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公开(公告)号：US20150158182A1
公开(公告)日：2015-06-11
申请号：US14625646
申请日：2015-02-19
Applicant: iRobot Corporation
Inventor： Timothy S. Farlow , Michael T. Rosenstein , Michael Halloran , Chikyung Won , Steven V. Shamlian , Mark Chiappetta
IPC: B25J9/16
CPC classification number: 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
Abstract: A robot system includes a mobile robot having a controller executing a control system for controlling operation of the robot, a cloud computing service in communication with the controller of the robot, and a remote computing device in communication with the cloud computing service. The remote computing device communicates with the robot through the cloud computing service.
Abstract translation: 机器人系统包括具有执行用于控制机器人的操作的控制系统的控制器的移动机器人，与机器人的控制器通信的云计算服务以及与云计算服务通信的远程计算设备。 远程计算设备通过云计算服务与机器人进行通信。
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公开(公告)号：US08972061B2
公开(公告)日：2015-03-03
申请号：US13790867
申请日：2013-03-08
Applicant: iRobot Corporation
Inventor： Michael T. Rosenstein , Mark Chiappetta , Mark Schnittman , Andrew Pastore
CPC classification number: A47L11/4011 , A47L9/2826 , A47L9/2852 , A47L11/4061 , A47L2201/06 , G05D1/0246 , G05D2201/0203 , G06T7/00 , G06T7/11 , G06T7/246 , G06T7/62 , G06T7/90 , G06T2207/10016 , G06T2207/10021 , G06T2207/10024 , G06T2207/10028 , G06T2207/10048 , G06T2207/30261 , Y10S901/01
Abstract: A mobile floor cleaning robot includes a robot body supported by a drive system configured to maneuver the robot over a floor surface. The robot also includes a cleaning system supported by the robot body, an imaging sensor disposed on the robot body, and a controller in communicates with the drive system and the imaging sensor. The controller receives a sequence of images of the floor surface; each image has an array of pixels. For each image, the controller segments the image into color blobs by color quantizing pixels of the image, determines a spatial distribution of each color of the image based on corresponding pixel locations; and for each image color, identifies areas of the image having a threshold spatial distribution for that color. The controller then tracks a location of the color blobs with respect to the imaging sensor across the sequence of images.
Abstract translation: 移动式地板清洁机器人包括由驱动系统支撑的机器人主体，所述驱动系统被配置为在所述地板表面上操纵所述机器人。 机器人还包括由机器人主体支撑的清洁系统，设置在机器人主体上的成像传感器，以及与驱动系统和成像传感器通信的控制器。 控制器接收地板表面的一系列图像; 每个图像都有一个像素阵列。 对于每个图像，控制器通过对图像的像素进行颜色量化来将图像分割成彩色块，基于相应的像素位置确定图像的每种颜色的空间分布; 并且对于每个图像颜色，识别具有该颜色的阈值空间分布的图像的区域。 然后，控制器在整个图像序列上跟踪相对于成像传感器的彩色斑点的位置。
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公开(公告)号：US20150073646A1
公开(公告)日：2015-03-12
申请号：US14541603
申请日：2014-11-14
Applicant: iRobot Corporation
Inventor： Michael T. Rosenstein , Chikyung Won , Michael Halloran , Steven V. Shamlian , Mark Chiappetta
IPC: G05D1/02
CPC classification number: G05D1/0246 , B25J5/007 , B25J9/1694 , B25J11/009 , B25J13/08 , B25J19/023 , G02B13/22 , G05D1/0227 , G05D1/024 , G05D1/0242 , G05D1/0248 , G05D1/0251 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D2201/0206 , G05D2201/0211 , G06K9/00664 , G06T7/248 , G06T7/521 , H04N13/243 , H04N13/271 , H04N2013/0081 , Y10S901/01 , Y10S901/09 , Y10S901/47
Abstract: A mobile robot that includes a drive system, a controller in communication with the drive system, and a volumetric point cloud imaging device 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.
Abstract translation: 一种移动机器人，其包括驱动系统，与驱动系统通信的控制器，以及支撑在驱动系统上方的体积点云成像装置，其高度大于地面上方约一英尺，并被引导为能够获得 来自包括移动机器人的移动方向上的底板平面的空间体积的点云。 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。
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公开(公告)号：US20140124004A1
公开(公告)日：2014-05-08
申请号：US13790867
申请日：2013-03-08
Applicant: IROBOT CORPORATION
Inventor： Michael T. Rosenstein , Mark Chiappetta , Mark Schnittman , Andrew Pastore
IPC: A47L11/40
CPC classification number: A47L11/4011 , A47L9/2826 , A47L9/2852 , A47L11/4061 , A47L2201/06 , G05D1/0246 , G05D2201/0203 , G06T7/00 , G06T7/11 , G06T7/246 , G06T7/62 , G06T7/90 , G06T2207/10016 , G06T2207/10021 , G06T2207/10024 , G06T2207/10028 , G06T2207/10048 , G06T2207/30261 , Y10S901/01
Abstract: A mobile floor cleaning robot includes a robot body supported by a drive system configured to maneuver the robot over a floor surface. The robot also includes a cleaning system supported by the robot body, an imaging sensor disposed on the robot body, and a controller in communicates with the drive system and the imaging sensor. The controller receives a sequence of images of the floor surface; each image has an array of pixels. For each image, the controller segments the image into color blobs by color quantizing pixels of the image, determines a spatial distribution of each color of the image based on corresponding pixel locations; and for each image color, identifies areas of the image having a threshold spatial distribution for that color. The controller then tracks a location of the color blobs with respect to the imaging sensor across the sequence of images.
