); Y10S901/01 (EP,US)
Former IPC [2014/51]G05D1/02
Designated contracting statesAL,   AT,   BE,   BG,   CH,   CY,   CZ,   DE,   DK,   EE,   ES,   FI,   FR,   GB,   GR,   HR,   HU,   IE,   IS,   IT,   LI,   LT,   LU,   LV,   MC,   MK,   MT,   NL,   NO,   PL,   PT,   RO,   RS,   SE,   SI,   SK,   SM,   TR [2014/51]
TitleGerman:VERFAHREN ZUM AUTOMATISCHEN AUSLÖSEN EINER SELBSTLOKALISIERUNG[2014/51]
English:METHOD FOR AUTOMATICALLY TRIGGERING A SELF-POSITIONING PROCESS[2014/51]
French:PROCÉDÉ DE DÉCLENCHEMENT AUTOMATIQUE D'UNE AUTO-LOCALISATION[2014/51]
Entry into regional phase25.08.2014National basic fee paid 
25.08.2014Designation fee(s) paid 
25.08.2014Examination fee paid 
Examination procedure25.08.2014Examination requested  [2014/51]
14.04.2015Amendment by applicant (claims and/or description)
13.01.2016Despatch of a communication from the examining division (Time limit: M04)
12.05.2016Reply to a communication from the examining division
12.08.2016Despatch of a communication from the examining division (Time limit: M04)
07.12.2016Reply to a communication from the examining division
16.03.2017Communication of intention to grant the patent
04.05.2017Fee for grant paid
04.05.2017Fee for publishing/printing paid
04.05.2017Receipt of the translation of the claim(s)
Divisional application(s)The date of the Examining Division's first communication in respect of the earliest application for which a communication has been issued is  13.01.2016
Opposition(s)Opponent(s)01  13.03.2018    ADMISSIBLE
Miele & Cie. KG
Carl-Miele-Str. 29
33332 Gütersloh / DE
 02  14.03.2018    ADMISSIBLE
Vorwerk & Co. Interholding GmbH
Mühlenweg 17-37
42275 Wuppertal / DE
Opponent's representative
Müller, Enno, et al, et al
Rieder & Partner mbB
Patentanwälte - Rechtsanwalt
Yale-Allee 26
42329 Wuppertal / DE
 [N/P]
Former [2018/16]
Opponent(s)01  13.03.2018    ADMISSIBLE
Miele & Cie. KG
Carl-Miele-Str. 29
33332 Gütersloh / DE
 02  14.03.2018    ADMISSIBLE
Vorwerk & Co. Interholding GmbH
Mühlenweg 17-37
42275 Wuppertal / DE
Opponent's representative
Müller, Enno, et al, et al
Rieder & Partner mbB
Patentanwälte - Rechtsanwalt
Corneliusstrasse 45
42329 Wuppertal / DE
26.03.2018Invitation to proprietor to file observations on the notice of opposition
06.08.2018Reply of patent proprietor to notice(s) of opposition
07.11.2019Legal effect of interlocutory decision in opposition
07.11.2019Date of oral proceedings
10.12.2019Despatch of interlocutory decision in opposition
10.12.2019Despatch of minutes of oral proceedings
09.04.2020Despatch of communication that the patent will be maintained as amended
06.05.2020Fee for printing new specification paid
Fees paidRenewal fee
19.02.2015Renewal fee patent year 03
23.02.2016Renewal fee patent year 04
23.02.2017Renewal fee patent year 05
Opt-out from the exclusive  Tooltip
competence of the Unified
Patent Court		 See the Register of the Unified Patent Court for opt-out data
Responsibility for the accuracy, completeness or quality of the data displayed under the link provided lies entirely with the Unified Patent Court.
