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61. 发明申请

WO2012091814A2 MOBILE ROBOT SYSTEM 审中-公开
标题翻译：移动机器人系统
公开(公告)号：WO2012091814A2
公开(公告)日：2012-07-05
申请号：PCT/US2011/060935
申请日：2011-11-16
申请人： IROBOT CORPORATION , PACK, Robert, Todd , FARLOW, Timothy, S. , ROSENSTEIN, Michael, T. , HALLORAN, Michael , WON, Chikyung , SHAMLIAN, Steven, V. , CHIAPPETTA, Mark
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 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.
摘要翻译：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。

62. 发明申请

WO2012091801A2 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：WO2012091801A2
公开(公告)日：2012-07-05
申请号：PCT/US2011/059863
申请日：2011-11-09
申请人： IROBOT CORPORATION , 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
发明人： 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分类号： G05D1/02
CPC分类号： 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
摘要： 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.
摘要翻译：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。

63. 发明申请

WO2011020040A1 AUTONOMOUS COVERAGE ROBOTS 审中-公开
标题翻译：自动覆盖机器人
公开(公告)号：WO2011020040A1
公开(公告)日：2011-02-17
申请号：PCT/US2010/045502
申请日：2010-08-13
申请人： IROBOT CORPORATION , HUSSEY, Patrick Alan , ROY, Robert Paul , NEUMANN, Rogelio Manfred , SVENDSEN, Selma , OZICK, Daniel N. , CASEY, Christopher M. , KAPOOR, Deepak Ramesh , CAMPBELL, Tony L. , WON, Chikyung , MORSE, Christopher John , BURNETT, Scott Thomas
发明人： HUSSEY, Patrick Alan , ROY, Robert Paul , NEUMANN, Rogelio Manfred , SVENDSEN, Selma , OZICK, Daniel N. , CASEY, Christopher M. , KAPOOR, Deepak Ramesh , CAMPBELL, Tony L. , WON, Chikyung , MORSE, Christopher John , BURNETT, Scott Thomas
IPC分类号： A47L9/04 , A46B17/06
CPC分类号： A47L9/0477 , A47L5/30 , A47L9/009 , A47L9/0466 , A47L9/0488 , A47L9/12 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/40 , A47L11/4011 , A47L11/4013 , A47L11/4027 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , A47L2201/04 , B25J9/0003 , B60L11/1805 , B60L11/1816 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04L1/16 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y02T90/16 , Y10S901/01 , Y10S901/50
摘要： An autonomous coverage robot includes a body, a drive system disposed on the body, and a cleaning assembly disposed on the body and configured to engage a floor surface while the robot is maneuvered across the floor surface. The cleaning assembly includes a driven cleaning roller, a cleaning bin disposed on the body for receiving debris agitated by the cleaning roller, and an air mover. The cleaning bin includes a cleaning bin body having a cleaning bin entrance disposed adjacent to the cleaning roller and a roller scraper disposed on the cleaning bin body for engaging the cleaning roller. The cleaning bin body has a holding portion in pneumatic communication with the cleaning bin entrance, and the air mover is operable to move air into the cleaning bin entrance.
摘要翻译：自主覆盖机器人包括主体，设置在主体上的驱动系统以及设置在主体上并构造成在机器人横穿地板表面操纵时与地板表面接合的清洁组件。清洁组件包括驱动的清洁辊，设置在主体上用于接收由清洁辊搅动的碎屑的清洁仓和一个鼓风机。清洁箱包括清洁箱体，其具有邻近清洁辊设置的清洁箱入口和设置在清洁箱本体上用于接合清洁辊的辊刮刀。清洁箱本体具有与清洁仓入口气动连通的保持部分，并且空气推动器可操作以将空气移动到清洁仓入口中。

64. 发明申请

WO2008105948A2 ROBOTIC VEHICLE 审中-公开
标题翻译：机动车
公开(公告)号：WO2008105948A2
公开(公告)日：2008-09-04
申请号：PCT/US2007/080138
申请日：2007-10-02
申请人： IROBOT CORPORATION , COUTURE, Adam P. , PAGE, Richard , O'BRIEN, John P. , FILIPPOV, Mikhail , SHEIN, Andrew
发明人： COUTURE, Adam P. , PAGE, Richard , O'BRIEN, John P. , FILIPPOV, Mikhail , SHEIN, Andrew
CPC分类号： B62D55/075 , B25J5/005 , B25J11/0025 , B62D55/065 , B62D57/024 , Y10S901/01
摘要： 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).
摘要翻译：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）。