Abstract translation: 移动式地板清洁机器人包括由驱动系统支撑的机器人主体，所述驱动系统被配置为在所述地板表面上操纵所述机器人。 机器人还包括由机器人主体支撑的清洁系统，设置在机器人主体上的成像传感器，以及与驱动系统和成像传感器通信的控制器。 控制器接收地板表面的一系列图像; 每个图像都有一个像素阵列。 对于每个图像，控制器通过对图像的像素进行颜色量化来将图像分割成彩色块，基于相应的像素位置确定图像的每种颜色的空间分布; 并且对于每个图像颜色，识别具有该颜色的阈值空间分布的图像的区域。 然后，控制器在整个图像序列上跟踪相对于成像传感器的彩色斑点的位置。
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公开(公告)号：US09498886B2
公开(公告)日：2016-11-22
申请号：US14546192
申请日：2014-11-18
Applicant: iRobot Corporation
Inventor： Michael T. Rosenstein , Chikyung Won , Geoffrey Lansberry , Steven V. Shamlian , Michael Halloran , Mark Chiappetta , Thomas P. Allen
CPC classification number: B25J13/084 , B25J5/007 , G05D1/0227 , G05D1/024 , G05D1/0251 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D2201/0206 , G05D2201/0211 , Y10S901/01
Abstract: A mobile human interface robot including a drive system having at least one drive wheel driven by a corresponding drive motor, a localization system in communication with the drive system, and a power source in communication with the drive system and the localization system. The robot further including a touch response input supported above the drive system. Activation of the touch response input modifies delivery of power to the drive system to reduce a drive load of the corresponding drive motor of the at least one drive wheel white allowing continued delivery of power to the localization system.
Abstract translation: 一种移动人机接口机器人，包括具有由相应的驱动电动机驱动的至少一个驱动轮的驱动系统，与驱动系统通信的定位系统以及与驱动系统和定位系统通信的电源。 机器人还包括在驱动系统上方支持的触摸响应输入。 激活触摸响应输入修改向驱动系统的电力传递，以减少至少一个驱动轮白色的相应驱动电机的驱动负载，从而允许向定位系统持续传递电力。
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Patent Agency Ranking
公开(公告)号：US09408515B2
公开(公告)日：2016-08-09
申请号：US14587723
申请日：2014-12-31
Applicant: iRobot Corporation
Inventor： Michael T. Rosenstein , Mark Chiappetta , Mark Schnittman , Andrew Pastore
CPC classification number: A47L11/4011 , A47L9/2826 , A47L9/2852 , A47L11/4061 , A47L2201/06 , G05D1/0246 , G05D2201/0203 , G06T7/00 , G06T7/11 , G06T7/246 , G06T7/62 , G06T7/90 , G06T2207/10016 , G06T2207/10021 , G06T2207/10024 , G06T2207/10028 , G06T2207/10048 , G06T2207/30261 , Y10S901/01
Abstract: A mobile floor cleaning robot includes identifying, using a controller, a location of an object on a floor surface away from the robot, and issuing a first drive command from the controller to a drive system of the robot to drive the robot across the floor surface to clean the floor surface at the identified location of the object. The method also includes determining whether the object persists on the floor surface, and when the object persists, driving across the floor surface to re-clean the floor surface at the identified location of the object.
Abstract translation: 移动地板清洁机器人包括使用控制器识别远离机器人的地板表面上的物体的位置，以及从控制器向机器人的驱动系统发出第一驱动命令以将机器人驱动穿过地板表面 以清理物体的识别位置处的地板表面。 该方法还包括确定对象是否持续在地板表面上，并且当对象持续时，穿过地板表面驱动在物体的识别位置处重新清洁地板表面。
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公开(公告)号：US20150120057A1
公开(公告)日：2015-04-30
申请号：US14586341
申请日：2014-12-30
Applicant: iRobot Corporation
Inventor： Cheuk Wah Wong , Eben Rauhut , Brian C. Benson, JR. , Peter J. Lydon , Michael T. Rosenstein , Michael Halloran , Steven V. Shamlian , Chikyung Won , Mark Chiappetta , Justin H. Kearns , Orjeta Taka , Robert Todd Pack , Timothy S. Farlow , Jasper Fourways Vicenti
CPC classification number: B25J9/1697 , B25J9/1694 , G05D1/0214 , G05D1/024 , G05D1/0242 , G05D2201/0206 , G05D2201/0211 , Y10S901/01 , Y10S901/09 , Y10S901/46 , Y10S901/47
Abstract: A mobile robot including a robot body, a drive system supporting the robot body, and a controller in communication with the drive system. The robot also includes an actuator moving a portion of the robot body through a volume of space adjacent the mobile robot and a sensor pod in communication with the controller. The sensor pod includes a collar rotatably supported and having a curved wall formed at least partially as a surface of revolution about a vertical axis. The sensor pod also includes a volumetric point cloud sensor housed by the collar and observing the volume of space adjacent the robot from within the collar along an observation axis extending through the curved wall. A collar actuator rotates the collar and the volumetric point cloud sensor together about the collar axis.
