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    MOBILE HUMAN INTERFACE ROBOT
    21.
    发明申请
    MOBILE HUMAN INTERFACE ROBOT 审中-公开
    移动人机界面机器人

    公开(公告)号：WO2011146256A3

    公开(公告)日：2013-08-01

    申请号：PCT/US2011035476

    申请日：2011-05-06

    Applicant: IROBOT CORP ,  ROSENSTEIN MICHAEL T ,  WON CHIKYUNG ,  LANSBERRY GEOFFREY ,  SHAMLIAN STEVEN V ,  HALLORAN MICHAEL ,  CHIAPPETTA MARK ,  ALLEN THOMAS P

    Inventor： ROSENSTEIN MICHAEL T ,  WON CHIKYUNG ,  LANSBERRY GEOFFREY ,  SHAMLIAN STEVEN V ,  HALLORAN MICHAEL ,  CHIAPPETTA MARK ,  ALLEN THOMAS P

    IPC: B25J5/00 ,  B25J13/08 ,  G05D1/02

    CPC classification number: B25J13/084 ,  B25J5/007 ,  G05D1/0227 ,  G05D1/024 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0206 ,  G05D2201/0211 ,  Y10S901/01

    Abstract: A mobile human interface robot (100) that includes a base (120) defining a vertical center axis (Z) and a forward drive direction (F) and a holonomic drive system (200) supported by the base. The drive system has first, second, and third driven drive wheels (210a, 210b, 210c), each trilaterally spaced about the vertical center axis and having a drive direction (Drive) perpendicular to a radial axis (Slip) with respect to the vertical center axis. The robot further includes a controller (500) in communication with the holonomic drive system, a torso (140) supported above the base, and a touch sensor system (480) in communication with the controller. The touch sensor system is responsive to human contact. The controller issues drive commands to the holonomic drive system based on a touch signal received from the touch sensor system.

    Abstract translation: 一种移动人机接口机器人（100），其包括限定垂直中心轴线（Z）和前进驱动方向（F）的基座（120）和由基座支撑的整体驱动系统（200）。 驱动系统具有第一，第二和第三从动驱动轮（210a，210b，210c），每个三维侧面围绕垂直中心轴线间隔开，并具有垂直于径向轴线（滑动）的驱动方向（驱动） 中心轴。 机器人还包括与整体驱动系统连通的控制器（500），支撑在基座上方的躯干（140）和与控制器通信的触摸传感器系统（480）。 触摸传感器系统响应人的接触。 控制器基于从触摸传感器系统接收的触摸信号向整体驱动系统发出驱动命令。

    AN AUTONOMOUS MOBILE ROBOT FOR CLEANING WITH A FRONT ROLLER IN A FIRST HORIZONTAL PLANE POSITIONED ABOVE A SECOND HORIZONTAL PLANE OF A REAR ROLLER
    22.
    发明申请
    AN AUTONOMOUS MOBILE ROBOT FOR CLEANING WITH A FRONT ROLLER IN A FIRST HORIZONTAL PLANE POSITIONED ABOVE A SECOND HORIZONTAL PLANE OF A REAR ROLLER 审中-公开
    一个自动移动机器人在第一个水平平面前面的前滚子上清洁一个后轮的第二个水平面

    公开(公告)号：WO2012149575A3

    公开(公告)日：2013-03-21

    申请号：PCT/US2012035898

    申请日：2012-04-30

    Applicant: IROBOT CORP ,  GILBERT DUANE LEIGH ,  BURSAL FARUK HALIL ,  THERRIEN RICHARD JOSEPH ,  MORIN RUSSELL WALTER

    Inventor： GILBERT DUANE LEIGH ,  BURSAL FARUK HALIL ,  THERRIEN RICHARD JOSEPH ,  MORIN RUSSELL WALTER

    IPC: A47L9/04 ,  A47L11/40

    CPC classification number: A47L11/4041 ,  A47L7/02 ,  A47L9/0477 ,  A47L9/2821 ,  A47L11/24 ,  A47L11/40 ,  A47L11/4013 ,  A47L11/4027 ,  A47L11/4061 ,  A47L11/4063 ,  A47L2201/00 ,  A47L2201/028 ,  A47L2201/04 ,  A47L2201/06 ,  B25J11/0085 ,  Y10S901/01

    Abstract: An autonomous mobile robot comprise: a chassis having a drive system mounted therein in communication with a control system; a cleaning head assembly having a lower cage and mounted to the chassis; a debris collection bin mounted to the chassis; a vacuum airway having a vacuum inlet and an airway outlet positioned adjacent the debris collection bin, and configured to deliver debris from the cleaning head assembly to a debris collection bin, the vacuum airway extending between the cleaning assembly and debris collection bin and being in fluid communication with an impeller disposed within the debris collection bin; and a cleaning head module connected to the chassis and having a front roller including a front shape-changing resilient tube and an adjacent rear roller including a rear shape-changing resilient tube rotatably opposing therewith beneath the vacuum inlet. The surface of the front shape-changing tube and the surface rear shape-changing tube are separated by a narrowest air gap of less than 1 cm, such that the vacuum draw directed from the vacuum airway is concentrated within the narrowest air gap.

