公开(公告)号：US09665096B2

公开(公告)日：2017-05-30

申请号：US14830429

申请日：2015-08-19

Applicant: iRobot Corporation

Inventor： Timothy G. Field ,  David F. Weatherwax ,  Orin P. F. Hoffman ,  Scott R. Lenser

IPC: G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0044 ,  G05D1/0088 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0207

Abstract: A method of operating a mobile robot includes driving the robot according to a drive command issued by a remote operator control unit in communication with the robot, determining a driven path from an origin, and after experiencing a loss of communications with the operator control unit, determining an orientation of the robot. The method further includes executing a self-righting maneuver when the robot is oriented upside down. The self-righting maneuver includes rotating an appendage of the robot from a stowed position alongside a main body of the robot downward and away from the main body, raising and supporting the main body on the appendage, and then further rotating the appendage to drive the upright main body past a vertical position, causing the robot to fall over and thereby invert the main body.

公开(公告)号：US20150355638A1

公开(公告)日：2015-12-10

申请号：US14830429

申请日：2015-08-19

Applicant: iRobot Corporation

Inventor： Timothy G. Field ,  David F. Weatherwax ,  Orin P.F. Hoffman ,  Scott R. Lenser

IPC: G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0044 ,  G05D1/0088 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0207

Abstract: A method of operating a mobile robot includes driving the robot according to a drive command issued by a remote operator control unit in communication with the robot, determining a driven path from an origin, and after experiencing a loss of communications with the operator control unit, determining an orientation of the robot. The method further includes executing a self-righting maneuver when the robot is oriented upside down. The self-righting maneuver includes rotating an appendage of the robot from a stowed position alongside a main body of the robot downward and away from the main body, raising and supporting the main body on the appendage, and then further rotating the appendage to drive the upright main body past a vertical position, causing the robot to fall over and thereby invert the main body.

Abstract translation: 一种操作移动机器人的方法包括：根据与机器人通信的远程操作员控制单元发出的驱动命令来驱动机器人，确定来自原点的驱动路径，以及在经历与操作者控制单元的通信丢失之后， 确定机器人的方向。 该方法进一步包括当机器人朝上颠倒时执行自行矫正机动。 自动机动包括将机器人的附件从机器人的主体向下并远离主体的收起位置旋转，将主体抬起并支撑在附件上，然后进一步旋转附件以驱动 直立主体经过垂直位置，导致机器人掉落，从而使主体倒转。