65. 发明申请

WO2008097376A2 MANEUVERING ROBOTIC VEHICLES HAVING A POSITIONABLE SENSOR HEAD 审中-公开
标题翻译：具有可定位传感器头的机动车
公开(公告)号：WO2008097376A2
公开(公告)日：2008-08-14
申请号：PCT/US2007/080541
申请日：2007-10-05
申请人： IROBOT CORPORATION , OHM, Timothy R. , BASSETT, Michael
发明人： OHM, Timothy R. , BASSETT, Michael
CPC分类号： B62D55/075 , B25J5/005 , B62D37/04 , B62D55/02 , B62D55/065 , B62D57/024 , Y10S180/907 , Y10S901/01
摘要： 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.
摘要翻译：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。

66. 发明申请

WO2008013568A3 AUTONOMOUS MOBILE ROBOT 审中-公开
公开(公告)号：WO2008013568A3
公开(公告)日：2008-01-31
申请号：PCT/US2006/062770
申请日：2006-12-30
申请人： iROBOT CORPORATION , YAMAUCHI, Brian
发明人： YAMAUCHI, Brian
IPC分类号： G06F19/00
摘要： A mobile robot (10) is equipped with a range finder (121) and a stereo vision system. The mobile robot (10) is capable of autonomously navigating through urban terrain, generating a map based on data from the range finder (121) and transmitting the map to the operator, as part of several reconnaissance operations selectable by the operator. The mobile robot (10) employs a Hough transform technique to identify linear features in its environment, and then aligns itself with the identified linear features in order to navigate through the urban terrain, while at the same time, a scaled vector field histogram technique is applied to the combination of range finder and stereo vision data to detect and avoid obstacles the mobile robot (10) encounters when navigating autonomously. Also, the missions performed by the mobile robot (10) may include limitation parameters.based on distance or time elapsed, to ensure completion of the autonomous operations.

67. 发明申请

WO2007065034A1 MODULAR ROBOT 审中-公开
标题翻译：模块机器人
公开(公告)号：WO2007065034A1
公开(公告)日：2007-06-07
申请号：PCT/US2006/046404
申请日：2006-12-04
申请人： IROBOT CORPORATION , WON, Chikyung , SVENDSEN, Selma , SANDIN, Paul E. , BURNETT, Scott Thomas , KAPOOR, Deepak Ramesh , HICKEY, Stephen , RIZZARI, Robert , DUBROVSKY, Zivthan A.C.
发明人： WON, Chikyung , SVENDSEN, Selma , SANDIN, Paul E. , BURNETT, Scott Thomas , KAPOOR, Deepak Ramesh , HICKEY, Stephen , RIZZARI, Robert , DUBROVSKY, Zivthan A.C.
IPC分类号： G05D1/02 , A47L9/00
CPC分类号： A47L11/40 , A47L5/30 , A47L9/009 , A47L9/0466 , A47L9/12 , A47L9/2857 , A47L9/2894 , A47L9/30 , A47L11/24 , A47L11/4011 , A47L11/4013 , A47L11/4041 , A47L11/4061 , A47L11/4072 , A47L2201/00 , B25J9/0003 , B60L11/1805 , B60L11/1816 , B60L15/2036 , B60L2200/40 , B60L2250/10 , B60L2250/16 , B60L2260/32 , G05D1/0225 , G05D1/0227 , G05D1/0234 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/028 , G05D2201/0203 , G05D2201/0215 , H04L1/16 , Y02P90/60 , Y02T10/645 , Y02T10/7005 , Y02T10/7072 , Y02T10/72 , Y02T10/7258 , Y02T10/7275 , Y02T90/14 , Y10S901/01 , Y10S901/50
摘要： A coverage robot (100) including a chassis (202), multiple drive wheel assemblies (110a-b) disposed on the chassis, and a cleaning assembly (112,102) carried by the chassis. Each drive wheel assembly includes a drive wheel assembly housing (324a-b), a wheel (326a-b) rotatably coupled to the housing, and a wheel drive motor (328a-b) carried by the drive wheel assembly housing and operable to drive the wheel. The cleaning assembly (112,102) includes a cleaning assembly housing (332,338) , a cleaning head (334,340) rotatably coupled to the cleaning assembly housing, and a cleaning drive motor (336,342) carried by cleaning assembly housing and operable to drive the cleaning head. The wheel assemblies (110a-b) and the cleaning assembly (112,102) are each separately and independently removable from respective receptacles (304,306,308,310) of the chassis as complete units.
摘要翻译：覆盖机器人（100），包括底盘（202），设置在底盘上的多个驱动轮组件（110a-b）和由底盘承载的清洁组件（112,102）。每个驱动轮组件包括驱动轮组件壳体（324a-b），可旋转地联接到壳体的轮（326a-b）和由驱动轮组件壳体承载并可操作以驱动的轮驱动马达（328a-b）车轮。清洁组件（112,102）包括清洁组件壳体（332,338），可旋转地联接到清洁组件壳体的清洁头（334,340）和由清洁组件壳体携带并可操作以驱动清洁头的清洁驱动马达（336,342）。轮组件（110a-b）和清洁组件（112,102）各自独立且可独立地从底盘的相应容器（304,306,308,310）中移除，作为完整单元。