    Abstract translation: 自主移动机器人包括：具有安装在其中的与控制系统通信的驱动系统的底盘; 清洁头组件，其具有下保持架并安装到底架; 安装在底盘上的碎片收集箱; 真空气道具有真空入口和邻近碎片收集箱定位的气道出口，并且构造成将碎屑从清洁头组件输送到碎片收集箱，真空气道在清洁组件和碎屑收集箱之间延伸并处于流体 与布置在碎片收集箱内的叶轮的通信; 以及清洁头模块，其连接到所述底架并且具有前辊，所述前辊包括前变形弹性管和相邻的后辊，所述后辊具有与所述真空入口下方可旋转地相对的后变形弹性管。 前变形管和表面后变形管的表面由小于1cm的最窄气隙分开，使得从真空气道引导的真空抽吸集中在最窄的气隙内。

    MOBILE ROBOT AND METHOD OF OPERATING THEREOF
    23.
    发明申请
    MOBILE ROBOT AND METHOD OF OPERATING THEREOF 审中-公开
    移动机器人及其操作方法

    公开(公告)号：WO2012074690A3

    公开(公告)日：2012-08-16

    申请号：PCT/US2011059857

    申请日：2011-11-09

    Applicant: IROBOT CORP ,  FIELD TIMOTHY G ,  WEATHERWAX DAVID F ,  HOFFMAN ORIN P F ,  LENSER SCOTT R

    Inventor： FIELD TIMOTHY G ,  WEATHERWAX DAVID F ,  HOFFMAN ORIN P F ,  LENSER SCOTT R

    IPC: G05D1/00

    CPC classification number: G05D1/0044 ,  G05D1/0088 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0207

    Abstract: A method of operating a mobile robot (100) that includes driving the robot according to a drive direction, determining a driven path (1012) of the robot from an origin (1013), and displaying a drive view (1010) on a remote operator control unit (400) in communication with the robot. The drive view shows the driven path of the robot from the origin. The method further includes obtaining global positioning coordinates of a current location of the robot and displaying a map (1014) in the drive view using the global positioning coordinates. The driven path of the robot is displayed on the map.

    Abstract translation: 一种操作移动机器人（100）的方法，包括根据驱动方向驱动机器人，从原点（1013）确定机器人的驱动路径（1012），并在远程操作器上显示驱动视图（1010） 控制单元（400）。 驱动器视图显示机器人从原点的驱动路径。 该方法还包括获得机器人的当前位置的全局定位坐标，并使用全局定位坐标在驾驶视图中显示地图（1014）。 机器人的驱动路径显示在地图上。

    ROBOTIC VEHICLE
    24.
    发明申请
    ROBOTIC VEHICLE 审中-公开
    机动车

    公开(公告)号：WO2011152890A3

    公开(公告)日：2012-03-22

    申请号：PCT/US2011023044

    申请日：2011-01-28

    Applicant: IROBOT CORP ,  PAGE RICHARD ,  KUHE TUCKER ,  SWORD LEE F ,  COUTURE ADAM P

    Inventor： PAGE RICHARD ,  KUHE TUCKER ,  SWORD LEE F ,  COUTURE ADAM P

    IPC: B25J5/00 ,  B62D25/20 ,  B62D55/065

    CPC classification number: B25J5/005 ,  B62D25/2054 ,  B62D55/065 ,  B62D55/0655 ,  B62D55/075

    Abstract: A robotic vehicle (10) includes a chassis (20) supported on right and left driven tracks (34,44), right and left elongated flippers (50,60) disposed on corresponding sides of the chassis (20), and a battery unit holder (210) disposed on the chassis (20) for removably receiving a battery unit (92,300) weighing at least 50 lbs. The battery unit holder (210) includes a guide (222,224) for receiving and guiding the battery unit (92,300) to a connected position and a connector mount (230) having locating features (232,234) and communication features (236). The locating features (232,234) receive corresponding locating features (332,334) of the battery unit (92,300), as the battery unit (92,300) is moved to its connected position, to align the communication features (236) of the connector mount (230) with corresponding communication features of the battery unit (92,300). The communication features (236) of the connector mount (230) are movable in a plane transverse to the guide to aid alignment of the communication features (236) for establishment of an electrical connection therebetween when the battery unit (92,300) is in its connected position.

