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1. 发明授权

US09665096B2 Mobile robot and method of operating thereof 有权
公开(公告)号：US09665096B2
公开(公告)日：2017-05-30
申请号：US14830429
申请日：2015-08-19
申请人： iRobot Corporation
发明人： Timothy G. Field , David F. Weatherwax , Orin P. F. Hoffman , Scott R. Lenser
IPC分类号： G05D1/00 , G05D1/02
CPC分类号： G05D1/0044 , G05D1/0088 , G05D1/027 , G05D1/0274 , G05D1/0278 , G05D2201/0207
摘要： A method of operating a mobile robot includes driving the robot according to a drive command issued by a remote operator control unit in communication with the robot, determining a driven path from an origin, and after experiencing a loss of communications with the operator control unit, determining an orientation of the robot. The method further includes executing a self-righting maneuver when the robot is oriented upside down. The self-righting maneuver includes rotating an appendage of the robot from a stowed position alongside a main body of the robot downward and away from the main body, raising and supporting the main body on the appendage, and then further rotating the appendage to drive the upright main body past a vertical position, causing the robot to fall over and thereby invert the main body.

2. 发明授权

US09658615B2 Remote vehicle control system and method 有权
公开(公告)号：US09658615B2
公开(公告)日：2017-05-23
申请号：US14587396
申请日：2014-12-31
申请人： iRobot Corporation
发明人： Robert Todd Pack , Daniel P. Allis
IPC分类号： G05D1/00 , G01C21/26
CPC分类号： G05D1/0011 , G01C21/26 , G05D1/0038 , G05D2201/0209
摘要： A system includes an operator control unit having a point-and-click interface configured to allow the operator to control the remote vehicle by inputting one or more commands via the point-and-click interface. The operator control unit displays a 3D local perceptual space comprising an egocentric coordinate system encompassing a predetermined distance centered on the remote vehicle, a remote vehicle representation having selectable portions, and an icon at a point selected in the 3D local perceptual space and at a corresponding location in an alternative view of a map having an identified current location of the remote vehicle. The system also includes a payload attached to the remote vehicle. The payload includes a computational module and an integrated sensor suite including a global positioning system, an inertial measurement unit, and a stereo vision camera.

3. 发明授权

US09522595B2 Small unmanned ground vehicle 有权
标题翻译：小型无人地面车
公开(公告)号：US09522595B2
公开(公告)日：2016-12-20
申请号：US13342022
申请日：2011-12-31
申请人： Pavlo E. Rudakevych , Garran M. Gossage , Christopher Lyunne Morey , Todd M. Meaney , Timothy R. Ohm , Adam Wozniak
发明人： Pavlo E. Rudakevych , Garran M. Gossage , Christopher Lyunne Morey , Todd M. Meaney , Timothy R. Ohm , Adam Wozniak
IPC分类号： B62D55/00 , B60K1/00 , B60R16/04 , B60K17/04 , B60K7/00 , F41H7/00 , B60L1/00 , B60L11/18 , B62D55/06
CPC分类号： B62D55/075 , B60K7/0007 , B60K17/043 , B60K2007/0046 , B60K2007/0061 , B60L1/003 , B60L11/1805 , B60L11/1816 , B60L11/1861 , B60L11/1864 , B60L11/1874 , B60L11/1877 , B60L2200/40 , B60L2220/42 , B60L2240/12 , B60L2240/14 , B60L2240/425 , B60L2240/545 , B60L2240/547 , B60L2240/549 , B60L2240/662 , B60L2250/10 , B60L2250/16 , B60L2260/28 , B60L2260/32 , B60Y2200/25 , B62D55/06 , F41H7/005 , G05D1/0022 , G05D1/0033 , Y02T10/646 , Y02T10/7005 , Y02T10/7044 , Y02T10/7061 , Y02T10/7072 , Y02T10/7291 , Y02T90/14 , Y02T90/16
摘要： The present teachings relate generally to a small remote vehicle having rotatable flippers and a weight of less than about 10 pounds and that can climb a conventional-sized stairs. The present teachings also relate to a small remote vehicle can be thrown or dropped fifteen feet onto a hard/inelastic surface without incurring structural damage that may impede its mission. The present teachings further relate to a small remote vehicle having a weight of less than about 10 pounds and a power source supporting missions of at least 6 hours.
摘要翻译：本教导总体上涉及具有可旋转的脚蹼和小于约10磅的重量的小型远程车辆，并且可以爬上常规尺寸的楼梯。本教导还涉及一种小型远程车辆可以投掷或掉落十五英尺到硬/非弹性表面上，而不会导致可能妨碍其使命的结构损坏。本教导还涉及具有小于约10磅的重量的小型远程车辆和至少6小时的支持任务的动力源。

