公开(公告)号：WO2011146254A3

公开(公告)日：2012-11-22

申请号：PCT/US2011035465

申请日：2011-05-06

Applicant: IROBOT CORP ,  ANGLE COLIN ,  ROSENSTEIN MICHAEL T ,  HALLORAN MICHAEL ,  SHAMLIAN STEVEN V ,  WON CHIKYUNG ,  CHIAPPETTA MARK

Inventor： ANGLE COLIN ,  ROSENSTEIN MICHAEL T ,  HALLORAN MICHAEL ,  SHAMLIAN STEVEN V ,  WON CHIKYUNG ,  CHIAPPETTA MARK

IPC: B25J5/00 ,  B25J13/00 ,  B25J19/02 ,  G05D1/02

CPC classification number: B25J5/007 ,  B25J13/003 ,  B25J19/023 ,  G05D1/0227 ,  G05D1/024 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0206 ,  G05D2201/0211

Abstract: A human interface robot (100) that includes a controller (500), a camera (320, 320a, 320b, 450, 450a, 450b) in communication with the controller, and a display (310, 310a, 310b, 312) in communication with the controller. The controller displays received image data on the display as an image (1602), identifies at least one shape (1610, 1610a, 1610b) in the image, and displays a shape specific label (1620) on the image at least near the shape.

Abstract translation: 一种人机接口机器人（100），包括与所述控制器通信的控制器（500），摄像机（320,320a，320b，450,450a，450b）以及与所述控制器通信的显示器（310,310a，310b，312） 与控制器。 控制器将显示器上的接收到的图像数据作为图像显示（1602），识别图像中的至少一个形状（1610,1610a，1610b），并且在至少接近形状的图像上显示形状特定标签（1620）。

公开(公告)号：WO2011103198A9

公开(公告)日：2012-05-31

申请号：PCT/US2011025095

申请日：2011-02-16

Applicant: IROBOT CORP ,  BLOUIN MATTHEW

Inventor： BLOUIN MATTHEW

IPC: A47L9/04 ,  A47L11/40

CPC classification number: A47L9/0477 ,  A47L9/0427 ,  A47L9/0455

Abstract: A rotating cleaning element configured to be inserted in a cleaning head compartment of a robotic vacuum, the rotating cleaning element including: a drive end including a drive protrusion configured to engage a drive mechanism of the cleaning head compartment; a bearing end and a shroud configured to surround at least a portion of the bearing end to lessen an amount of hair and similar matter that reaches the bearing; and a central member extending between the bearing end and the drive end.

Abstract translation: 旋转的清洁元件，被配置为插入机器人真空的清洁头部隔间中，所述旋转清洁元件包括：驱动端，其包括构造成与所述清洁头隔间的驱动机构接合的驱动突起; 轴承端和护罩，其构造成围绕所述轴承端部的至少一部分以减少头发的数量和到达所述轴承的类似物质; 以及在轴承端和驱动端之间延伸的中心构件。

公开(公告)号：WO2008013568A2

公开(公告)日：2008-01-31

申请号：PCT/US2006062770

申请日：2006-12-30

Applicant: IROBOT CORP ,  YAMAUCHI BRIAN

Inventor： YAMAUCHI BRIAN

IPC: G06F19/00

CPC classification number: G05D1/024 ,  G05D1/0038 ,  G05D1/0044 ,  G05D1/0088 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0207 ,  G05D2201/0209

Abstract: A mobile robot is equipped with a range finder and a stereo vision system. The mobile robot is capable of autonomously navigating through urban terrain, generating a map based on data from the range finder and transmitting the map to the operator, as part of several reconnaissance operations selectable by the operator. The mobile robot employs a Hough transform technique to identify linear features in its environment, and then aligns itself with the identified linear features in order to navigate through the urban terrain; while at the same time, a scaled vector field histogram technique is applied to the combination of range finder and stereo vision data to detect and avoid obstacles the mobile robot encounters when navigating autonomously. Also, the missions performed by the mobile robot may include limitation parameters based on distance or time elapsed, to ensure completion of the autonomous operations.

