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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

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。

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

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。

5. 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。

6. 发明申请

WO2011146256A2 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：WO2011146256A2
公开(公告)日：2011-11-24
申请号：PCT/US2011/035476
申请日：2011-05-06
申请人： IROBOT CORPORATION , ROSENSTEIN, Michael, T. , WON, Chikyung , LANSBERRY, Geoffrey , SHAMLIAN, Steven, V. , HALLORAN, Michael , CHIAPPETTA, Mark , ALLEN, Thomas, P.
发明人： ROSENSTEIN, Michael, T. , WON, Chikyung , LANSBERRY, Geoffrey , SHAMLIAN, Steven, V. , HALLORAN, Michael , CHIAPPETTA, Mark , ALLEN, Thomas, P.
IPC分类号： B25J13/08
CPC分类号： B25J13/084 , B25J5/007 , G05D1/0227 , G05D1/024 , G05D1/0251 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D2201/0206 , G05D2201/0211 , Y10S901/01
摘要： A mobile human interface robot (100) that includes a base (120) defining a vertical center axis (Z) and a forward drive direction (F) and a holonomic drive system (200) supported by the base. The drive system has first, second, and third driven drive wheels (210a, 210b, 210c), each trilaterally spaced about the vertical center axis and having a drive direction (Drive) perpendicular to a radial axis (Slip) with respect to the vertical center axis. The robot further includes a controller (500) in communication with the holonomic drive system, a torso (140) supported above the base, and a touch sensor system (480) in communication with the controller. The touch sensor system is responsive to human contact. The controller issues drive commands to the holonomic drive system based on a touch signal received from the touch sensor system.
摘要翻译：一种移动人机接口机器人（100），其包括限定垂直中心轴线（Z）和前进驱动方向（F）的基座（120）和由基座支撑的整体驱动系统（200）。驱动系统具有第一，第二和第三从动驱动轮（210a，210b，210c），每个三维侧面围绕垂直中心轴线间隔开，并具有垂直于径向轴线（滑动）的驱动方向（驱动）中心轴。机器人还包括与整体驱动系统连通的控制器（500），支撑在基座上方的躯干（140）和与控制器通信的触摸传感器系统（480）。触摸传感器系统响应人的接触。控制器基于从触摸传感器系统接收的触摸信号向整体驱动系统发出驱动命令。

7. 发明申请

WO2012091804A2 OPERATING A MOBILE ROBOT 审中-公开
标题翻译：操作移动机器人
公开(公告)号：WO2012091804A2
公开(公告)日：2012-07-05
申请号：PCT/US2011/059910
申请日：2011-11-09
申请人： IROBOT CORPORATION , ROSENSTEIN, Michael, T. , SHAMLIAN, Steven, V. , WON, Chikyung , HALLORAN, Michael , CHIAPPETTA, Mark , ALLEN, Thomas, P. , BASSETT, Michael , BENSON, Brian, C., Jr.
发明人： ROSENSTEIN, Michael, T. , SHAMLIAN, Steven, V. , WON, Chikyung , HALLORAN, Michael , CHIAPPETTA, Mark , ALLEN, Thomas, P. , BASSETT, Michael , BENSON, Brian, C., Jr.
IPC分类号： G05D1/02
CPC分类号： B25J5/007 , B25J11/009 , G05D1/0227 , G05D1/024 , G05D1/0242 , G05D1/0246 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D2201/0206 , Y10S901/01
摘要： A method of operating a mobile robot (100) to traverse a threshold (T) includes detecting a threshold proximate the robot. The robot includes a holonomic drive system (200) having first, second, and third drive elements (210a-c) configured to maneuver the robot omni-directionally. The method further includes moving the first drive element (210a) onto the threshold from a first side and moving the second drive element (210b) onto the threshold to place both the first and second drive elements on the threshold. The method includes moving the first drive element off a second side of the threshold, opposite to the first side of the threshold, and moving the third drive element (210c) onto the threshold, placing both the second and third drive elements on the threshold. The method includes moving both the second and third drive elements off the second side of the threshold.
摘要翻译：操作移动机器人（100）横穿阈值（T）的方法包括检测机器人附近的阈值。该机器人包括具有被配置成全方向地操纵机器人的第一，第二和第三驱动元件（210a-c）的整体驱动系统（200）。该方法还包括将第一驱动元件（210a）从第一侧移动到阈值上并将第二驱动元件（210b）移动到阈值上以将第一和第二驱动元件都置于阈值上。该方法包括将第一驱动元件移离阈值的第二侧，与阈值的第一侧相反，以及将第三驱动元件（210c）移动到阈值上，将第二和第三驱动元件都置于阈值上。该方法包括将第二和第三驱动元件移动离开阈值的第二侧。