4. 发明授权

US09573638B2 Robotic platform 有权
标题翻译：机器人平台
公开(公告)号：US09573638B2
公开(公告)日：2017-02-21
申请号：US11834290
申请日：2007-08-06
申请人： Chikyung Won
发明人： Chikyung Won
IPC分类号： B62D55/065 , B62D55/075 , B62D55/116 , B25J5/00 , B62D55/12 , B62D55/14 , B62D55/24 , B25J11/00
CPC分类号： B62D55/0655 , B25J5/005 , B25J11/0025 , B62D55/065 , B62D55/075 , B62D55/12 , B62D55/14 , B62D55/244 , Y10S180/901 , Y10S280/901
摘要： An articulated tracked vehicle that has a main section, which includes a main frame, and a forward section. The main frame has two sides and a front end, and includes a pair of parallel main tracks. Each main track includes a flexible continuous belt coupled to a corresponding side of the main frame. The forward section includes an elongated arm. One end of the arm is pivotally coupled to the main frame near the forward end of the main frame about a transverse axis that is generally perpendicular to the sides of the main frame. The arm has a length sufficiently long to allow the forward section to extend below the main section in at least some degrees of rotation of the arm, and a length shorter than the length of the main section. The center of mass of the main section is located forward of the rearmost point reached by the end of the arm in its pivoting about the transverse axis. The main section is contained within the volume defined by the main tracks and is symmetrical about a horizontal plane, thereby allowing inverted operation of the robot.
摘要翻译：一种铰接的跟踪车辆，其具有包括主框架和前部的主要部分。主框架具有两侧和前端，并且包括一对平行的主轨道。每个主轨道包括耦合到主框架的相应侧的柔性连续带。前部包括细长臂。臂的一端围绕主要垂直于主框架的侧面的横向轴线枢转地联接到主框架的前端附近的主框架。臂具有足够长的长度，以允许前部在臂的至少一定程度的旋转中延伸到主部下方，并且长度短于主部的长度。主要部分的质心位于臂的端部绕其横向轴线枢转的最后点之前。主要部分包含在由主轨道限定的体积内，并且关于水平面对称，从而允许机器人的反转操作。

5. 发明授权

US09791860B2 Autonomous behaviors for a remote vehicle 有权
公开(公告)号：US09791860B2
公开(公告)日：2017-10-17
申请号：US14043390
申请日：2013-10-01
申请人： iRobot Defense Holdings, Inc.
发明人： Emilie Phillips , Aaron Powers , Andrew Shein , Josef P. Jamieson , Tyson Sawyer
IPC分类号： G05D1/00 , G05D1/02 , G01C21/20 , G01C21/00
CPC分类号： G05D1/0033 , G01C21/00 , G01C21/20 , G05D1/0274 , G05D1/0278 , G05D2201/0209
摘要： A method of operating a remote vehicle configured to communicate with an operator control unit (OCU) includes executing a click-to-drive behavior, a cruise control behavior, and a retro-traverse behavior on a computing processor. The click-to-drive behavior includes receiving a picture or a video feed and determining a drive destination in the received picture or video feed. The cruise control behavior includes receiving an absolute heading and velocity commands from the OCU and computing a drive heading and a drive velocity. The a retro-traverse behavior includes generating a return path interconnecting at least two previously-traversed waypoints of a list of time-stamped waypoints, and executing a retro-traverse of the return path by navigating the remote vehicle successively to previous time-stamped waypoints in the waypoints list until a control signal is received from the operator control unit.

