公开(公告)号：US08800695B2

公开(公告)日：2014-08-12

申请号：US13709706

申请日：2012-12-10

Applicant: iRobot Corporation

Inventor： Adam P. Couture ,  Richard Page ,  John P. O'Brien ,  Mikhail Filippov ,  Andrew Shein

IPC: B62D57/024

CPC classification number: B62D55/075 ,  B25J5/005 ,  B25J11/0025 ,  B62D55/065 ,  B62D57/024 ,  Y10S901/01

Abstract: 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).

Abstract translation: 机器人车辆（10,100,150A，150B，150C，160,1000,1000A，1000B，1000C）包括具有前端和后端（20A，152A，20B，152B）并支撑在右和左驱动轨道（ 34,44,108,165）。 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）。

公开(公告)号：US20160378110A1

公开(公告)日：2016-12-29

申请号：US14043390

申请日：2013-10-01

Applicant: iRobot Corporation

Inventor： Emilie Phillips ,  Aaron Powers ,  Andrew Shein ,  Josef P. Jamieson ,  Tyson Sawyer

IPC: G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0033 ,  G01C21/00 ,  G01C21/20 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0209

Abstract: A method of operating a remote vehicle configured to communicate with an operator control unit (OCU) includes executing a click-to-drive behavior, a cruise control behavior, and a retro-traverse behavior on a computing processor. The click-to-drive behavior includes receiving a picture or a video feed and determining a drive destination in the received picture or video feed. The cruise control behavior includes receiving an absolute heading and velocity commands from the OCU and computing a drive heading and a drive velocity. The a retro-traverse behavior includes generating a return path interconnecting at least two previously-traversed waypoints of a list of time-stamped waypoints, and executing a retro-traverse of the return path by navigating the remote vehicle successively to previous time-stamped waypoints in the waypoints list until a control signal is received from the operator control unit.

Abstract translation: 操作配置成与操作员控制单元（OCU）通信的远程车辆的方法包括在计算处理器上执行点击驱动行为，巡航控制行为和回溯行为。 点击驱动器的行为包括接收图片或视频馈送并确定接收的图片或视频馈送中的驱动器目的地。 巡航控制行为包括从OCU接收绝对航向和速度命令，并计算驱动航向和驱动速度。 回溯行为包括产生将至少两个先前经过的经过时间戳的航点的列表的路线点相互连接的返回路径，并且通过将远程车辆连续导航到先前的时间戳的航路点来执行返回路径的回溯 在路点列表中，直到从操作员控制单元接收到控制信号。

公开(公告)号：US20130105233A1

公开(公告)日：2013-05-02

申请号：US13709706

申请日：2012-12-10

Applicant: iRobot Corporation

Inventor： Adam P. Couture ,  Richard Page ,  John P. O'Brien ,  Mikhail Filippov ,  Andrew Shein

IPC: B62D55/075

CPC classification number: B62D55/075 ,  B25J5/005 ,  B25J11/0025 ,  B62D55/065 ,  B62D57/024 ,  Y10S901/01

Abstract: 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).

Abstract translation: 机器人车辆（10,100,150A，150B，150C，160,1000,1000A，1000B，1000C）包括具有前端和后端（20A，152A，20B，152B）并支撑在右和左驱动轨道（ 34,44,108,165）。 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）。

公开(公告)号：US09656704B2

公开(公告)日：2017-05-23

申请号：US14280123

申请日：2014-05-16

Applicant: iRobot Corporation

Inventor： Adam P. Couture ,  Richard Page ,  John P. O'Brien ,  Mikhail Filippov ,  Andrew Shein

IPC: B62D55/075 ,  B25J5/00 ,  B62D55/065 ,  B62D57/024 ,  B25J11/00

CPC classification number: B62D55/075 ,  B25J5/005 ,  B25J11/0025 ,  B62D55/065 ,  B62D57/024 ,  Y10S901/01

Abstract: 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).

