公开(公告)号：WO2012091801A3

公开(公告)日：2013-03-14

申请号：PCT/US2011059863

申请日：2011-11-09

Applicant: IROBOT CORP ,  ALLEN THOMAS P ,  KEARNS JUSTIN H ,  TAKA ORJETA ,  FARLOW TIMOTHY S ,  PACK ROBERT TODD ,  WON CHIKYUNG ,  ROSENSTEIN MICHAEL T ,  HALLORAN MICHAEL ,  SHAMLIAN STEVEN V ,  CHIAPPETTA MARK

Inventor： ALLEN THOMAS P ,  KEARNS JUSTIN H ,  TAKA ORJETA ,  FARLOW TIMOTHY S ,  PACK ROBERT TODD ,  WON CHIKYUNG ,  ROSENSTEIN MICHAEL T ,  HALLORAN MICHAEL ,  SHAMLIAN STEVEN V ,  CHIAPPETTA MARK

IPC: G05D1/02

CPC classification number: G05D1/0248 ,  B25J5/007 ,  B25J9/0003 ,  B25J11/008 ,  B25J13/006 ,  B25J13/06 ,  B25J19/023 ,  G05D1/024 ,  G05D1/0253 ,  G05D1/0255 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0206 ,  G05D2201/0211 ,  G06F1/1632

Abstract: A mobile robot (100) that includes a drive system (200), a controller (500) in communication with the dive system, and an electronic display (310, 312) supported above the drive system and in communication with the controller. The controller includes a central processing unit (502), a general purpose graphics processing unit (504), and memory (506) in electrical communication with the central processing unit and the general purpose graphics processing unit. Moreover, the controller has a display operating state and a driving operating state. The controller executes graphics computations on the general purpose graphics processing unit for displaying graphics on the electronic display during the display operating state; and the controller executes mobility computations on the general purpose graphics processing unit for issuing commands to the drive system during the driving operating state.

Abstract translation: 一种移动机器人（100），包括与所述潜水系统通信的驱动系统（200），控制器（500）和支撑在所述驱动系统上方并与所述控制器通信的电子显示器（310,312）。 控制器包括与中央处理单元和通用图形处理单元电通信的中央处理单元（502），通用图形处理单元（504）和存储器（506）。 此外，控制器具有显示操作状态和驾驶操作状态。 控制器在通用图形处理单元上执行图形计算，以在显示操作状态期间在电子显示器上显示图形; 并且控制器在通用图形处理单元上执行移动性计算，用于在驱动操作状态期间向驱动系统发出命令。

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。

公开(公告)号：WO2012091814A3

公开(公告)日：2013-07-18

申请号：PCT/US2011060935

申请日：2011-11-16

Applicant: IROBOT CORP ,  PACK ROBERT TODD ,  FARLOW TIMOTHY S ,  ROSENSTEIN MICHAEL T ,  HALLORAN MICHAEL ,  WON CHIKYUNG ,  SHAMLIAN STEVEN V ,  CHIAPPETTA MARK

Inventor： PACK ROBERT TODD ,  FARLOW TIMOTHY S ,  ROSENSTEIN MICHAEL T ,  HALLORAN MICHAEL ,  WON CHIKYUNG ,  SHAMLIAN STEVEN V ,  CHIAPPETTA MARK

IPC: G05D1/02

CPC classification number: B25J9/1697 ,  B25J5/007 ,  B25J11/009 ,  B25J19/023 ,  G05D1/0011 ,  G05D1/0022 ,  G05D1/0038 ,  G05D1/0227 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0206 ,  G05D2201/0211 ,  H04N7/142 ,  H04N7/144 ,  Y10S901/01 ,  Y10S901/47

Abstract: A robot system (1600) includes a mobile robot (100) having a controller (500) executing a control system (510) for controlling operation of the robot, a cloud computing service (1620) in communication with the controller of the robot, and a remote computing device (310) in communication with the cloud computing service. The remote computing device communicates with the robot through the cloud computing service.

