Patents Assigned to IRobot Corporation
  • Patent number: 10705535
    Abstract: The present invention provides a mobile robot configured to navigate an operating environment, that includes a controller circuit that directs a drive of the mobile robot to navigate the mobile robot through an environment using camera-based navigation system and a camera including optics defining a camera field of view and a camera optical axis, where the camera is positioned within the recessed structure and is tilted so that the camera optical axis is aligned at an acute angle of above a horizontal plane in line with the top surface and is aimed in a forward drive direction of the robot body, and the camera is configured to capture images of the operating environment of the mobile robot.
    Type: Grant
    Filed: November 13, 2018
    Date of Patent: July 7, 2020
    Assignee: iRobot Corporation
    Inventors: Mario Munich, Nikolai Romanov, Dhiraj Goel, Philip Fong
  • Patent number: 10674885
    Abstract: An autonomous robot comprises a robot body, a drive configured to propel the robot, a sensor system disposed on the robot body, and a navigation controller circuit in communication with the drive and the sensor system. The sensor system comprises at least one proximity sensor comprising a sensor body, and a first emitter, a second emitter and a receiver housed by the sensor body, wherein the receiver detects objects in a bounded detection volume of the receiver field of view aimed outward and downward beyond a periphery of the robot body. The receiver is disposed above and between the first and second emitters, the emitters having a twice-reshaped emission beams angled upward to intersect the receiver field of view at a fixed range of distances from the periphery of the robot body to define the bounded detection volume.
    Type: Grant
    Filed: February 7, 2018
    Date of Patent: June 9, 2020
    Assignee: iRobot Corporation
    Inventors: Tom Bushman, James Herman, Seth Blitzblau, Nathan J. Deschaine, Andrew Scott Reichel
  • Patent number: 10675758
    Abstract: A method for energy management robotic device includes providing a base station for mating with the robotic device, determining a quantity of energy stored in an energy storage unit of the robotic device, and performing a predetermined task based at least in part on the quantity of energy stored. Also disclosed are systems for emitting avoidance signals to prevent inadvertent contact between the robot and the base station, and systems for emitting homing signals to allow the robotic device to accurately dock with the base station.
    Type: Grant
    Filed: March 30, 2018
    Date of Patent: June 9, 2020
    Assignee: iRobot Corporation
    Inventors: David A. Cohen, Daniel N. Ozick, Clara Vu, James Lynch, Philip R. Mass
  • Patent number: 10661433
    Abstract: A mobile robot guest for interacting with a human resident performs a room-traversing search procedure prior to interacting with the resident, and may verbally query whether the resident being sought is present. Upon finding the resident, the mobile robot may facilitate a teleconferencing session with a remote third party, or interact with the resident in a number of ways. For example, the robot may carry on a dialogue with the resident, reinforce compliance with medication or other schedules, etc. In addition, the robot incorporates safety features for preventing collisions with the resident; and the robot may audibly announce and/or visibly indicate its presence in order to avoid becoming a dangerous obstacle. Furthermore, the mobile robot behaves in accordance with an integral privacy policy, such that any sensor recording or transmission must be approved by the resident.
    Type: Grant
    Filed: January 17, 2018
    Date of Patent: May 26, 2020
    Assignee: iRobot Corporation
    Inventors: Colin Angle, Clara Vu, Matthew Cross, Tony L. Campbell
  • Patent number: 10664502
    Abstract: A method of operating a computing device includes receiving occupancy data for an operating environment of a mobile robot based on localization data detected by at least one localization sensor of the mobile robot responsive to navigation thereof in the operating environment, and receiving signal coverage data for the operating environment based on wireless communication signals acquired by at least one wireless receiver of the mobile robot responsive to navigation thereof in the operating environment. The wireless communication signals are transmitted by at least one electronic device that is local to the operating environment. The method further includes generating a map indicating coverage patterns of the wireless communication signals at respective locations in the operating environment by correlating the occupancy data and the signal coverage data. Related methods, mobile robots, and user terminals are also discussed.