68. 发明申请

WO2002101477A2 METHOD AND SYSTEM FOR MULTI-MODE COVERAGE FOR AN AUTONOMOUS ROBOT 审中-公开
标题翻译：用于自动机器人的多模式覆盖的方法和系统
公开(公告)号：WO2002101477A2
公开(公告)日：2002-12-19
申请号：PCT/US2002/018450
申请日：2002-06-12
申请人： IROBOT CORPORATION , JONES, Joseph , MASS, Philip, R.
发明人： JONES, Joseph , MASS, Philip, R.
IPC分类号： G05D1/00
CPC分类号： G05D1/0272 , G05D1/0219 , G05D1/0227 , G05D1/0238 , G05D1/0242 , G05D2201/0203
摘要： A control system for a mobile robot (10) is provided to effectively cover a given area by operating in a plurality of modes, including an obstacle following mode (51) and a random bounce mode (49). In other embodiments, spot coverage, such as spiraling (45), or other modes are also used to increase effectiveness. In addition, a behavior based architecture is used to implement the control system, and various escape behaviors are used to ensure full coverage.
摘要翻译：提供了一种用于移动机器人（10）的控制系统，以通过以包括障碍物跟随模式（51）和随机反弹模式（49）的多种模式操作来有效地覆盖给定区域。在其他实施例中，也可以使用诸如螺旋（45）或其他模式的点覆盖来提高效率。另外，基于行为的体系结构被用于实现控制系统，并且使用各种逃逸行为来确保全面覆盖。

69. 发明申请

WO2023009300A1 MOBILE CLEANING ROBOT WITH SKIDS 审中-公开
公开(公告)号：WO2023009300A1
公开(公告)日：2023-02-02
申请号：PCT/US2022/036637
申请日：2022-07-11
申请人： IROBOT CORPORATION
发明人： OHM, Timothy R. , AMARAL, Erik , DESCHENES, Andrew
IPC分类号： A47L9/04 , A47L9/00 , A47L9/06
摘要： A mobile cleaning robot can include a body, a drive wheel, and a plurality of skids. The drive wheel can be connected to the body and can be engageable with a floor surface of an environment. The drive wheel can be operable to move the mobile cleaning robot about an environment. The skids can be separate skids that can be connected to the body and can be engageable with the floor surface to support, together with the drive wheel, the mobile cleaning robot with respect to the floor surface.

70. 发明申请

WO2022197558A1 EVACUATION STATION 审中-公开
公开(公告)号：WO2022197558A1
公开(公告)日：2022-09-22
申请号：PCT/US2022/020000
申请日：2022-03-11
申请人： IROBOT CORPORATION
发明人： HONG, Insun , LEE, Calvin Jinwon , MERCIER, Ryan
IPC分类号： A47L11/24 , A47L11/40
摘要： A docking station for a mobile cleaning robot can include a base and a storage compartment. The base can be configured to receive the mobile cleaning robot. The base can include an electrical power interface configured to provide electrical power to the mobile cleaning robot. The storage compartment can be integrated with the base and the storage compartment can be sized and shaped to receive a user-replaceable accessory associated with the base or the mobile cleaning robot.

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