Abstract translation: 机器人系统（1600）包括具有执行用于控制机器人的操作的控制系统（510）的控制器（500）的移动机器人（100），与机器人的控制器通信的云计算服务（1620），以及 与云计算服务通信的远程计算设备（310）。 远程计算设备通过云计算服务与机器人进行通信。

公开(公告)号：WO2011146259A3

公开(公告)日：2013-08-01

申请号：PCT/US2011035488

申请日：2011-05-06

Applicant: IROBOT CORP ,  ROSENSTEIN MICHAEL T ,  HALLORAN MICHAEL ,  WONG CHEUK WAH ,  SHAMLIAN STEVEN V ,  WON CHIKYUNG ,  CHIAPPETTA MARK ,  KEARNS JUSTIN H ,  TAKA ORJETA ,  PACK ROBERT TODD ,  FARLOW TIMOTHY S ,  VICENTI JASPER FOURWAYS

Inventor： ROSENSTEIN MICHAEL T ,  HALLORAN MICHAEL ,  WONG CHEUK WAH ,  SHAMLIAN STEVEN V ,  WON CHIKYUNG ,  CHIAPPETTA MARK ,  KEARNS JUSTIN H ,  TAKA ORJETA ,  PACK ROBERT TODD ,  FARLOW TIMOTHY S ,  VICENTI JASPER FOURWAYS

IPC: B25J5/00 ,  G02B13/22 ,  G05D1/02

CPC classification number: B25J9/1694 ,  B25J5/007 ,  B25J11/009 ,  B25J13/08 ,  B25J19/023 ,  G02B13/22 ,  G05D1/024 ,  G05D1/0248 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0206 ,  G05D2201/0211

Abstract: A mobile robot (100) that includes a drive system (200), a controller (500) in communication with the drive system, and a volumetric point cloud imaging device (450) supported above the drive system at a height of greater than about one feet above the ground and directed to be capable of obtaining a point cloud from a volume of space that includes a floor plane in a direction of movement of the mobile robot. The controller receives point cloud signals from the imaging device and issues drive commands to the drive system based at least in part on the received point cloud signals.

Abstract translation: 包括驱动系统（200），与驱动系统通信的控制器（500）的移动机器人（100）和在大于大约一个的高度上被支撑在驱动系统上方的容积点云成像装置（450） 并且被引导为能够从包括移动机器人的移动方向的底板平面的空间体积获得点云。 控制器从成像设备接收点云信号，并且至少部分地基于接收到的点云信号向驱动系统发出驱动命令。

公开(公告)号：WO2012091807A3

公开(公告)日：2013-07-25

申请号：PCT/US2011059980

申请日：2011-11-09

Applicant: IROBOT CORP ,  WONG CHEUK WAH ,  RAUHUT EBEN ,  BENSON BRIAN C JR ,  LYDON PETER J ,  ROSENSTEIN MICHAEL T ,  HALLORAN MICHAEL ,  SHAMLIAN STEVEN V ,  WON CHIKYUNG ,  CHIAPPETTA MARK ,  KEARNS JUSTIN H ,  TAKA ORJETA ,  PACK ROBERT TODD ,  FARLOW TIMOTHY S ,  VICENTI JASPER FOURWAYS

Inventor： WONG CHEUK WAH ,  RAUHUT EBEN ,  BENSON BRIAN C JR ,  LYDON PETER J ,  ROSENSTEIN MICHAEL T ,  HALLORAN MICHAEL ,  SHAMLIAN STEVEN V ,  WON CHIKYUNG ,  CHIAPPETTA MARK ,  KEARNS JUSTIN H ,  TAKA ORJETA ,  PACK ROBERT TODD ,  FARLOW TIMOTHY S ,  VICENTI JASPER FOURWAYS

IPC: G05D1/02

CPC classification number: B25J19/02 ,  G02B13/22 ,  G05D1/0231 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0251 ,  G05D1/0255 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0206 ,  G05D2201/0209 ,  G05D2201/0211 ,  G05D2201/0216

Abstract: A mobile robot (100) including a drive system (200) having a forward drive direction (F), a controller (500) in communication with the drive system, and a volumetric point cloud imaging device (450) supported above the drive system and directed to be capable of obtaining a point cloud from a volume of space that includes a floor plane (5) in a direction of movement of the mobile robot. A dead zone sensor (490) has a detection field (492) arranged to detect an object in a volume of space (453) undetectable by the volumetric point cloud imaging device. The controller receives point cloud signals from the imaging device and detection signals from the dead zone sensor and issues drive commands to the drive system based at least in part on the received point cloud and detection signals.