    Abstract translation: 机器人车辆（10）包括支撑在右和左驱动轨道（34,44）上的底盘（20），设置在底盘（20）的相应侧上的左右细长鳍状物（50,60）和电池单元 设置在底盘（20）上的支架（210），用于可拆卸地容纳重量为至少50磅的电池单元（92,300）。 电池单元保持器（210）包括用于接收和引导电池单元（92,300）到连接位置的引导件（222,224）和具有定位特征（232,234）和通信特征（236）的连接器安装件（230）。 当电池单元（92,300）移动到其连接位置时，定位特征（232,234）接收电池单元（92,300）的对应的定位特征（332,334），以使对准连接器安装件（230）的通信特征（236） 具有电池单元（92,300）的相应通信特征。 连接器安装件（230）的连通特征（236）可在垂直于引导件的平面中移动，以有助于在电池单元（92,300）处于其连接状态时建立电连接的通信特征（236） 位置。

    ROBOTIC VEHICLE WITH TRACKS AND FLIPPERS
    25.
    发明申请
    ROBOTIC VEHICLE WITH TRACKS AND FLIPPERS 审中-公开
    机动车用履带和拖鞋

    公开(公告)号：WO2008105948A3

    公开(公告)日：2009-08-06

    申请号：PCT/US2007080138

    申请日：2007-10-02

    Applicant: IROBOT CORP ,  COUTURE ADAM P ,  PAGE RICHARD ,  O'BRIEN JOHN P ,  FILIPPOV MIKHAIL ,  SHEIN ANDREW

    Inventor： COUTURE ADAM P ,  PAGE RICHARD ,  O'BRIEN JOHN P ,  FILIPPOV MIKHAIL ,  SHEIN ANDREW

    IPC: B25J5/00 ,  B62D55/075 ,  B62D57/024

    CPC classification number: B62D55/075 ,  B25J5/005 ,  B25J11/0025 ,  B62D55/065 ,  B62D57/024 ,  Y10S901/01

    Abstract: A robotic vehicle (10,100,150A,150B150C,160,1000,1000A,1000B,1000C) includes a chassis (20,106,152,162) having front and rear ends (20A,152A,20B,152B) and supported on right and left driven tracks (34,44,108,165). Right and left elongated flippers (50,60,102,154,164) are disposed on corresponding sides of the chassis and operable to pivot. A linkage (70,156,166) connects a payload deck assembly (D1,D2,D3,80,158,168,806), configured to support a removable functional payload, to the chassis. The linkage has a first end (70A) rotatably connected to the chassis at a first pivot (71), and a second end (70B) rotatably connected to the deck at a second pivot (73). Both of the first and second pivots include independently controllable pivot drivers (72,74) operable to rotatably position their corresponding pivots (71,73) to control both fore-aft position and pitch orientation of the payload deck (D1,D2,D3,80,158,168,806) with respect to the chassis (20,106,152,162).

    Abstract translation: 机器人车辆（10,100,150A，150B150C，160,1000,1000A，1000B，1000C）包括具有前端和后端（20A，152A，20B，152B）并支撑在左右驱动轨道（34）上的底盘（20,106,152,162） 44108165）。 右和左细长鳍状物（50,60,102,154,164）设置在底盘的相应侧上并且可操作以枢转。 连杆（70,156,166）将配置成支撑可移动功能有效载荷的有效载荷甲板组件（D1，D2，D3,80,158,168,806）连接到底盘。 连杆具有在第一枢轴（71）处可转动地连接到底架的第一端（70A）和在第二枢轴（73）处可旋转地连接到甲板的第二端（70B）。 第一和第二枢轴都包括可独立控制的枢转驱动器（72,74），其可操作以可旋转地定位其对应的枢轴（71,73），以控制有效载荷甲板（D1，D2，D3，D3）的前后位置和俯仰方向， 80,158,168,806）相对于底盘（20,106,152,162）。

    ROBOT WITH FLIPPERS HAVING A POSITIONABLE SENSOR HEAD AND METHOD FOR CONTROLLING THIS ROBOT
    26.
    发明申请
    ROBOT WITH FLIPPERS HAVING A POSITIONABLE SENSOR HEAD AND METHOD FOR CONTROLLING THIS ROBOT 审中-公开
    具有可定位传感器头部的拖鞋的机器人和用于控制该机器人的方法