Abstract translation: 一种包括机器人主体，支撑机器人主体的驱动系统和与驱动系统通信的控制器的移动机器人。 机器人还包括致动器，其将机器人主体的一部分移动通过与移动机器人相邻的空间的容积以及与控制器通信的传感器盒。 传感器盒包括可旋转地支撑并具有至少部分地作为围绕垂直轴线的旋转表面形成的弯曲壁的轴环。 传感器盒还包括容纳点云传感器，其由轴环容纳并且沿着延伸穿过弯曲壁的观察轴线从轴环内观察邻近机器人的空间的体积。 套环执行器将套环和体积点云传感器围绕套环轴线旋转。
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公开(公告)号：US20140200713A1
公开(公告)日：2014-07-17
申请号：US14215795
申请日：2014-03-17
Applicant: iRobot Corporation
Inventor： Thomas Allen , Chikyung Won , Michael T. Rosenstein , Michael Halloran , Steven V. Shamlian , Mark Chiappetta
IPC: B25J5/00
CPC classification number: B25J5/007 , B25J11/009 , G05D1/0227 , G05D1/024 , G05D1/0242 , G05D1/0246 , G05D1/0255 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D2201/0206 , Y10S901/01
Abstract: A method of operating a mobile robot includes grasping a feature of a door of a doorway with an end effector of a manipulator arm mounted on the robot and driving the robot while grasping the door feature to move the door to an open position. The method also includes driving the robot to maneuver the robot to contact the door and chock the door in the open position, releasing the door feature from the end effector after chocking the door, and driving the robot through the doorway.
Abstract translation: 操作移动机器人的方法包括：通过安装在机器人上的操纵臂的末端执行器来抓住门口门的特征，并且在抓住门特征以将门移动到打开位置的同时驱动机器人。 该方法还包括驱动机器人来操纵机器人以接触门并将门锁在打开位置，在闭合门之后将门特征从端部执行器释放，并且通过门口驱动机器人。
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公开(公告)号：US09902069B2
公开(公告)日：2018-02-27
申请号：US14625646
申请日：2015-02-19
Applicant: iRobot Corporation
Inventor： Timothy S. Farlow , Michael T. Rosenstein , Michael Halloran , Chikyung Won , Steven V. Shamlian , Mark Chiappetta
CPC classification number: 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
Abstract: A robot system includes a mobile robot having a controller executing a control system for controlling operation of the robot, a cloud computing service in communication with the controller of the robot, and a remote computing device in communication with the cloud computing service. The remote computing device communicates with the robot through the cloud computing service.
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公开(公告)号：US20150120128A1
公开(公告)日：2015-04-30
申请号：US14587723
申请日：2014-12-31
Applicant: iRobot Corporation
Inventor： Michael T. Rosenstein , Mark Chiappetta , Mark Schnittman , Andrew Pastore
CPC classification number: A47L11/4011 , A47L9/2826 , A47L9/2852 , A47L11/4061 , A47L2201/06 , G05D1/0246 , G05D2201/0203 , G06T7/00 , G06T7/11 , G06T7/246 , G06T7/62 , G06T7/90 , G06T2207/10016 , G06T2207/10021 , G06T2207/10024 , G06T2207/10028 , G06T2207/10048 , G06T2207/30261 , Y10S901/01
Abstract: A mobile floor cleaning robot includes identifying, using a controller, a location of an object on a floor surface away from the robot, and issuing a first drive command from the controller to a drive system of the robot to drive the robot across the floor surface to clean the floor surface at the identified location of the object. The method also includes determining whether the object persists on the floor surface, and when the object persists, driving across the floor surface to re-clean the floor surface at the identified location of the object.
Abstract translation: 移动地板清洁机器人包括使用控制器识别远离机器人的地板表面上的物体的位置，以及从控制器向机器人的驱动系统发出第一驱动命令以将机器人驱动穿过地板表面 以清理物体的识别位置处的地板表面。 该方法还包括确定对象是否持续在地板表面上，并且当对象持续时，穿过地板表面驱动在物体的识别位置处重新清洁地板表面。
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