Lapses during opposition  TooltipHU08.02.2013
AL14.06.2017
CY14.06.2017
CZ14.06.2017
DK14.06.2017
EE14.06.2017
FI14.06.2017
HR14.06.2017
LT14.06.2017
LV14.06.2017
MC14.06.2017
MK14.06.2017
MT14.06.2017
NL14.06.2017
PL14.06.2017
PT14.06.2017
RO14.06.2017
RS14.06.2017
SE14.06.2017
SI14.06.2017
SK14.06.2017
SM14.06.2017
TR14.06.2017
BG14.09.2017
NO14.09.2017
GR15.09.2017
IS14.10.2017
AT08.02.2018
IE08.02.2018
LU08.02.2018
BE28.02.2018
CH28.02.2018
LI28.02.2018
IT08.02.2020
[2021/48]
Former [2020/34]HU08.02.2013
AL14.06.2017
CY14.06.2017
CZ14.06.2017
DK14.06.2017
EE14.06.2017
FI14.06.2017
HR14.06.2017
LT14.06.2017
LV14.06.2017
MC14.06.2017
MK14.06.2017
MT14.06.2017
NL14.06.2017
PL14.06.2017
PT14.06.2017
RO14.06.2017
RS14.06.2017
SE14.06.2017
SI14.06.2017
SK14.06.2017
SM14.06.2017
TR14.06.2017
BG14.09.2017
NO14.09.2017
GR15.09.2017
IS14.10.2017
AT08.02.2018
IE08.02.2018
LU08.02.2018
BE28.02.2018
CH28.02.2018
LI28.02.2018
Former [2020/31]HU08.02.2013
CY14.06.2017
CZ14.06.2017
DK14.06.2017
EE14.06.2017
FI14.06.2017
HR14.06.2017
LT14.06.2017
LV14.06.2017
MC14.06.2017
MK14.06.2017
MT14.06.2017
NL14.06.2017
PL14.06.2017
PT14.06.2017
RO14.06.2017
RS14.06.2017
SE14.06.2017
SI14.06.2017
SK14.06.2017
SM14.06.2017
TR14.06.2017
BG14.09.2017
NO14.09.2017
GR15.09.2017
IS14.10.2017
AT08.02.2018
IE08.02.2018
LU08.02.2018
BE28.02.2018
CH28.02.2018
LI28.02.2018
Former [2020/28]HU08.02.2013
CZ14.06.2017
DK14.06.2017
EE14.06.2017
FI14.06.2017
HR14.06.2017
LT14.06.2017
LV14.06.2017
MC14.06.2017
MT14.06.2017
NL14.06.2017
PL14.06.2017
PT14.06.2017
RO14.06.2017
RS14.06.2017
SE14.06.2017
SI14.06.2017
SK14.06.2017
SM14.06.2017
TR14.06.2017
BG14.09.2017
NO14.09.2017
GR15.09.2017
IS14.10.2017
AT08.02.2018
IE08.02.2018
LU08.02.2018
BE28.02.2018
CH28.02.2018
LI28.02.2018
Former [2020/15]CZ14.06.2017
DK14.06.2017
EE14.06.2017
FI14.06.2017
HR14.06.2017
LT14.06.2017
LV14.06.2017
MC14.06.2017
MT14.06.2017
NL14.06.2017
PL14.06.2017
RO14.06.2017
RS14.06.2017
SE14.06.2017
SI14.06.2017
SK14.06.2017
SM14.06.2017
TR14.06.2017
BG14.09.2017
NO14.09.2017
GR15.09.2017
IS14.10.2017
AT08.02.2018
IE08.02.2018
LU08.02.2018
BE28.02.2018
CH28.02.2018
LI28.02.2018
Former [2019/23]CZ14.06.2017
DK14.06.2017
EE14.06.2017
FI14.06.2017
HR14.06.2017
LT14.06.2017
LV14.06.2017
MC14.06.2017
MT14.06.2017
NL14.06.2017
PL14.06.2017
RO14.06.2017
RS14.06.2017
SE14.06.2017
SI14.06.2017
SK14.06.2017
SM14.06.2017
BG14.09.2017
NO14.09.2017
GR15.09.2017
IS14.10.2017
AT08.02.2018
IE08.02.2018
LU08.02.2018
BE28.02.2018
CH28.02.2018
LI28.02.2018
Former [2019/12]CZ14.06.2017
DK14.06.2017
EE14.06.2017
FI14.06.2017
HR14.06.2017
LT14.06.2017
LV14.06.2017
MC14.06.2017
MT14.06.2017
NL14.06.2017
PL14.06.2017
RO14.06.2017
RS14.06.2017
SE14.06.2017
SI14.06.2017
SK14.06.2017
SM14.06.2017
BG14.09.2017
NO14.09.2017
GR15.09.2017
IS14.10.2017
IE08.02.2018
LU08.02.2018
BE28.02.2018
CH28.02.2018
LI28.02.2018
Former [2019/09]CZ14.06.2017
DK14.06.2017
EE14.06.2017
FI14.06.2017
HR14.06.2017
LT14.06.2017
LV14.06.2017
MC14.06.2017
MT14.06.2017
NL14.06.2017
PL14.06.2017
RO14.06.2017
