WO2011146259A3 - Mobile human interface robot - Google Patents

Mobile human interface robot Download PDF

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Publication number
WO2011146259A3
WO2011146259A3 PCT/US2011/035488 US2011035488W WO2011146259A3 WO 2011146259 A3 WO2011146259 A3 WO 2011146259A3 US 2011035488 W US2011035488 W US 2011035488W WO 2011146259 A3 WO2011146259 A3 WO 2011146259A3
Authority
WO
WIPO (PCT)
Prior art keywords
point cloud
drive system
human interface
interface robot
mobile human
Prior art date
Application number
PCT/US2011/035488
Other languages
French (fr)
Other versions
WO2011146259A2 (en
Inventor
Michael T. Rosenstein
Michael Halloran
Cheuk Wah Wong
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 US13/032,312 external-priority patent/US8918209B2/en
Application filed by Irobot Corporation filed Critical Irobot Corporation
Priority to GB1222036.4A priority Critical patent/GB2494081B/en
Priority to JP2013511211A priority patent/JP5803043B2/en
Priority to EP11720670.6A priority patent/EP2571660B1/en
Publication of WO2011146259A2 publication Critical patent/WO2011146259A2/en
Publication of WO2011146259A3 publication Critical patent/WO2011146259A3/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • 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
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera 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
    • G05D1/0246—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
    • G05D1/0248—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 in combination with a laser
    • 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
    • G05D1/0268—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
    • 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
    • G05D1/0238—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
    • 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

Abstract

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.
PCT/US2011/035488 2010-05-20 2011-05-06 Mobile human interface robot WO2011146259A2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
GB1222036.4A GB2494081B (en) 2010-05-20 2011-05-06 Mobile human interface robot
JP2013511211A JP5803043B2 (en) 2010-05-20 2011-05-06 Mobile robot system and method for operating a mobile robot
EP11720670.6A EP2571660B1 (en) 2010-05-20 2011-05-06 Mobile human interface robot

Applications Claiming Priority (22)

Application Number Priority Date Filing Date Title
US34661210P 2010-05-20 2010-05-20
US61/346,612 2010-05-20
US35691010P 2010-06-21 2010-06-21
US61/356,910 2010-06-21
US201061428734P 2010-12-30 2010-12-30
US201061428759P 2010-12-30 2010-12-30
US201061428717P 2010-12-30 2010-12-30
US61/428,734 2010-12-30
US61/428,717 2010-12-30
US61/428,759 2010-12-30
US201161429863P 2011-01-05 2011-01-05
US61/429,863 2011-01-05
US201161445408P 2011-02-22 2011-02-22
US201161445473P 2011-02-22 2011-02-22
US61/445,473 2011-02-22
US61/445,408 2011-02-22
US13/032,312 2011-02-22
US13/032,228 2011-02-22
US13/032,312 US8918209B2 (en) 2010-05-20 2011-02-22 Mobile human interface robot
US13/032,228 US9400503B2 (en) 2010-05-20 2011-02-22 Mobile human interface robot
US201161478849P 2011-04-25 2011-04-25
US61/478,849 2011-04-25

Publications (2)

Publication Number Publication Date
WO2011146259A2 WO2011146259A2 (en) 2011-11-24
WO2011146259A3 true WO2011146259A3 (en) 2013-08-01

Family

ID=47623748

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2011/035488 WO2011146259A2 (en) 2010-05-20 2011-05-06 Mobile human interface robot

Country Status (2)

Country Link
GB (1) GB2494081B (en)
WO (1) WO2011146259A2 (en)

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US8930019B2 (en) 2010-12-30 2015-01-06 Irobot Corporation Mobile human interface robot
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Also Published As

Publication number Publication date
GB2494081B (en) 2015-11-11
GB2494081A (en) 2013-02-27
WO2011146259A2 (en) 2011-11-24

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