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1. 发明申请

WO2011146259A2 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：WO2011146259A2
公开(公告)日：2011-11-24
申请号：PCT/US2011/035488
申请日：2011-05-06
申请人： IROBOT CORPORATION , 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
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： 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
摘要： 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.
摘要翻译：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。

2. 发明申请

WO2009123650A1 ROBOTICS SYSTEMS 审中-公开
标题翻译：机器人系统
公开(公告)号：WO2009123650A1
公开(公告)日：2009-10-08
申请号：PCT/US2008/059856
申请日：2008-04-10
申请人： IROBOT CORPORATION , PACK, Robert, T. , VALE, Marshall, J. , KEARNS, Justin, H.
发明人： PACK, Robert, T. , VALE, Marshall, J. , KEARNS, Justin, H.
IPC分类号： G06N3/00
CPC分类号： G06N3/008
摘要： A method of controlling a robot includes running multiple applications (130) on at least one processor, where each application (130) has a robot controller (140) and an action selection engine (200). Each application (130) is in communication with at least one behavior (300) and at least one action model (400) of at least part of the robot. The method includes running periodic action selection cycles (210) on each action selection engine (200). Each action selection cycle (210) includes selecting a command (440) for each action space (410) of each action mode! (440), generating a single overall command (442) based on the accumulated commands (440) for each action model (400), and sending the overall command (442) to the robot controller (140) for execution on the robot.
摘要翻译：控制机器人的方法包括在至少一个处理器上运行多个应用（130），其中每个应用（130）具有机器人控制器（140）和动作选择引擎（200）。每个应用程序（130）与机器人的至少一部分的至少一个行为（300）和至少一个动作模型（400）通信。该方法包括在每个动作选择引擎（200）上运行周期性动作选择循环（210）。每个动作选择周期（210）包括为每个动作模式的每个动作空间（410）选择命令（440）！（440），基于每个动作模型（400）的累积命令（440）生成单个总体命令（442），并将整个命令（442）发送到机器人控制器（140）以在机器人上执行。

3. 发明申请

WO2013130734A1 MOBILE ROBOT 审中-公开
标题翻译：移动机器人
公开(公告)号：WO2013130734A1
公开(公告)日：2013-09-06
申请号：PCT/US2013/028208
申请日：2013-02-28
申请人： IROBOT CORPORATION , 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
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：一种移动机器人（100），包括支撑机器人主体（110）的驱动系统（200）和与所述驱动系统（200）通信的控制器（500）。机器人还包括致动器（190），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空间（S）和与控制器连通的传感器盒（700）。传感器盒包括可旋转地支撑并且具有至少部分地围绕垂直轴线（C）形成为旋转表面的弯曲壁（712）。传感器盒还包括由轴环容纳的容积点云传感器（450），并沿着延伸穿过弯曲壁的观察轴线（455）从套环内观察邻近机器人的空间体积。轴环致动器（730）将轴环和体积点云传感器围绕轴环旋转。

4. 发明申请

WO2011146259A3 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：WO2011146259A3
公开(公告)日：2013-08-01
申请号：PCT/US2011035488
申请日：2011-05-06
申请人： 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
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： B25J5/00 , G02B13/22 , G05D1/02
CPC分类号： 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
摘要： 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.
摘要翻译：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。

5. 发明申请

WO2012091807A3 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：WO2012091807A3
公开(公告)日：2013-07-25
申请号：PCT/US2011059980
申请日：2011-11-09
申请人： 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
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。

6. 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。

7. 发明申请

WO2012103525A2 INTERFACING WITH A MOBILE TELEPRESENCE ROBOT 审中-公开
标题翻译：与移动电话机器人接口
公开(公告)号：WO2012103525A2
公开(公告)日：2012-08-02
申请号：PCT/US2012/023036
申请日：2012-01-27
申请人： INTOUCH TECHNOLOGIES, INC. , IROBOT CORPORATION , WANG, Yulun , JORDAN, Charles S. , WRIGHT, Tim , CHAN, Michael , PINTER, Marco , HANRAHAN, Kevin , SANCHEZ, Daniel , BALLANTYNE, James , HERZOG, Cody , WHITNEY, Blair , LAI, Fuji , TEMBY, Kelton , NEUSHUL, Andrew , RAUHUT, Eben Christopher , KEARNS, Justin H. , WONG, Cheuk Wah , FARLOW, Timothy Sturtevant
发明人： WANG, Yulun , JORDAN, Charles S. , WRIGHT, Tim , CHAN, Michael , PINTER, Marco , HANRAHAN, Kevin , SANCHEZ, Daniel , BALLANTYNE, James , HERZOG, Cody , WHITNEY, Blair , LAI, Fuji , TEMBY, Kelton , NEUSHUL, Andrew , RAUHUT, Eben Christopher , KEARNS, Justin H. , WONG, Cheuk Wah , FARLOW, Timothy Sturtevant
IPC分类号： B25J5/00 , B25J13/08 , G05D1/02 , G06F9/44
CPC分类号： B25J9/1664 , B25J5/00 , B25J9/1689 , B25J9/1697 , B25J11/009 , B25J11/0095 , G05D1/0038 , G05D1/024 , G05D1/0274 , G05D2201/0206 , G06F3/0482 , G06F3/04842 , G06F3/04847 , G06F19/00 , G06F19/3418 , G06T11/00 , G06T11/60 , G06T15/10 , G06T2200/24 , Y10S901/01 , Y10S901/47
摘要： A telepresence robot may include a drive system, a control system, an imaging system, and a mapping module. The mapping module may access a plan view map of an area and tags associated with the area. In various embodiments, each tag may include tag coordinates and tag information, which may include a tag annotation. A tag identification system may identify tags within a predetermined range of the current position and the control system may execute an action based on an identified tag whose tag information comprises a telepresence robot action modifier. The telepresence robot may rotate an upper portion independent from a lower portion. A remote terminal may allow an operator to control the telepresence robot using any combination of control methods, including by selecting a destination in a live video feed, by selecting a destination on a plan view map, or by using a joystick or other peripheral device.
摘要翻译：远程呈现机器人可以包括驱动系统，控制系统，成像系统和映射模块。映射模块可以访问与该区域相关联的区域和标签的平面图。在各种实施例中，每个标签可以包括标签坐标和标签信息，其可以包括标签注释。标签识别系统可以识别当前位置的预定范围内的标签，并且控制系统可以基于识别的标签来执行动作，其标签信息包括远程呈现机器人动作修改器。远程呈现机器人可以独立于下部旋转上部部分。远程终端可以允许操作者使用任何控制方法的组合来控制远程呈现机器人，包括通过在平面图上选择目的地，或者通过使用操纵杆或其它外围设备来选择实况视频馈送中的目的地。