Abstract translation: 移动机器人配备了测距仪和立体视觉系统。 移动机器人能够自主地通过城市地形导航，基于来自测距仪的数据生成地图，并将地图发送给操作员，作为操作者可选择的几个侦察操作的一部分。 移动机器人使用霍夫变换技术来识别其环境中的线性特征，然后将其与所识别的线性特征对齐，以便在城市地形中导航; 同时，将尺度矢量场直方图技术应用于测距仪和立体视觉数据的组合，以检测和避免移动机器人自主航行时遇到的障碍物。 此外，由移动机器人执行的任务可以包括基于距离或经过的时间的限制参数，以确保完成自主操作。

公开(公告)号：WO2007041295A8

公开(公告)日：2007-10-11

申请号：PCT/US2006038063

申请日：2006-09-29

Applicant: IROBOT CORP ,  CROSS MATTHEW ,  VU CLARA ,  BICKMORE TIM ,  BOLTON CLIVE ,  GOETSCH JOHN ,  GRUBER AMANDA ,  SINGLAIR KEN ,  WILDE LORIN ,  WILLISTON PACE ,  CAMPBELL TONY L

Inventor： CROSS MATTHEW ,  VU CLARA ,  BICKMORE TIM ,  BOLTON CLIVE ,  GOETSCH JOHN ,  GRUBER AMANDA ,  SINGLAIR KEN ,  WILDE LORIN ,  WILLISTON PACE ,  CAMPBELL TONY L

IPC: G06F19/00 ,  A61J7/04 ,  B25J9/00 ,  G05D1/02

CPC classification number: B25J9/0003 ,  B25J5/007 ,  B25J9/1697 ,  B25J11/008 ,  B25J19/0091 ,  B25J19/023 ,  B25J19/06 ,  G05D1/021 ,  G05D1/0225 ,  G05D1/0234 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0207 ,  G06F19/3418 ,  G06F19/3462 ,  G06N3/008 ,  G16H20/00 ,  G16H20/13 ,  G16H40/63 ,  G16H40/67 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/47

Abstract: A mobile robot guest for interacting with a human resident performs a room-traversing search procedure prior to interacting with the resident, and may verbally query whether the resident being sought is present. Upon finding the resident, the mobile robot may facilitate a teleconferencing session with a remote third party, or interact with the resident in a number of ways. For example, the robot may carry on a dialogue with the resident, reinforce compliance with medication or other schedules, etc. In addition, the robot incorporates safety features for preventing collisions with the resident; and the robot may audibly announce and/or visibly indicate its presence in order to avoid becoming a dangerous obstacle. Furthermore, the mobile robot behaves in accordance with an integral privacy policy, such that any sensor recording or transmission must be approved by the resident.

Abstract translation: 与居民交互的移动机器人客人在与居民交互之前执行房间遍历搜索过程，并且可以口头询问正在寻找的居民是否在场。 在找到居民时，移动机器人可以促成与远程第三方的电话会议会话，或以多种方式与居民交互。 例如，机器人可以与居民进行对话，加强对药物或其他时间表的依从性等。此外，机器人具有用于防止与居民碰撞的安全特征; 并且机器人可以可听见地宣布和/或可见地指示其存在以避免成为危险的障碍。 此外，移动机器人的行为符合整体隐私政策，因此任何传感器记录或传输都必须得到居民的批准。

公开(公告)号：WO2007048003A3

公开(公告)日：2007-08-02

申请号：PCT/US2006041177

申请日：2006-10-20

Applicant: DEERE & CO ,  IROBOT CORP ,  FILIPPOV MIKHAIL O ,  FITCH OSA ,  KELLER SCOTT P ,  O'CONNOR JOHN ,  ZENDZIAN DAVID S ,  EL FATA NADIM ,  LARSEN KEVIN ,  MEUCHEL ARLEN EUGENE ,  SCHMALTZ MARK DAVID ,  ALLARD JAMES ,  DE ROO CHRISTOPHER A ,  NORRIS WILLIAM ROBERT ,  NORBY ANDREW JULIAN ,  TURNER CHRISTOPHER DAVID GLENN

Inventor： FILIPPOV MIKHAIL O ,  FITCH OSA ,  KELLER SCOTT P ,  O'CONNOR JOHN ,  ZENDZIAN DAVID S ,  EL FATA NADIM ,  LARSEN KEVIN ,  MEUCHEL ARLEN EUGENE ,  SCHMALTZ MARK DAVID ,  ALLARD JAMES ,  DE ROO CHRISTOPHER A ,  NORRIS WILLIAM ROBERT ,  NORBY ANDREW JULIAN ,  TURNER CHRISTOPHER DAVID GLENN

IPC: G05B19/042 ,  G05D1/02

CPC classification number: G05D1/0088 ,  B60T7/22 ,  B60W30/09 ,  B60W30/095 ,  B62D1/286 ,  G05B19/414 ,  G05D1/0061 ,  G05D1/021 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D1/028 ,  G05D2201/0201 ,  G05D2201/0202 ,  G05D2201/0209 ,  G05D2201/0213 ,  G05D2201/0216 ,  H04L67/12 ,  Y10S901/01 ,  Y10S901/47

Abstract: Certain embodiments of the present invention provide robotic control modules for use in a robotic control system of a vehicle, including structures, systems and methods, that can provide (i) a robotic control module that has multiple functional circuits, such as a processor and accompanying circuits, an actuator controller, an actuator amplifier, a packet network switch, and a power supply integrated into a mountable and/or stackable package/housing; (ii) a robotic control module with the noted complement of circuits that is configured to reduce heat, reduce space, shield sensitive components from electro-magnetic noise; (iii) a robotic control system utilizing robotic control modules that include the sufficiently interchangeable functionality allowing for interchangeability of modules; and (iv) a robotic control system that distributes the functionality and processing among a plurality of robotic control modules in a vehicle.