公开(公告)号：US08577517B2

公开(公告)日：2013-11-05

申请号：US13759723

申请日：2013-02-05

Applicant: iRobot Corporation

Inventor： Emilie Phillips ,  Aaron Powers ,  Andrew Shein ,  Josef P. Jamieson ,  Tyson Sawyer

IPC: G05D1/00

CPC classification number: G05D1/0033 ,  G01C21/00 ,  G01C21/20 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0209

Abstract: A method of operating a remote vehicle configured to communicate with an operator control unit (OCU) includes executing a click-to-drive behavior, a cruise control behavior, and a retro-traverse behavior on a computing processor. The click-to-drive behavior includes receiving a picture or a video feed and determining a drive destination in the received picture or video feed. The cruise control behavior includes receiving an absolute heading and velocity commands from the OCU and computing a drive heading and a drive velocity. The a retro-traverse behavior includes generating a return path interconnecting at least two previously-traversed waypoints of a list of time-stamped waypoints, and executing a retro-traverse of the return path by navigating the remote vehicle successively to previous time-stamped waypoints in the waypoints list until a control signal is received from the operator control unit.

Abstract translation: 操作配置成与操作员控制单元（OCU）通信的远程车辆的方法包括在计算处理器上执行点击驱动行为，巡航控制行为和回溯行为。 点击驱动器的行为包括接收图片或视频馈送并确定接收的图片或视频馈送中的驱动器目的地。 巡航控制行为包括从OCU接收绝对航向和速度命令，并计算驱动航向和驱动速度。 回溯行为包括产生将至少两个先前经过的经过时间戳的航点的列表的路线点相互连接的返回路径，并且通过将远程车辆连续导航到先前的时间戳的航路点来执行返回路径的回溯 在路点列表中，直到从操作员控制单元接收到控制信号。

公开(公告)号：US20150251713A1

公开(公告)日：2015-09-10

申请号：US14280123

申请日：2014-05-16

Applicant: iRobot Corporation

Inventor： Adam P. Couture ,  Richard Page ,  John P. O'Brien ,  Mikhail Filippov ,  Andrew Shein

IPC: B62D55/075 ,  B62D55/065

CPC classification number: B62D55/075 ,  B25J5/005 ,  B25J11/0025 ,  B62D55/065 ,  B62D57/024 ,  Y10S901/01

Abstract: 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).

Abstract translation: 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） 44,108,165）。 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）。

公开(公告)号：US20130204465A1

公开(公告)日：2013-08-08

申请号：US13759723

申请日：2013-02-05

Applicant: iRobot Corporation

Inventor： Emilie Phillips ,  Aaron Powers ,  Andrew Shein ,  Josef P. Jamieson ,  Tyson Sawyer

IPC: G05D1/00

CPC classification number: G05D1/0033 ,  G01C21/00 ,  G01C21/20 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0209

Abstract: A method of operating a remote vehicle configured to communicate with an operator control unit (OCU) includes executing a click-to-drive behavior, a cruise control behavior, and a retro-traverse behavior on a computing processor. The click-to-drive behavior includes receiving a picture or a video feed and determining a drive destination in the received picture or video feed. The cruise control behavior includes receiving an absolute heading and velocity commands from the OCU and computing a drive heading and a drive velocity. The a retro-traverse behavior includes generating a return path interconnecting at least two previously-traversed waypoints of a list of time-stamped waypoints, and executing a retro-traverse of the return path by navigating the remote vehicle successively to previous time-stamped waypoints in the waypoints list until a control signal is received from the operator control unit.

Abstract translation: 操作配置成与操作员控制单元（OCU）通信的远程车辆的方法包括在计算处理器上执行点击驱动行为，巡航控制行为和回溯行为。 点击驱动器的行为包括接收图片或视频馈送并确定接收的图片或视频馈送中的驱动器目的地。 巡航控制行为包括从OCU接收绝对航向和速度命令，并计算驱动航向和驱动速度。 回溯行为包括产生将至少两个先前经过的经过时间戳的航点的列表的路线点相互连接的返回路径，并且通过将远程车辆连续导航到先前的时间戳的航路点来执行返回路径的回溯 在路点列表中，直到从操作员控制单元接收到控制信号。