公开(公告)号：EP3091887A4

公开(公告)日：2017-09-13

申请号：EP14877998

申请日：2014-12-30

Applicant: IROBOT CORP

Inventor： SCHNITTMAN MARK ,  BUSHMAN THOMAS W

IPC: A47L9/28 ,  B25J13/08 ,  G05D1/02 ,  G05D1/10

CPC classification number: B25J9/1694 ,  G05D1/0227 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/0215 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/49

Abstract: An autonomous mobile robot includes a robot body, a drive system, a sensor system, and a controller. The drive system supports the robot body and maneuvers the robot over a floor surface. The sensor system includes an inertial measurement unit for measuring a pose of the robot and issues a sensor signal including data having information regarding a pose of the robot. The controller communicates with the drive and sensor systems and executes a behavior system. The behavior system receives the sensor signal from the sensor system and executes a behavior. The behavior system executes an anti-stasis behavior in response to sensor signals indicating that the robot is constrained to evaluate a state of constraint. In addition, the behavior system executes an anti-tilt behavior in response to sensor signals indicating that the robot is tilted with respect to a direction of gravity to evaluate a state of tilt.

Abstract translation: 自主移动机器人包括机器人主体，驱动系统，传感器系统和控制器。 驱动系统支持机器人机身并在地面上操纵机器人。 传感器系统包括用于测量机器人姿态的惯性测量单元并且发出包括具有关于机器人姿态的信息的数据的传感器信号。 控制器与驱动器和传感器系统进行通信并执行行为系统。 行为系统接收来自传感器系统的传感器信号并执行行为。 行为系统响应于指示机器人被约束以评估约束状态的传感器信号来执行防呆行为。 另外，行为系统响应于指示机器人相对于重力方向倾斜的传感器信号来执行防倾斜行为以评估倾斜状态。