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1. 发明授权

EP2571660B1 MOBILE HUMAN INTERFACE ROBOT 有权转让
公开(公告)号：EP2571660B1
公开(公告)日：2018-08-15
申请号：EP11720670.6
申请日：2011-05-06
申请人： iRobot Corporation
发明人： 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分类号： B25J13/08
CPC分类号： B25J5/007 , G02B13/22 , G05D1/024 , G05D1/0251 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D2201/0206 , G05D2201/0211
摘要： PROBLEM TO BE SOLVED: To provide a useful mobile human interface robot.SOLUTION: A mobile robot includes: a drive system; a controller 500 in communication with the drive system; and a volumetric point cloud imaging device supported above the drive system at a height of more than about one feet (30.5 cm) 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 500 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.

2. 发明公开

EP2659320A2 MOBILE HUMAN INTERFACE ROBOT 审中-公开
标题翻译：移动人机界面机器人
公开(公告)号：EP2659320A2
公开(公告)日：2013-11-06
申请号：EP11799334.5
申请日：2011-11-09
申请人： iRobot Corporation
发明人： 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分类号： G05D1/02
CPC分类号： 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
摘要： 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.
摘要翻译：一种移动机器人（100），包括具有前进驱动方向（F）的驱动系统（200），与驱动系统通信的控制器（500）以及支撑在驱动系统上方的体积点云成像装置（450）被指示为能够从包括沿移动机器人的移动方向的地板平面（5）的空间体积获得点云。死区传感器（490）具有布置成检测体积点云成像装置无法检测的空间体积（453）中的物体的检测场（492）。控制器接收来自成像装置的点云信号和来自死区传感器的检测信号，并且至少部分地基于接收的点云和检测信号向驱动系统发布驱动命令。

3. 发明公开

EP2571660A2 MOBILE HUMAN INTERFACE ROBOT 有权转让
标题翻译：与人机界面移动机器人
公开(公告)号：EP2571660A2
公开(公告)日：2013-03-27
申请号：EP11720670.6
申请日：2011-05-06
申请人： iRobot Corporation
发明人： 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分类号： B25J13/08
CPC分类号： B25J5/007 , G02B13/22 , G05D1/024 , G05D1/0251 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D2201/0206 , G05D2201/0211
摘要： PROBLEM TO BE SOLVED: To provide a useful mobile human interface robot.SOLUTION: A mobile robot includes: a drive system; a controller 500 in communication with the drive system; and a volumetric point cloud imaging device supported above the drive system at a height of more than about one feet (30.5 cm) 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 500 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.

4. 发明授权

EP2659321B1 MOBILE ROBOT SYSTEM 有权转让
标题翻译：移动机器人系统
公开(公告)号：EP2659321B1
公开(公告)日：2015-05-13
申请号：EP11802188.0
申请日：2011-11-16
申请人： iRobot Corporation
发明人： PACK, Robert, Todd , FARLOW, Timothy, S. , ROSENSTEIN, Michael, T. , HALLORAN, Michael , WON, Chikyung , SHAMLIAN, Steven, V. , CHIAPPETTA, Mark
IPC分类号： B25J11/00 , G05D1/02
CPC分类号： 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
摘要： A method of operating a mobile robot (100), the method comprising: maneuvering the robot (100) about a scene (10); emitting light onto the scene (10) about the robot (100); capturing images of the scene (10) along a drive direction (F) of the robot (100), the images comprising at least one of (a) a three-dimensional depth image, (b) an active illumination image, and (c) an ambient illumination image; receiving sensor data (1601) indicative of the scene (10), the sensor data (1601) comprising the images; communicating the sensor data (1601) to a cloud computing service (1620) that processes the received sensor data (1601) and communicates a process resultant (1607, 1609) to the robot (100), the process resultant (1607, 1609) comprising a map (1607) or a model (1609) of the scene (10); and maneuvering the robot (100) in the scene (10) based on the received process resultant (1607, 1609).

5. 发明公开

EP1820075A2 SYSTEMS AND METHODS FOR CONTROL OF A VEHICLE 审中-公开
标题翻译：体系和方法。一种用于控制车辆
公开(公告)号：EP1820075A2
公开(公告)日：2007-08-22
申请号：EP05815821.3
申请日：2005-10-21
申请人： Irobot Corporation
发明人： ALLARD, James, R. , BARRETT, David, S. , FILIPPOV, Mikhail , PACK, Robert, Todd , SVENDSEN, Selma
IPC分类号： G05D1/02 , B60W50/02 , B60W50/08 , B60W40/02
CPC分类号： B60T7/18 , B60T7/22 , B60W10/06 , B60W10/10 , B60W10/18 , B60W50/035 , B60W2050/0077 , B60W2550/20 , B60W2550/402
摘要： Systems and methods for autonomous control of a vehicle include interruptible, behavior-based, and selective control. Autonomous control is achieved by using actuators that interact with input devices in the vehicle. The actuators (e.g., linkages) manipulate the input devices (e.g., articulation controls and drive controls, such as a throttle, brake, tie rods, steering gear, throttle lever, or accelerator) to direct the operation of the vehicle. Although operating autonomously, manual operation of the vehicle is possible following the detection of events that suggest manual control is desired. Subsequent autonomous control may be permitted, permitted after a prescribed delay, or prevented. Systems and methods for processing safety signals and/or tracking terrain features are also utilized by an autonomous vehicle.