RS14.06.2017
SE14.06.2017
SI14.06.2017
SK14.06.2017
SM14.06.2017
BG14.09.2017
NO14.09.2017
GR15.09.2017
IS14.10.2017
IE08.02.2018
LU08.02.2018
CH28.02.2018
LI28.02.2018
Former [2018/52]CZ14.06.2017
DK14.06.2017
EE14.06.2017
FI14.06.2017
HR14.06.2017
LT14.06.2017
LV14.06.2017
MC14.06.2017
MT14.06.2017
NL14.06.2017
PL14.06.2017
RO14.06.2017
RS14.06.2017
SE14.06.2017
SI14.06.2017
SK14.06.2017
SM14.06.2017
BG14.09.2017
NO14.09.2017
GR15.09.2017
IS14.10.2017
LU08.02.2018
CH28.02.2018
LI28.02.2018
Former [2018/44]CZ14.06.2017
DK14.06.2017
EE14.06.2017
FI14.06.2017
HR14.06.2017
LT14.06.2017
LV14.06.2017
MC14.06.2017
MT14.06.2017
NL14.06.2017
PL14.06.2017
RO14.06.2017
RS14.06.2017
SE14.06.2017
SI14.06.2017
SK14.06.2017
SM14.06.2017
BG14.09.2017
NO14.09.2017
GR15.09.2017
IS14.10.2017
Former [2018/43]CZ14.06.2017
DK14.06.2017
EE14.06.2017
FI14.06.2017
HR14.06.2017
LT14.06.2017
LV14.06.2017
MT14.06.2017
NL14.06.2017
PL14.06.2017
RO14.06.2017
RS14.06.2017
SE14.06.2017
SI14.06.2017
SK14.06.2017
SM14.06.2017
BG14.09.2017
NO14.09.2017
GR15.09.2017
IS14.10.2017
Former [2018/39]CZ14.06.2017
DK14.06.2017
EE14.06.2017
FI14.06.2017
HR14.06.2017
LT14.06.2017
LV14.06.2017
NL14.06.2017
PL14.06.2017
RO14.06.2017
RS14.06.2017
SE14.06.2017
SI14.06.2017
SK14.06.2017
SM14.06.2017
BG14.09.2017
NO14.09.2017
GR15.09.2017
IS14.10.2017
Former [2018/21]CZ14.06.2017
DK14.06.2017
EE14.06.2017
FI14.06.2017
HR14.06.2017
LT14.06.2017
LV14.06.2017
NL14.06.2017
PL14.06.2017
RO14.06.2017
RS14.06.2017
SE14.06.2017
SK14.06.2017
SM14.06.2017
BG14.09.2017
NO14.09.2017
GR15.09.2017
IS14.10.2017
Former [2018/11]CZ14.06.2017
EE14.06.2017
FI14.06.2017
HR14.06.2017
LT14.06.2017
LV14.06.2017
NL14.06.2017
PL14.06.2017
RO14.06.2017
RS14.06.2017
SE14.06.2017
SK14.06.2017
SM14.06.2017
BG14.09.2017
NO14.09.2017
GR15.09.2017
IS14.10.2017
Former [2018/10]CZ14.06.2017
EE14.06.2017
FI14.06.2017
HR14.06.2017
LT14.06.2017
LV14.06.2017
NL14.06.2017
RO14.06.2017
RS14.06.2017
SE14.06.2017
SK14.06.2017
BG14.09.2017
NO14.09.2017
GR15.09.2017
Former [2018/09]EE14.06.2017
FI14.06.2017
HR14.06.2017
LT14.06.2017
LV14.06.2017
NL14.06.2017
RS14.06.2017
SE14.06.2017
BG14.09.2017
NO14.09.2017
GR15.09.2017
Former [2017/52]FI14.06.2017
HR14.06.2017
LT14.06.2017
LV14.06.2017
NL14.06.2017
RS14.06.2017
SE14.06.2017
BG14.09.2017
NO14.09.2017
GR15.09.2017
Former [2017/50]FI14.06.2017
HR14.06.2017
LT14.06.2017
LV14.06.2017
RS14.06.2017
SE14.06.2017
BG14.09.2017
NO14.09.2017
GR15.09.2017
Former [2017/49]FI14.06.2017
HR14.06.2017
LT14.06.2017
NO14.09.2017
GR15.09.2017
Cited inInternational search[AD]US2003030398  (JACOBS STEPHEN [US], et al) [AD] 1-11 * paragraphs [0038] , [0044] - [0045] - [0058] , [0062] , [0071] , [0080] , [0093] , [0124] - [0126]; figures 1,3-8,11,15; claims 1,6,11,38,41,42 *;
 [A]EP2256574  (TOYOTA MOTOR CO LTD [JP]) [A] 1-11 * paragraphs [0013] - [0014] - [0021] , [0022] , [0024] , [0027] , [0046] - [0049] - [0051] , [0053]; figures 1-2,11; claims 1,3 *;