8. 发明申请

WO2012091801A3 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：WO2012091801A3
公开(公告)日：2013-03-14
申请号：PCT/US2011059863
申请日：2011-11-09
申请人： 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
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。

9. 发明申请

WO2012103525A3 INTERFACING WITH A MOBILE TELEPRESENCE ROBOT 审中-公开
标题翻译：与移动电话机器人接口
公开(公告)号：WO2012103525A3
公开(公告)日：2013-01-24
申请号：PCT/US2012023036
申请日：2012-01-27
申请人： INTOUCH TECHNOLOGIES INC , IROBOT CORP , WANG YULUN , JORDAN CHARLES S , WRIGHT TIM , CHAN MICHAEL , PINTER MARCO , HANRAHAN KEVIN , SANCHEZ DANIEL , BALLANTYNE JAMES , HERZOG CODY , WHITNEY BLAIR , LAI FUJI , TEMBY KELTON , NEUSHUL ANDREW , RAUHUT EBEN CHRISTOPHER , KEARNS JUSTIN H , WONG CHEUK WAH , FARLOW TIMOTHY STURTEVANT
发明人： WANG YULUN , JORDAN CHARLES S , WRIGHT TIM , CHAN MICHAEL , PINTER MARCO , HANRAHAN KEVIN , SANCHEZ DANIEL , BALLANTYNE JAMES , HERZOG CODY , WHITNEY BLAIR , LAI FUJI , TEMBY KELTON , NEUSHUL ANDREW , RAUHUT EBEN CHRISTOPHER , KEARNS JUSTIN H , WONG CHEUK WAH , FARLOW TIMOTHY STURTEVANT
IPC分类号： B25J5/00 , B25J13/08 , G05D1/02 , G06F9/44
CPC分类号： B25J9/1664 , B25J5/00 , B25J9/1689 , B25J9/1697 , B25J11/009 , B25J11/0095 , G05D1/0038 , G05D1/024 , G05D1/0274 , G05D2201/0206 , G06F3/0482 , G06F3/04842 , G06F3/04847 , G06F19/3418 , G06T11/00 , G06T11/60 , G06T15/10 , G06T2200/24 , Y10S901/01 , Y10S901/47
摘要： A telepresence robot may include a drive system, a control system, an imaging system, and a mapping module. The mapping module may access a plan view map of an area and tags associated with the area. In various embodiments, each tag may include tag coordinates and tag information, which may include a tag annotation. A tag identification system may identify tags within a predetermined range of the current position and the control system may execute an action based on an identified tag whose tag information comprises a telepresence robot action modifier. The telepresence robot may rotate an upper portion independent from a lower portion. A remote terminal may allow an operator to control the telepresence robot using any combination of control methods, including by selecting a destination in a live video feed, by selecting a destination on a plan view map, or by using a joystick or other peripheral device.
摘要翻译：远程呈现机器人可以包括驱动系统，控制系统，成像系统和映射模块。映射模块可以访问与该区域相关联的区域和标签的平面图。在各种实施例中，每个标签可以包括标签坐标和标签信息，其可以包括标签注释。标签识别系统可以识别当前位置的预定范围内的标签，并且控制系统可以基于识别的标签执行动作，其标签信息包括远程呈现机器人动作修改器。远程呈现机器人可以独立于下部旋转上部部分。远程终端可以允许操作者使用任何控制方法的组合来控制远程呈现机器人，包括通过在平面图上选择目的地，或者通过使用操纵杆或其它外围设备来选择实况视频馈送中的目的地。

10. 发明申请

WO2012091807A2 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：WO2012091807A2
公开(公告)日：2012-07-05
申请号：PCT/US2011/059980
申请日：2011-11-09
申请人： IROBOT CORPORATION , 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
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。

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