Abstract translation: 本发明的某些实施例提供了用于车辆的机器人控制系统的机器人控制模块，包括结构，系统和方法，其可以提供（i）具有多个功能电路的机器人控制模块，例如处理器和伴随 电路，致动器控制器，致动器放大器，分组网络开关和集成到可安装和/或可堆叠的封装/壳体中的电源; （ii）具有所述补充电路的机器人控制模块，其被配置为减少热量，减少空间，屏蔽敏感部件免受电磁噪声; （iii）利用机器人控制模块的机器人控制系统，其包括足够可互换的功能，允许模块的可互换性; 以及（iv）在车辆中的多个机器人控制模块之间分配功能和处理的机器人控制系统。

公开(公告)号：WO2004025947A3

公开(公告)日：2004-05-21

申请号：PCT/US0328624

申请日：2003-09-12

Applicant: IROBOT CORP ,  CHIAPPETTA MARK J ,  JONES JOSEPH L

Inventor： CHIAPPETTA MARK J ,  JONES JOSEPH L

IPC: G01B11/03 ,  G05D1/02 ,  G06F19/00 ,  G01C21/32

CPC classification number: G05D1/0272 ,  G01S5/12 ,  G01S5/16 ,  G05D1/0225 ,  G05D1/0242 ,  G05D1/0274 ,  G05D2201/0203

Abstract: A navigational control system (10) for altering movement activity of a robotic device (100) operating in a defined working area, comprising a transmitting subsystem integrated in combination with the robotic device (100), the transmitting subsystem comprising means for emitting a number of directed beams, each directed beam having a predetermined emission pattern, and a receiving subsystem functioning as a base station that includes a navigation control algorithm that defines a predetermined triggering event for the navigational control system (100) and a set of detection units positioned within the defined working area in a known spaced-apart relationship, the set of detection units (112) being configured and operative to detect one or more of the directed beams under the control of the navigational control algorithm to determine whether the predetermined triggering event has occurred, and, if the predetermined triggering event has occurred transmit a control signal to the robotic device, wherein reception of the control signal by the robotic device causes the robotic device (100) to implement a prescribed conduct that alters the movement activity of the robotic device (100).

Abstract translation: 一种用于改变在限定的工作区域中操作的机器人装置（100）的运动活动的导航控制系统（10），包括与所述机器人装置（100）组合的发射子系统，所述发射子系统包括用于发射多个 定向波束，每个定向波束具有预定的发射模式，以及用作基站的接收子系统，该基站包括定义用于导航控制系统（100）的预定触发事件的导航控制算法和位于 所述检测单元（112）被配置和操作以在所述导航控制算法的控制下检测所述定向波束中的一个或多个以确定所述预定触发事件是否已经发生， 并且如果预定的触发事件已经发生，则向机器人dev发送控制信号 冰，其中由所述机器人装置接收所述控制信号使所述机器人装置（100）执行改变所述机器人装置（100）的运动活动的规定行为。

公开(公告)号：WO0184260A3

公开(公告)日：2002-04-04

申请号：PCT/US0113878

申请日：2001-05-01

Applicant: IROBOT CORP ,  ALLARD JAMES R

Inventor： ALLARD JAMES R

IPC: B25J5/00 ,  B25J9/16 ,  B25J13/06 ,  G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0272 ,  B25J9/1689 ,  G05B2219/35506 ,  G05B2219/40161 ,  G05B2219/40169 ,  G05D1/0038 ,  G05D1/0044 ,  G05D1/0246 ,  G05D1/027 ,  G05D1/0282 ,  G05D2201/0207

Abstract: Methods of remote control of a mobile robot and an intuitive user interface for remotely controlling a mobile robot are provided. Using a point-and-click device (405), the user is able to choose a target location (430) within a heads-up display (400) toward which to move a mobile robot. Additional graphical overlays (410 &and 412) are provided to aid the user in navigating even in systems with asynchronous communication.