    Type: Grant
    Filed: May 5, 2017
    Date of Patent: May 26, 2020
    Assignee: iRobot Corporation
    Inventors: Paul Chambers, Justin H. Kearns, Orjeta Taka, Michael J. Dooley, Nikolai Romanov, Gary Ellis Hall
  • Patent number: 10646091
    Abstract: An autonomous coverage robot includes a chassis, a drive system configured to maneuver the robot, and a cleaning assembly. The cleaning assembly includes a cleaning assembly housing and at least one driven sweeper brush. The robot includes a controller and a removable sweeper bin configured to receive debris agitated by the driven sweeper brush. The sweeper bin includes an emitter disposed on an interior surface of the bin and a receiver disposed remotely from the emitter on the interior surface of the bin and configured to receive an emitter signal. The emitter and the receiver are disposed such that a threshold level of accumulation of debris in the sweeper bin blocks the receiver from receiving emitter emissions. The robot includes a bin controller disposed in the sweeper bin and monitoring a detector signal and initiating a bin full routine upon determining a bin debris accumulation level requiring service.
    Type: Grant
    Filed: September 5, 2019
    Date of Patent: May 12, 2020
    Assignee: iRobot Corporation
    Inventors: Mark Steven Schnittman, Daniel N. Ozick, Gregg W. Landry
  • Patent number: 10639793
    Abstract: A robot includes a body that is movable relative to a surface one or more measurement devices within the body to output information based on an orientation of the body at an initial location on the surface, and a controller within the body to determine an orientation of the body based on the information and to restrict movement of the body to an area by preventing movement of the body beyond a barrier that is based on the orientation of the body and the initial location.
    Type: Grant
    Filed: October 30, 2017
    Date of Patent: May 5, 2020
    Assignee: iRobot Corporation
    Inventors: Marcus Williams, Ping-Hong Lu, Joseph M. Johnson, Fabrizio Santini
  • Patent number: 10611023
    Abstract: The present invention provides a mobile robot configured to navigate an operating environment, that includes a machine vision system comprising a camera that captures images of the operating environment using a machine vision system; detects the presence of an occlusion obstructing a portion of the field of view of a camera based on the captured images, and generate a notification when an occlusion obstructing the portion of the field of view of the camera is detected, and maintain occlusion detection data describing occluded and unobstructed portions of images being used by the SLAM application.
    Type: Grant
    Filed: July 15, 2019
    Date of Patent: April 7, 2020
    Assignee: iRobot Corporation
    Inventors: Philip Fong, Jason Meltzer, Marc Barnada Rius
  • Patent number: 10595624
    Abstract: A cleaning roller is mountable to a cleaning robot. The cleaning roller includes a sheath comprising a shell, an outer diameter of the shell tapering from a first end portion of the sheath and a second end portion of the sheath toward a center of the roller. The cleaning roller further includes a core including a central portion interlocked with the sheath to rotationally couple the core to the sheath and inhibit relative translation of the sheath and the core along an axis of rotation. An inner surface of the sheath and an outer surface of the core define an air gap therebetween, the air gap extending from the central portion of the core longitudinally along the axis of rotation toward the first end portion or the second end portion.
    Type: Grant
    Filed: July 25, 2017
    Date of Patent: March 24, 2020
    Assignee: iRobot Corporation
    Inventors: Matthew Blouin, Pierre Paul Richard Souloumiac, Pu Zhou
  • Patent number: 10595695
    Abstract: A piezoelectric debris sensor and associated signal processor responsive to debris strikes enable an autonomous or non-autonomous cleaning device to detect the presence of debris and in response, to select a behavioral mode, operational condition or pattern of movement, such as spot coverage or the like. Multiple sensor channels (e.g., left and right) can be used to enable the detection or generation of differential left/right debris signals and thereby enable an autonomous device to steer in the direction of debris.