6. 发明公开

EP2820498A1 MOBILE ROBOT 审中-公开
标题翻译： MOBILER ROBOTER
公开(公告)号：EP2820498A1
公开(公告)日：2015-01-07
申请号：EP13711758.6
申请日：2013-02-28
申请人： iRobot Corporation
发明人： 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分类号： G05D1/02
CPC分类号： B25J9/1697 , B25J9/1694 , G05D1/0214 , G05D1/024 , G05D1/0242 , G05D2201/0206 , G05D2201/0211 , Y10S901/01 , Y10S901/09 , Y10S901/46 , Y10S901/47
摘要： A mobile robot (100) including a drive system (200) supporting a robot body (110) and a controller (500) in communication with the drive system (200). The robot also includes an actuator (190) moving a portion of the robot body through a volume of space (S) adjacent the mobile robot and a sensor pod (700) in communication with the controller The sensor pod includes a collar (710) rotatably supported and having a curved wall (712) formed at least partially as a surface of revolution about a vertical axis (C). The sensor pod also includes a volumetric point cloud sensor (450) housed by the collar and observing the volume of space adjacent the robot from within the collar along an observation axis (455) extending through the curved wall. A collar actuator (730) rotates the collar and the volumetric point cloud sensor together about the collar axis.
摘要翻译：一种包括机器人主体，支撑机器人主体的驱动系统以及与驱动系统通信的控制器的移动机器人。机器人还包括致动器，其将机器人主体的一部分移动通过与移动机器人相邻的一定数量的空间和与控制器通信的传感器盒。传感器盒包括可旋转地支撑并具有至少部分地作为围绕垂直轴线的旋转表面形成的弯曲壁的轴环。传感器盒还包括容纳点云传感器，其由轴环容纳并且沿着延伸穿过弯曲壁的观察轴线从轴套内观察邻近机器人的空间的体积。套环致动器将套环和容积点云传感器围绕套环轴线旋转。

7. 发明公开

EP2659321A2 MOBILE ROBOT SYSTEM 有权转让
标题翻译：移动机器人系统
公开(公告)号：EP2659321A2
公开(公告)日：2013-11-06
申请号：EP11802188.0
申请日：2011-11-16
申请人： iRobot Corporation
发明人： PACK, Robert, Todd , FARLOW, Timothy, S. , ROSENSTEIN, Michael, T. , HALLORAN, Michael , WON, Chikyung , SHAMLIAN, Steven, V. , CHIAPPETTA, Mark
IPC分类号： G05D1/02
CPC分类号： 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
摘要： A method of operating a mobile robot (100), the method comprising: maneuvering the robot (100) about a scene (10); emitting light onto the scene (10) about the robot (100); capturing images of the scene (10) along a drive direction (F) of the robot (100), the images comprising at least one of (a) a three-dimensional depth image, (b) an active illumination image, and (c) an ambient illumination image; receiving sensor data (1601) indicative of the scene (10), the sensor data (1601) comprising the images; communicating the sensor data (1601) to a cloud computing service (1620) that processes the received sensor data (1601) and communicates a process resultant (1607, 1609) to the robot (100), the process resultant (1607, 1609) comprising a map (1607) or a model (1609) of the scene (10); and maneuvering the robot (100) in the scene (10) based on the received process resultant (1607, 1609).

8. 发明公开

EP2609471A2 REMOTE VEHICLE MISSIONS AND SYSTEMS FOR SUPPORTING REMOTE VEHICLE MISSIONS 审中-公开
标题翻译： ENTFERNTE FAHRZEUGMISSIONEN UND SYSTEME ZURUNTERSTÜTZUNGENTFERNTER FAHRZEUGMISSIONEN
公开(公告)号：EP2609471A2
公开(公告)日：2013-07-03
申请号：EP11820539.2
申请日：2011-08-23
申请人： iRobot Corporation
发明人： PACK, Robert, Todd , ALLIS, Daniel, P. , VALE, Marshall, J.
IPC分类号： G05B15/00
CPC分类号： G05D1/0038 , G05D2201/0207 , G05D2201/0209
摘要： An operator control unit having a user interface that allows a user to control a remote vehicle, the operator control unit comprising: a transmission unit configured to transmit data to the remote vehicle; a receiver unit configured to receive data from the remote vehicle, the data received from the remote vehicle comprising image data captured by the remote vehicle; and a display unit configured to display a user interface comprising the image data received from the remote vehicle and icons representing a plurality of controllable elements of the remote vehicle, and configured to allow the user to input a control command to control at least one of the plurality of controllable elements. Inputting a control command to control the at least one controllable element comprises selecting the icon representing the at least one controllable element, and inputting an action for the at least one controllable element.
摘要翻译：一种操作员控制单元，其具有允许用户控制远程车辆的用户界面，所述操作者控制单元包括：发送单元，被配置为向所述远程车辆发送数据; 被配置为从所述远程车辆接收数据的接收器单元，从所述远程车辆接收的数据包括由所述远程车辆捕获的图像数据; 以及显示单元，被配置为显示包括从所述远程车辆接收的图像数据的用户界面和表示所述远程车辆的多个可控元件的图标，并且被配置为允许所述用户输入控制命令以控制所述远程车辆中的至少一个多个可控元件。输入控制命令以控制所述至少一个可控元件包括选择表示所述至少一个可控元件的图标，输入针对所述至少一个可控元件的动作，以及请求所述至少一个可控元件执行所述动作。

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