WO2012091807A3 - Mobile human interface robot - Google Patents

Mobile human interface robot Download PDF

Info

Publication number
WO2012091807A3
WO2012091807A3 PCT/US2011/059980 US2011059980W WO2012091807A3 WO 2012091807 A3 WO2012091807 A3 WO 2012091807A3 US 2011059980 W US2011059980 W US 2011059980W WO 2012091807 A3 WO2012091807 A3 WO 2012091807A3
Authority
WO
WIPO (PCT)
Prior art keywords
point cloud
drive system
imaging device
human interface
drive
Prior art date
Application number
PCT/US2011/059980
Other languages
French (fr)
Other versions
WO2012091807A2 (en
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
Original Assignee
Irobot Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US13/032,228 external-priority patent/US9400503B2/en
Application filed by Irobot Corporation filed Critical Irobot Corporation
Priority to AU2011352997A priority Critical patent/AU2011352997B2/en
Priority to JP2013547473A priority patent/JP2014509417A/en
Priority to EP11799334.5A priority patent/EP2659320A2/en
Priority to CA2824606A priority patent/CA2824606A1/en
Priority to GB1313410.1A priority patent/GB2502213A/en
Priority to DE112011104645T priority patent/DE112011104645T5/en
Publication of WO2012091807A2 publication Critical patent/WO2012091807A2/en
Publication of WO2012091807A3 publication Critical patent/WO2012091807A3/en
Priority to JP2014234846A priority patent/JP5946147B2/en

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B13/00—Optical objectives specially designed for the purposes specified below
    • G02B13/22—Telecentric objectives or lens systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device

Abstract

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.
PCT/US2011/059980 2010-12-30 2011-11-09 Mobile human interface robot WO2012091807A2 (en)

Priority Applications (7)

Application Number Priority Date Filing Date Title
AU2011352997A AU2011352997B2 (en) 2010-12-30 2011-11-09 Mobile human interface robot
JP2013547473A JP2014509417A (en) 2010-12-30 2011-11-09 Movable human interface robot
EP11799334.5A EP2659320A2 (en) 2010-12-30 2011-11-09 Mobile human interface robot
CA2824606A CA2824606A1 (en) 2010-12-30 2011-11-09 Mobile human interface robot
GB1313410.1A GB2502213A (en) 2010-12-30 2011-11-09 Mobile Human Interface Robot
DE112011104645T DE112011104645T5 (en) 2010-12-30 2011-11-09 Mobile human interface robot
JP2014234846A JP5946147B2 (en) 2010-12-30 2014-11-19 Movable human interface robot

Applications Claiming Priority (16)

Application Number Priority Date Filing Date Title
US201061428759P 2010-12-30 2010-12-30
US201061428717P 2010-12-30 2010-12-30
US201061428734P 2010-12-30 2010-12-30
US61/428,717 2010-12-30
US61/428,759 2010-12-30
US61/428,734 2010-12-30
US201161429863P 2011-01-05 2011-01-05
US61/429,863 2011-01-05
US201161445408P 2011-02-22 2011-02-22
US13/032,228 US9400503B2 (en) 2010-05-20 2011-02-22 Mobile human interface robot
US61/445,408 2011-02-22
US13/032,228 2011-02-22
US13/032,312 US8918209B2 (en) 2010-05-20 2011-02-22 Mobile human interface robot
US13/032,312 2011-02-22
US201161478849P 2011-04-25 2011-04-25
US61/478,849 2011-04-25

Publications (2)

Publication Number Publication Date
WO2012091807A2 WO2012091807A2 (en) 2012-07-05
WO2012091807A3 true WO2012091807A3 (en) 2013-07-25

Family

ID=45375473

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2011/059980 WO2012091807A2 (en) 2010-12-30 2011-11-09 Mobile human interface robot

Country Status (7)

Country Link
EP (1) EP2659320A2 (en)
JP (2) JP2014509417A (en)
AU (1) AU2011352997B2 (en)
CA (1) CA2824606A1 (en)
DE (1) DE112011104645T5 (en)
GB (1) GB2502213A (en)
WO (1) WO2012091807A2 (en)

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Also Published As

Publication number Publication date
JP5946147B2 (en) 2016-07-05
AU2011352997B2 (en) 2015-06-18
AU2011352997A1 (en) 2013-07-11
EP2659320A2 (en) 2013-11-06
JP2014509417A (en) 2014-04-17
WO2012091807A2 (en) 2012-07-05
AU2011352997A8 (en) 2013-09-05
CA2824606A1 (en) 2012-07-05
DE112011104645T5 (en) 2013-10-10
GB201313410D0 (en) 2013-09-11
JP2015092348A (en) 2015-05-14
GB2502213A (en) 2013-11-20

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