    公开(公告)号：WO2008097376A3

    公开(公告)日：2008-12-24

    申请号：PCT/US2007080541

    申请日：2007-10-05

    Applicant: IROBOT CORP ,  OHM TIMOTHY R ,  BASSETT MICHAEL

    Inventor： OHM TIMOTHY R ,  BASSETT MICHAEL

    IPC: B25J5/00 ,  B62D55/075 ,  B62D57/024

    CPC classification number: B62D55/075 ,  B25J5/005 ,  B62D37/04 ,  B62D55/02 ,  B62D55/065 ,  B62D57/024 ,  Y10S180/907 ,  Y10S901/01

    Abstract: A robot (100,800,1100,1200,1400,1600,2200,2300,2400,2500,2600,3300) includes a chassis (140,301,310,501,801,1601,3202) supporting a skid steered drive (110,1610,2202,2204,3310) and a set of driven flippers (130,302,502,602,802,1602). Each flipper is pivotable about a first pivot axis (15,315) common with a drive axis (15) near the chassis's leading end (104A,302A). The robot includes a neck (305,805,1605,2210) pivotable about a second pivot axis (317) substantially at the chassis's leading end (140A,301A) and a sensor head (303,803,1603,2206) pivotally coupled to the neck (305,805,1605,2210). The chassis, flippers, neck and head: (i) have a combined center of gravity (combined-CG,364,CG1,CG50) disposed in a forward-rearward sense between distal and pivot ends (130A,130B,302A,302B) of the flippers (130,302,502,602,802,1602) when the flippers are in a stowed position with their distal ends (130A,302A) between leading and trailing ends (140A,140B,301A,301B) of the chassis, and (ii) are each independently movable between a first position and a second position to reposition the combined center of gravity for negotiating an obstacle.

    Abstract translation: 机器人（100,800,1100,1200,1400,1600,2200,2300,2400,2500,2600,3300）包括支撑滑动转向驱动器（110,1610,2202,2204,3310）的底盘（140,301,310,501,801,1601,3202） ）和一组驱动的脚蹼（130,302,502,602,802,1602）。 每个挡板可围绕与底盘的前端（104A，302A）相邻的驱动轴线（15）共同的第一枢转轴线（15,315）枢转。 机器人包括一个颈部（305,805,1605,2210），该颈部可绕基本上位于底盘的前端（140A，301A）的第二枢转轴线（317）枢转并且枢转地联接到颈部的传感器头（303,803,1603,2206）（305,805 ，1605,2210）。 底盘，脚蹼，颈部和头部：（i）在远端和枢轴端（130A，130B，302A，302B）之间具有以向前 - 向后的方式设置的组合重心（组合的CG，364，CG1，CG50） （130A，302A）位于底盘的前端和后端（140A，140B，301A，301B）之间，并且（ii）各自独立地位于所述脚蹼（130,302,502,602,802,1602）中，并且 在第一位置和第二位置之间移动以重新定位组合重心以协商障碍物。

    ROBOT OPERATOR CONTROL UNIT CONFIGURATION SYSTEM AND METHOD
    27.
    发明申请
    ROBOT OPERATOR CONTROL UNIT CONFIGURATION SYSTEM AND METHOD 审中-公开
    机器人操作员控制单元配置系统和方法

    公开(公告)号：WO2008127863A3

    公开(公告)日：2008-12-18

    申请号：PCT/US2008058645

    申请日：2008-03-28

    Applicant: IROBOT CORP ,  JAMIESON JOSEF ,  SHEIN ANDREW

    Inventor： JAMIESON JOSEF ,  SHEIN ANDREW

    IPC: G05B19/042

    CPC classification number: G05B19/05 ,  G05B19/00 ,  G05B19/0426 ,  G05B2219/23312 ,  G05B2219/25067 ,  G05B2219/31422 ,  G05B2219/36136

    Abstract: A unified framework is provided for building common functionality into diverse operator control units. A set of tools is provided for creating controller configurations for varied robot types. Preferred controllers do one or more the following: allow uploading of configuration files from a target robot, adhere to common user interface styles and standards, share common functionality, allow extendibility for unique functionality, provide flexibility for rapid prototype design, and allow dynamic communication protocol switching. Configuration files may be uploaded from robots to configure their operator control units. The files may include scene graph control definitions; instrument graphics; control protocols; or mappings of control functions to scene graphics or control inputs.

    Abstract translation: 提供了一个统一的框架，用于为不同的操作员控制单元建立通用功能 提供了一套工具来为各种机器人类型创建控制器配置。 首选控制器执行以下一项或多项操作：允许从目标机器人上传配置文件，遵守常用用户界面样式和标准，共享通用功能，允许扩展性以实现独特功能，为快速原型设计提供灵活性，并允许动态通信协议 交换。 可以从机器人上传配置文件以配置其操作员控制单元。 这些文件可以包括场景图控制定义; 仪器图形; 控制协议; 或控制功能到场景图形或控制输入的映射。

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