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AU2011352997A8 - Mobile human interface robot - Google Patents

Mobile human interface robot

Info

Publication number
AU2011352997A8
AU2011352997A8 AU2011352997A AU2011352997A AU2011352997A8 AU 2011352997 A8 AU2011352997 A8 AU 2011352997A8 AU 2011352997 A AU2011352997 A AU 2011352997A AU 2011352997 A AU2011352997 A AU 2011352997A AU 2011352997 A8 AU2011352997 A8 AU 2011352997A8
Authority
AU
Australia
Prior art keywords
point cloud
drive system
imaging device
human interface
drive
Prior art date
Legal status (The legal status 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 status listed.)
Granted
Application number
AU2011352997A
Other versions
AU2011352997A1 (en
AU2011352997B2 (en
Inventor
Brian C. Benson Jr.
Mark Chiappetta
Timothy S. Farlow
Michael Halloran
Justin H. Kearns
Peter J. Lydon
Robert Todd Pack
Eben Rauhut
Michael T. Rosenstein
Steven V. Shamlian
Orjeta Taka
Jasper Fourways VICENTI
Chikyung Won
Cheuk Wah WONG
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
iRobot Corp
Original Assignee
iRobot Corp
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 Corp filed Critical iRobot Corp
Publication of AU2011352997A1 publication Critical patent/AU2011352997A1/en
Publication of AU2011352997A8 publication Critical patent/AU2011352997A8/en
Priority to AU2015202200A priority Critical patent/AU2015202200A1/en
Application granted granted Critical
Publication of AU2011352997B2 publication Critical patent/AU2011352997B2/en
Ceased legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Optics & Photonics (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

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.
AU2011352997A 2010-12-30 2011-11-09 Mobile human interface robot Ceased AU2011352997B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2015202200A AU2015202200A1 (en) 2010-12-30 2015-04-29 Mobile human interface robot

Applications Claiming Priority (17)

Application Number Priority Date Filing Date Title
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
US61/445,408 2011-02-22
US13/032,312 2011-02-22
US13/032,228 US9400503B2 (en) 2010-05-20 2011-02-22 Mobile human interface robot
US13/032,312 US8918209B2 (en) 2010-05-20 2011-02-22 Mobile human interface robot
US13/032,228 2011-02-22
US201161478849P 2011-04-25 2011-04-25
US61/478,849 2011-04-25
PCT/US2011/059980 WO2012091807A2 (en) 2010-12-30 2011-11-09 Mobile human interface robot

Related Child Applications (1)

Application Number Title Priority Date Filing Date
AU2015202200A Division AU2015202200A1 (en) 2010-12-30 2015-04-29 Mobile human interface robot

Publications (3)

Publication Number Publication Date
AU2011352997A1 AU2011352997A1 (en) 2013-07-11
AU2011352997A8 true AU2011352997A8 (en) 2013-09-05
AU2011352997B2 AU2011352997B2 (en) 2015-06-18

Family

ID=45375473

Family Applications (1)

Application Number Title Priority Date Filing Date
AU2011352997A Ceased AU2011352997B2 (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
AU2011352997A1 (en) 2013-07-11
AU2011352997B2 (en) 2015-06-18
JP5946147B2 (en) 2016-07-05
GB2502213A (en) 2013-11-20
GB201313410D0 (en) 2013-09-11
JP2015092348A (en) 2015-05-14
JP2014509417A (en) 2014-04-17
CA2824606A1 (en) 2012-07-05
EP2659320A2 (en) 2013-11-06
WO2012091807A2 (en) 2012-07-05
DE112011104645T5 (en) 2013-10-10
WO2012091807A3 (en) 2013-07-25

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Free format text: IN VOL 27 , NO 26 , PAGE(S) 3960 UNDER THE HEADING PCT APPLICATIONS THAT HAVE ENTERED THE NATIONAL PHASE - NAME INDEX UNDER THE NAME IROBOT CORPORATION, APPLICATION NO. 2011352997, UNDER INID (72) CORRECT THE CO-INVENTOR TO BENSON JR., BRIAN C.

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