8. 发明申请

WO2011146254A2 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：WO2011146254A2
公开(公告)日：2011-11-24
申请号：PCT/US2011/035465
申请日：2011-05-06
申请人： IROBOT CORPORATION , ANGLE, Colin , ROSENSTEIN, Michael, T. , HALLORAN, Michael , SHAMLIAN, Steven, V. , WON, Chikyung , CHIAPPETTA, Mark
发明人： ANGLE, Colin , ROSENSTEIN, Michael, T. , HALLORAN, Michael , SHAMLIAN, Steven, V. , WON, Chikyung , CHIAPPETTA, Mark
IPC分类号： B25J13/08
CPC分类号： B25J5/007 , B25J13/003 , B25J19/023 , G05D1/0227 , G05D1/024 , G05D1/0251 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D2201/0206 , G05D2201/0211
摘要： A human interface robot (100) that includes a controller (500), a camera (320, 320a, 320b, 450, 450a, 450b) in communication with the controller, and a display (310, 310a, 310b, 312) in communication with the controller. The controller displays received image data on the display as an image (1602), identifies at least one shape (1610, 1610a, 1610b) in the image, and displays a shape specific label (1620) on the image at least near the shape.
摘要翻译：一种人机接口机器人（100），包括与所述控制器通信的控制器（500），摄像机（320,320a，320b，450,450a，450b）以及与所述控制器通信的显示器（310,310a，310b，312）与控制器。控制器将显示器上的接收到的图像数据作为图像显示（1602），识别图像中的至少一个形状（1610,1610a，1610b），并且在至少接近形状的图像上显示形状特定标签（1620）。

9. 发明申请

WO2014047557A1 PROXIMITY SENSING ON MOBILE ROBOTS 审中-公开
标题翻译：移动机器人的近距离传感
公开(公告)号：WO2014047557A1
公开(公告)日：2014-03-27
申请号：PCT/US2013/061183
申请日：2013-09-23
申请人： IROBOT CORPORATION
发明人： SHAMLIAN, Steven, V. , DUFFLEY, Samuel , ROMANOV, Nikolai
IPC分类号： B25J9/10 , B25J19/02 , B25J5/00 , G01V8/10
CPC分类号： G05D1/0238 , G05D1/0227 , G05D1/0242 , G05D1/027 , G05D2201/0215
摘要： A proximity sensor (520) includes first and second components (522, 523) disposed on a sensor body (514) adjacent to one another. The first component (522, 524) is one of an emitter (522) and a receiver (524), and the second component (522a, 524a) is the other one of an emitter and a receiver, A third component (522b, 524b) is disposed adjacent the second sensor opposite the first sensor. The third component is an emitter if the first sensor is an emitter or a receiver if the first sensor is a receiver. Each component has a respective field of view (523, 525). First and second fields of view intersect, defining a first volume (VI) that detects a floor surface (10) within a first threshold distance (¾). The second and third fields of view intersect, defining a second volume (V2) that detects a floor surface within a second threshold distance (D AC ).
摘要翻译：接近传感器（520）包括彼此相邻设置在传感器主体（514）上的第一和第二部件（522,523）。第一组件（522,524）是发射器（522）和接收器（524）之一，第二组件（522a，524a）是发射器和接收器中的另一个组件，第三组件（522b，524b ）被布置成与第二传感器相邻，与第一传感器相对。如果第一传感器是接收器，则第一传感器是发射器或接收器，第三部件是发射器。每个组件具有相应的视野（523,525）。第一和第二视场相交，限定在第一阈值距离（¾）内检测楼层表面（10）的第一容积（VI）。第二和第三视场相交，定义了检测第二阈值距离（DAC）内的地板表面的第二卷（V2）。

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