 [AD]  - PATRIC JENSFELT ET AL, "Active Global Localization for a Mobile Robot Using Multiple Hypothesis Tracking", IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, IEEE INC, NEW YORK, US, (20011005), vol. 17, no. 5, ISSN 1042-296X, XP011053629 [AD] 1-11 * pages 748,750; figures 1,5a,5b,7 * * page 756 - page 758 *
ExaminationUS2005182518
 DE102007010979
by applicantUS6667592
 US2009182464
 EP2287697
    - H. DURRANT-WHYTE; T. BAILEY, "Simultaneous Localization and Mapping (SLAM): Part I The Essential Algorithms", IEEE ROBOTICS AND AUTOMATION MAGAZINE, (200606), vol. 13, no. 2, pages 99 - 110, XP055066899
OppositionUS5995884
 US2003030398
 US2005182518
 KR20070027840
 DE102007010979
 EP2256398
 US2009281661
 WO2011013862
    - Primo Zingaretti et al., "Appearance based robotics", IEEE Robotics & Automation Magazine, (20060400), XP055471512
    - LINA M. PAZ et al., "Global localization in SLAM in bilinear time", Intelligent Robots and Systems, (20050802), pages 655 - 661, XP010857151

DOI:   http://dx.doi.org/10.1109/IROS.2005.1545055
    - SEONGSOO LEE et al., "Vision-Based Kidnap Recovery with SLAM for Home Cleaning Robots", Journal of Intelligent & Robotic Systems, (20111215), vol. 67, no. 1, pages 7 - 24, XP035076954

DOI:   http://dx.doi.org/10.1007/s10846-011-9647-4
    - JINWOO CHOI et al., "Topological localization with kidnap recovery using sonar grid map matching in a home environment", Robotics and Computer-Integrated Manufacturing, (20111115), vol. 28, no. 3, pages 366 - 374, XP055477101

DOI:   http://dx.doi.org/10.1016/j.rcim.2011.10.008
    - SEWAN KIM, "Autonomous Cleaning Robot: Roboking System Integration and Overview", Proceedings of the 2004 IEEE International Conference on Robotics & Automation, New Orleans, LA, (20040400), pages 4437 - 4441, XP010768093

DOI:   http://dx.doi.org/10.1109/ROBOT.2004.1302416
    - KURT KONOLIGE et al., "View Based Maps", The International Journal of Robotics Research, (20100506), vol. 29, no. 8, pages 1 - 17, XP055477128

DOI:   http://dx.doi.org/10.1177/0278364910370376
    - KURT KONOLIGE et al., "Towards Lifelong Visual Maps", The 2009 IEEE /RSJ International Conference on Intelligent Robots and Systems, St. Louis , USA, (20091011), pages 1156 - 1163, XP031580482
    - BENJAMIN STEWART et al., "The Revisiting Problem in Mobile Robot Map Building: A Hierarchical Bayesian Approach", UAI'03 Proceedings of the Nineteenth Conference on Uncer- tainty in Artificial Intelligence, (20020807), pages 551 - 558, XP055477131
    - PAZ et al., "Global Localization in SLAM in Bilinear Time", 2005 IEEE /RSJ International Conference on Intelligent Robots and Sys- tems, (20050802), XP010857151

DOI:   http://dx.doi.org/10.1109/IROS.2005.1545055
    - SEONGSOO LEE et al., "Vision-Based Kidnap Recovery with SLAM for Home Cleaning Robots", Journal of Intelligent & Robotic Systems, (20111215), vol. 67, no. 1, pages 7 - 24
    - Se, S. et al, "Vision-based Global Localization and Mapping for Mobile Robots", IEEE Transactions on Robotics, (20050106), vol. 21, no. 3, pages 364 - 375
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