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1. 发明申请

WO2008060690A3 METHOD AND DEVICE FOR CONTROLLING A REMOTE VEHICLE 审中-公开
标题翻译：用于控制远程车辆的方法和装置
公开(公告)号：WO2008060690A3
公开(公告)日：2008-10-30
申请号：PCT/US2007068911
申请日：2007-05-14
申请人： IROBOT CORP , HUDSON EDISON , PACK ROBERT TODD
发明人： HUDSON EDISON , PACK ROBERT TODD
IPC分类号： H04B10/00
CPC分类号： G08C23/00 , A63H30/04 , G05D1/0033 , G05D2201/0209 , H04Q9/00 , H04Q2209/40 , H04Q2209/75
摘要： A system and method for controlling a remote vehicle (2) comprises a hand-held controller (4) including a laser generator (5) for generating a laser beam (6). The hand-held controller (4) is manipulate to aim and actuate the laser beam to designate a destination for the remote vehicle (2). The remote vehicle senses a reflection of the laser beam and moves toward the designated destination. The hand-held controller allows single-handed control of the remote vehicle and one or more of its payloads. A method for controlling a remote vehicle (2) via a laser beam (6) comprises encoding control signals for a remote vehicle into a laser beam that is aimed and sent to a designated destination for the remote vehicle, and sensing a reflection of the laser beam, decoding the control signals for the remote vehicle, and moving toward the designated destination.
摘要翻译：用于控制远程车辆（2）的系统和方法包括：手持控制器（4），包括用于产生激光束（6）的激光发生器（5）。操纵手持控制器（4）以瞄准和致动激光束以指定远程车辆（2）的目的地。远程车辆感测激光束的反射并朝向指定的目的地移动。手持控制器允许单手控制远程车辆及其有效载荷中的一个或多个。一种用于经由激光束（6）控制远程车辆（2）的方法包括将远程车辆的控制信号编码成瞄准并发送到远程车辆的指定目的地的激光束，以及感测激光器的反射对远程车辆的控制信号进行解码，并朝向指定的目的地移动。

2. 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。

3. 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。

4. 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。

5. 发明申请

WO2012027390A2 REMOTE VEHICLE MISSIONS AND SYSTEMS FOR SUPPORTING REMOTE VEHICLE MISSIONS 审中-公开
标题翻译：用于支持远程车辆任务的远程车辆任务和系统
公开(公告)号：WO2012027390A2
公开(公告)日：2012-03-01
申请号：PCT/US2011048838
申请日：2011-08-23
申请人： IROBOT CORP , PACK ROBERT TODD , ALLIS DANIEL P , VALE MARSHALL J
发明人： PACK ROBERT TODD , ALLIS DANIEL P , VALE MARSHALL J
IPC分类号： G05D1/00
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, inputting an action for the at least one controllable element, and requesting that the at least one controllable element performs the action.
摘要翻译：一种操作员控制单元，具有允许用户控制远程车辆的用户接口，所述操作员控制单元包括：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包括由所述远程车辆捕获的图像数据的数据; 以及显示单元，被配置为显示包括从远程车辆接收的图像数据的用户界面和表示远程车辆的多个可控元件的图标，并且被配置为允许用户输入控制命令以控制至少一个多个可控元件。输入控制命令以控制至少一个可控元件包括选择表示至少一个可控元件的图标，输入针对至少一个可控元件的动作，并请求该至少一个可控元件执行动作。

6. 发明申请

WO2006047297A3 SYSTEMS AND METHODS FOR CONTROL OF A VEHICLE 审中-公开
标题翻译：用于控制车辆的系统和方法
公开(公告)号：WO2006047297A3
公开(公告)日：2006-09-28
申请号：PCT/US2005037918
申请日：2005-10-21
申请人： IROBOT CORP , ALLARD JAMES R , BARRETT DAVID S , FILIPPOV MIKHAIL , PACK ROBERT TODD , SVENDSEN SELMA
发明人： ALLARD JAMES R , BARRETT DAVID S , FILIPPOV MIKHAIL , PACK ROBERT TODD , SVENDSEN SELMA
IPC分类号： B60W10/06 , B60W10/10 , B60W10/18 , B60W40/02 , B60W50/00 , B60W50/02 , G05D1/02
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.
摘要翻译：用于车辆自主控制的系统和方法包括可中断的，基于行为的和选择性的控制。通过使用与车辆中的输入装置相互作用的致动器来实现自主控制。致动器（例如联动装置）操纵输入装置（例如，关节运动控制装置和驱动控制装置，诸如节流阀，制动器，拉杆，转向机构，油门杆或加速器）以引导车辆的操作。尽管自主运行，但是在检测到需要手动控制的事件之后，可以手动操作车辆。随后的自主控制可能被允许，在规定的延迟后允许或被阻止。用于处理安全信号和/或跟踪地形特征的系统和方法也被自主车辆利用。

7. 发明申请

WO2012091814A3 MOBILE ROBOT SYSTEM 审中-公开
标题翻译：移动机器人系统
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
申请人： IROBOT CORP , 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。

8. 发明申请

WO2012021192A3 SYSTEM AND METHOD TO REMOTELY CONTROL A VEHICLE 审中-公开
标题翻译：远程控制车辆的系统和方法
公开(公告)号：WO2012021192A3
公开(公告)日：2012-08-23
申请号：PCT/US2011036352
申请日：2011-05-12
申请人： IROBOT CORP , PACK ROBERT TODD , ALLIS DANIEL
发明人： PACK ROBERT TODD , ALLIS DANIEL
IPC分类号： G05D1/00
CPC分类号： G05D1/0011 , G01C21/26 , G05D1/0038 , G05D2201/0209
摘要： A system increases an operator's situational awareness while the operator controls a remote vehicle. The system comprises an operator control unit having a point-and-click interface configured to allow the operator to view an environment surrounding the remote vehicle and control the remote vehicle, and a payload attached to the remote vehicle and in communication with at least one of the remote vehicle and the operator control unit. The payload comprises an integrated sensor suite including GPS, an inertial measurement unit, a stereo vision camera, and a range sensor, and a computational module receiving data from the GPS, the inertial measurement unit, the stereo vision camera, and the range sensor and providing data to a CPU including at least one of an autonomous behavior and a semi-autonomous behavior that utilize data from the integrated sensor suite.
摘要翻译：当操作员控制远程车辆时，系统增加操作者的情境意识。该系统包括具有点对点接口的操作员控制单元，其被配置为允许操作者观看围绕远程车辆的环境并控制远程车辆，以及附接到远程车辆的有效载荷，并与至少一个远程车辆和操作员控制单元。有效载荷包括一个包括GPS，惯性测量单元，立体视觉摄像机和距离传感器的集成传感器套件，以及从GPS，惯性测量单元，立体视觉摄像机和距离传感器接收数据的计算模块，以及向CPU提供包括使用来自集成传感器套件的数据的自主行为和半自主行为中的至少一个的数据。

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