6. 发明授权

US09650089B2 Maneuvering robotic vehicles having a positionable sensor head 有权
公开(公告)号：US09650089B2
公开(公告)日：2017-05-16
申请号：US14872783
申请日：2015-10-01
申请人： iRobot Corporation
发明人： Timothy R. Ohm , Michael Bassett
IPC分类号： B62D55/075 , B25J5/00 , B62D37/04 , B62D55/02 , B62D55/065 , B62D57/024
CPC分类号： B62D55/075 , B25J5/005 , B62D37/04 , B62D55/02 , B62D55/065 , B62D57/024 , Y10S180/907 , Y10S901/01
摘要： Configurations are provided for vehicular robots or other vehicles to provide shifting of their centers of gravity for enhanced obstacle navigation. Various head and neck morphologies are provided to allow positioning for various poses such as a stowed pose, observation poses, and inspection poses. Neck extension and actuator module designs are provided to implement various head and neck morphologies. Robot control network circuitry is also provided.

7. 发明授权

US09592604B2 Remotely operating a mobile robot 有权
标题翻译：远程操作移动机器人
公开(公告)号：US09592604B2
公开(公告)日：2017-03-14
申请号：US15069523
申请日：2016-03-14
申请人： iRobot Corporation
发明人： Orin P. F. Hoffman , Peter Keefe , Eric Smith , John Wang , Andrew Labrecque , Brett Ponsler , Susan Macchia , Brian J. Madge
IPC分类号： G05B19/04 , B25J9/16 , B25J19/02 , B25J5/00 , B25J13/00 , B25J13/02 , B25J13/06 , G05D1/00
CPC分类号： B25J13/006 , B25J5/005 , B25J5/007 , B25J9/161 , B25J9/1671 , B25J9/1689 , B25J9/1697 , B25J13/025 , B25J13/06 , B25J19/021 , B25J19/04 , G05B2219/39449 , G05B2219/39451 , G05D1/0038 , G05D2201/0209 , Y10S901/47
摘要： A method of operating a robot includes electronically receiving images and augmenting the images by overlaying a representation of the robot on the images. The robot representation includes user-selectable portions. The method includes electronically displaying the augmented images and receiving an indication of a selection of at least one user-selectable portion of the robot representation. The method also includes electronically displaying an intent to command the selected at least one user-selectable portion of the robot representation, receiving an input representative of a user interaction with at least one user-selectable portion, and issuing a command to the robot based on the user interaction.
摘要翻译：操作机器人的方法包括电子地接收图像并通过将机器人的表示覆盖在图像上来增强图像。机器人表示包括用户可选择的部分。该方法包括电子地显示增强图像并且接收机器人表示的至少一个用户可选择部分的选择的指示。该方法还包括电子地显示用于命令所选择的至少一个用户可选择的机器人表示部分的意图，接收表示与至少一个用户可选择部分的用户交互的输入，以及基于用户交互。