Abstract translation: 一种移动机器人（100），包括具有正向驱动方向（F）的驱动系统（200），与驱动系统通信的控制器（500）和支撑在驱动系统上方的容积点云成像装置（450），以及 旨在能够从包括移动机器人的移动方向的平面（5）的空间体积获得点云。 死区传感器（490）具有检测区域（492），该检测区域被布置为检测由体积点云成像设备检测不到的空间体积（453）中的物体。 控制器从成像设备接收点云信号和来自死区传感器的检测信号，并至少部分地基于接收的点云和检测信号向驱动系统发出驱动命令。

公开(公告)号：WO2012091804A3

公开(公告)日：2013-07-18

申请号：PCT/US2011059910

申请日：2011-11-09

Applicant: IROBOT CORP ,  ROSENSTEIN MICHAEL T ,  SHAMLIAN STEVEN V ,  WON CHIKYUNG ,  HALLORAN MICHAEL ,  CHIAPPETTA MARK ,  ALLEN THOMAS P ,  BASSETT MICHAEL ,  BENSON BRIAN C JR

Inventor： ROSENSTEIN MICHAEL T ,  SHAMLIAN STEVEN V ,  WON CHIKYUNG ,  HALLORAN MICHAEL ,  CHIAPPETTA MARK ,  ALLEN THOMAS P ,  BASSETT MICHAEL ,  BENSON BRIAN C JR

IPC: G05D1/02

CPC classification number: B25J5/007 ,  B25J11/009 ,  G05D1/0227 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0206 ,  Y10S901/01

Abstract: A method of operating a mobile robot (100) to traverse a threshold (T) includes detecting a threshold proximate the robot. The robot includes a holonomic drive system (200) having first, second, and third drive elements (210a-c) configured to maneuver the robot omni-directionally. The method further includes moving the first drive element (210a) onto the threshold from a first side and moving the second drive element (210b) onto the threshold to place both the first and second drive elements on the threshold. The method includes moving the first drive element off a second side of the threshold, opposite to the first side of the threshold, and moving the third drive element (210c) onto the threshold, placing both the second and third drive elements on the threshold. The method includes moving both the second and third drive elements off the second side of the threshold.

Abstract translation: 操作移动机器人（100）横穿阈值（T）的方法包括检测机器人附近的阈值。 该机器人包括具有被配置成全方向地操纵机器人的第一，第二和第三驱动元件（210a-c）的整体驱动系统（200）。 该方法还包括将第一驱动元件（210a）从第一侧移动到阈值上并将第二驱动元件（210b）移动到阈值上以将第一和第二驱动元件都置于阈值上。 该方法包括将第一驱动元件移离阈值的第二侧，与阈值的第一侧相反，以及将第三驱动元件（210c）移动到阈值上，将第二和第三驱动元件都置于阈值上。 该方法包括将第二和第三驱动元件移动离开阈值的第二侧。

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：EP2834048A4

公开(公告)日：2015-05-20

申请号：EP13839692

申请日：2013-09-23

Applicant: IROBOT CORP

Inventor： SHAMLIAN STEVEN V ,  DUFFLEY SAMUEL ,  ROMANOV NIKOLAI

IPC: B25J9/10 ,  B25J5/00 ,  B25J19/02 ,  G01V8/10 ,  G05D1/02

CPC classification number: G05D1/0238 ,  G05D1/0227 ,  G05D1/0242 ,  G05D1/027 ,  G05D2201/0215

公开(公告)号：CA2928262C

公开(公告)日：2018-06-26

申请号：CA2928262

申请日：2011-11-16

Applicant: IROBOT CORP

Inventor： PACK ROBERT TODD ,  FARLOW TIMOTHY S ,  ROSENSTEIN MICHAEL T ,  HALLORAN MICHAEL ,  WON CHIKYUNG ,  SHAMLIAN STEVEN V ,  CHIAPPETTA MARK

IPC: G05D1/02 ,  B25J5/00 ,  H04N7/12

Abstract: A robot system includes a mobile robot having a controller executing a control system for controlling operation of the robot, a cloud computing service in communication with the controller of the robot, and a remote computing device in communication with the cloud computing service. The remote computing device communicates with the robot through the cloud computing service.

公开(公告)号：CA2868860C

公开(公告)日：2018-04-24

申请号：CA2868860

申请日：2013-09-23

Applicant: IROBOT CORP

Inventor： SHAMLIAN STEVEN V ,  DUFFLEY SAMUEL ,  ROMANOV NIKOLAI

IPC: B25J9/10 ,  A47L9/00 ,  B25J5/00 ,  B25J19/02 ,  G05D1/02

Abstract: A proximity sensor (520) includes first and second components (522, 523) disposed on a sensor body (514) adjacent to one another. The first component (522, 524) is one of an emitter (522) and a receiver (524), and the second component (522a, 524a) is the other one of an emitter and a receiver, A third component (522b, 524b) is disposed adjacent the second sensor opposite the first sensor. The third component is an emitter if the first sensor is an emitter or a receiver if the first sensor is a receiver. Each component has a respective field of view (523, 525). First and second fields of view intersect, defining a first volume (VI) that detects a floor surface (10) within a first threshold distance (¾). The second and third fields of view intersect, defining a second volume (V2) that detects a floor surface within a second threshold distance (DAC).