Abstract translation: 提供了远程控制移动机器人的方法和用于远程控制移动机器人的直观的用户界面。 使用点击式设备（405），用户能够选择朝向其移动移动机器人的平视显示器（400）内的目标位置（430）。 提供附加的图形叠加层（410和412）以帮助用户甚至在具有异步通信的系统中导航。

公开(公告)号：WO0212917A2

公开(公告)日：2002-02-14

申请号：PCT/US0124395

申请日：2001-08-03

Applicant: IROBOT CORP ,  CHIAPETTA MARK

Inventor： CHIAPETTA MARK

IPC: B62D61/10 ,  B62D61/12 ,  G01S7/52 ,  G01S7/527 ,  G01S15/10 ,  G01S15/88 ,  G01S15/00

CPC classification number: B25J13/006 ,  B60G2300/45 ,  B62D61/10 ,  B62D61/12 ,  G01S7/52004 ,  G01S7/527 ,  G01S15/108 ,  G01S15/88

Abstract: A pulse-echo sonar scanner for a mobile robot includes a transmitter which generates a pulse signal, an acoustic transducer which transmits and receives acoustic signals, a receiver, means for determining performance characteristics of the transducer for a given pulse, means for storing the performance characteristics, and means for determining threshold levels for an echo based on the stored performance characteristics.

Abstract translation: 用于移动机器人的脉冲回波声纳扫描仪包括产生脉冲信号的发射器，发射和接收声音信号的声学换能器，接收器，用于确定给定脉冲的换能器的性能特性的装置，用于存储性能 特性和用于基于所存储的性能特性来确定回声的阈值水平的装置。

公开(公告)号：WO2016126297A3

公开(公告)日：2016-11-03

申请号：PCT/US2015061261

申请日：2015-11-18

Applicant: IROBOT CORP

Inventor： KEARNS JUSTIN H ,  TAKA ORJETA

IPC: G05B15/00

CPC classification number: G06K9/00664 ,  B25J11/002 ,  G05D1/0094 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0209 ,  G06K9/00288 ,  H04N7/18 ,  H04N7/185

Abstract: A method of operating a mobile robot includes receiving a layout map corresponding to a patrolling environment at a computing device and maneuvering the robot in the patrolling environment based on the received layout map. The method further includes receiving imaging data of a scene about the robot when the robot maneuvers in the patrolling environment at the computing device. The imaging data is received from one or more imaging sensors disposed on the robot and in communication with the computing device. The method further includes identifying a person in the scene based on the received imaging data and aiming a field of view of at least one imaging sensor to continuously perceive the identified person in the field of view. The method further includes capturing a human recognizable image of the identified person using the at least one imaging sensor.

Abstract translation: 一种操作移动机器人的方法包括：接收与计算装置处的巡逻环境相对应的布局图，并且基于接收到的布局图在巡逻环境中操纵机器人。 该方法还包括当机器人在计算设备处的巡逻环境中操纵时接收关于机器人的场景的成像数据。 成像数据从设置在机器人上并与计算设备通信的一个或多个成像传感器接收。 该方法进一步包括基于所接收的成像数据识别场景中的人，并且瞄准至少一个成像传感器的视场以连续感知视场中的所识别的人。 该方法进一步包括使用该至少一个成像传感器捕获所识别的人的人类可识别图像。

公开(公告)号：WO2013138574A3

公开(公告)日：2013-11-14

申请号：PCT/US2013031264

申请日：2013-03-14

Applicant: IROBOT CORP ,  HICKEY STEPHEN A ,  PASTORE ANDREW ,  WON CHIKYUNG ,  GAMBLE ROGER DALE

Inventor： HICKEY STEPHEN A ,  PASTORE ANDREW ,  WON CHIKYUNG ,  GAMBLE ROGER DALE

IPC: G05D1/02

CPC classification number: B60R19/483 ,  A47L11/4011 ,  A47L11/4061 ,  A47L2201/04 ,  B25J19/0091 ,  G05D1/021 ,  G05D1/0227 ,  G05D1/0238 ,  G05D2201/0215 ,  Y10S901/46

Abstract: A robot bumper assembly (108) includes a bumper body (107), a first sensor array (120a) and a second sensor array (120b). The first sensor array is disposed along and contoured to the periphery of a forward facing portion (110) of the bumper body and senses contact with an external environment at positions along the contour of the periphery forward facing portion of the bumper body. The second sensor array is disposed along and contoured to the periphery of a top portion (109) of the forward facing portion of the robot body. The top portion is angled, ramping up. The second sensor array senses contact with an external environment at positions along the periphery of the angled top portion of the bumper body.

Abstract translation: 机器人保险杠组件（108）包括保险杠主体（107），第一传感器阵列（120a）和第二传感器阵列（120b）。 第一传感器阵列沿着保险杠本体的前向部分（110）的周边设置并且轮廓形状，并且在沿着保险杠主体的周边前向部分的轮廓的位置处感测到与外部环境的接触。 第二传感器阵列沿机器人主体的前面部分的顶部（109）的周边设置并且轮廓化。 顶部是倾斜的，上升。 第二传感器阵列在保险杠主体的倾斜顶部的周边的位置处感测与外部环境的接触。