8. 发明授权

US10059388B2 Resilient wheels assemblies 有权
公开(公告)号：US10059388B2
公开(公告)日：2018-08-28
申请号：US15135826
申请日：2016-04-22
申请人： iRobot Defense Holdings, Inc.
发明人： Pavlo E. Rudakevych , Garran M. Gossage , Christopher L. Morey , Todd M. Meaney , Timothy R. Ohm
IPC分类号： B62D55/075 , B60B5/02 , B29D30/02 , F41H7/00 , B62D55/088 , B60B9/26 , B29C45/00 , B29L31/32 , B62D55/12 , B29K69/00 , B29K77/00 , B62D55/08 , B62D55/14 , B62D55/32
CPC分类号： B62D55/075 , B29C45/00 , B29D30/02 , B29K2069/00 , B29K2077/00 , B29L2031/32 , B60B5/02 , B60B9/26 , B60B2310/204 , B60B2360/32 , B62D55/08 , B62D55/088 , B62D55/0885 , B62D55/12 , B62D55/14 , B62D55/32 , F41H7/005 , Y10S901/01
摘要： A wheel assembly for a remote vehicle comprises a wheel structure comprising a plurality of spokes interconnecting a rim and a hub. The spokes comprise at least one slit extending therethrough radially inward from the rim to the hub. The assembly also comprises a flipper structure comprising an arm, a plurality of legs, and an attachment base. The plurality of legs and the attachment base comprise a four-bar linkage. The assembly further comprises an insert comprising a bore with a flat surface that tapers outward from a top portion to a bottom portion of the insert. The insert being configured to couple the flipper structure to the wheel structure via an axle on the remote vehicle and prevent backlash between the axle and the flipper structure. The flipper structure being configured to transmit axial forces to the wheel structure. The wheel structure being configured to absorb radial and axial forces.

9. 发明授权

US09789612B2 Remotely operating a mobile robot 有权
公开(公告)号：US09789612B2
公开(公告)日：2017-10-17
申请号：US15457671
申请日：2017-03-13
申请人： Orin P. F. Hoffman , Peter Keefe , Eric Smith , John Wang , Andrew Labrecque , Brett Ponsler , Susan Macchia , Brian J. Madge
发明人： Orin P. F. Hoffman , Peter Keefe , Eric Smith , John Wang , Andrew Labrecque , Brett Ponsler , Susan Macchia , Brian J. Madge
IPC分类号： G05B19/04 , B25J13/00 , B25J5/00 , B25J9/16 , B25J13/06 , B25J19/02 , G05D1/00
CPC分类号： B25J13/006 , B25J5/005 , B25J5/007 , B25J9/161 , B25J9/1671 , B25J9/1689 , B25J9/1697 , B25J13/025 , B25J13/06 , B25J19/021 , B25J19/04 , G05B2219/39449 , G05B2219/39451 , G05D1/0038 , G05D2201/0209 , Y10S901/47
摘要： A method of operating a robot includes electronically receiving images and augmenting the images by overlaying a representation of the robot on the images. The robot representation includes user-selectable portions. The method includes electronically displaying the augmented images and receiving an indication of a selection of at least one user-selectable portion of the robot representation. The method also includes electronically displaying an intent to command the selected at least one user-selectable portion of the robot representation, receiving an input representative of a user interaction with at least one user-selectable portion, and issuing a command to the robot based on the user interaction.

10. 发明授权

US09770823B2 Auto-reach method and system for a remote vehicle 有权
公开(公告)号：US09770823B2
公开(公告)日：2017-09-26
申请号：US14682428
申请日：2015-04-09
申请人： iRobot Corporation
发明人： Wesley Hanan Huang , Emilie A. Phillips
IPC分类号： B25J5/00 , B25J9/16 , B25J11/00 , B25J19/02 , G05D1/00
CPC分类号： B25J5/005 , B25J9/162 , B25J9/1697 , B25J11/002 , B25J19/023 , G05B2219/39391 , G05B2219/40003 , G05B2219/40062 , G05D1/0038 , G05D2201/0207 , G05D2201/0209 , Y10S901/09 , Y10S901/47
摘要： The present teachings provide a method of controlling a remote vehicle having an end effector and an image sensing device. The method includes obtaining an image of an object with the image sensing device, determining a ray from a focal point of the image to the object based on the obtained image, positioning the end effector of the remote vehicle to align with the determined ray, and moving the end effector along the determined ray to approach the object.

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