    Type: Grant
    Filed: January 18, 2019
    Date of Patent: March 24, 2020
    Assignee: iRobot Corporation
    Inventors: Gregg W. Landry, David A. Cohen, Daniel N. Ozick
  • Patent number: 10595692
    Abstract: An evacuation station includes a base and a canister removably attached to the base. The base includes a ramp having an inclined surface for receiving a robotic cleaner having a debris bin. The ramp defines an evacuation intake opening arranged to pneumatically interface with the debris bin. The base also includes a first conduit portion pneumatically connected to the evacuation intake opening, an air mover having an inlet and an exhaust, and a particle filter pneumatically the exhaust of the air mover. The canister includes a second conduit portion arranged to pneumatically interface with the first conduit portion to form a pneumatic debris intake conduit, an exhaust conduit arranged to pneumatically connect to the inlet of the air mover when the canister is attached to the base, and a separator in pneumatic communication with the second conduit portion.
    Type: Grant
    Filed: October 3, 2019
    Date of Patent: March 24, 2020
    Assignee: iRobot Corporation
    Inventors: Russell Walter Morin, Faruk Halil Bursal, Harold Boeschentein
  • Patent number: 10595698
    Abstract: A cleaning pad for an autonomous cleaning robot evenly wets and collects debris for cleaning operations. The pad includes a core of absorbent layers for absorbing liquid through capillary action and for distributing the liquid within the cleaning pad. The pad includes a wrap layer around the core, the wrap layer comprising a fibrous layer that is flexible and absorbent, the fibrous layer configured to absorb liquid through capillary action and transfer the liquid to the core. The pad includes one or more transition regions spanning a cleaning width of the cleaning pad, the one or more transition regions dividing the cleaning pad into at least two segments. The forward positioned segment of the pad, of the at least two segments of the pad, has a lesser thickness compared to a thickness of an aft positioned segment of the at least two segments.
    Type: Grant
    Filed: June 2, 2017
    Date of Patent: March 24, 2020
    Assignee: iRobot Corporation
    Inventors: Marcus Williams, Lin Lung Chieh
  • Patent number: 10599159
    Abstract: A navigation control system for an autonomous vehicle comprises a transmitter and an autonomous vehicle. The transmitter comprises an emitter for emitting at least one signal, a power source for powering the emitter, a device for capturing wireless energy to charge the power source, and a printed circuit board for converting the captured wireless energy to a form for charging the power source. The autonomous vehicle operates within a working area and comprises a receiver for detecting the at least one signal emitted by the emitter, and a processor for determining a relative location of the autonomous vehicle within the working area based on the signal emitted by the emitter.
    Type: Grant
    Filed: April 19, 2017
    Date of Patent: March 24, 2020
    Assignee: iRobot Corporation
    Inventor: Mark J. Chiappetta
  • Patent number: 10583562
    Abstract: A robot configured to navigate a surface, the robot comprising a movement mechanism; a logical map representing data about the surface and associating locations with one or more properties observed during navigation; an initialization module configured to establish an initial pose comprising an initial location and an initial orientation; a region covering module configured to cause the robot to move so as to cover a region; an edge-following module configured to cause the robot to follow unfollowed edges; a control module configured to invoke region covering on a first region defined at least in part based at least part of the initial pose, to invoke region covering on least one additional region, to invoke edge-following, and to invoke region covering cause the mapping module to mark followed edges as followed, and cause a third region covering on regions discovered during edge-following.
    Type: Grant
    Filed: March 16, 2017
    Date of Patent: March 10, 2020
    Assignee: iRobot Corporation
    Inventors: Michael S. Stout, Gabriel Francis Brisson, Enrico Di Bernardo, Paolo Pirjanian, Dhiraj Goel, James Philip Case, Michael Dooley
  • Patent number: 10575696
    Abstract: A method for docking an autonomous mobile floor cleaning robot with a charging dock, the robot including a receiver coil and a structured light sensor, the charging dock including a docking bay and a transmitter coil, includes: positioning the robot in a prescribed docked position in the docking bay using the structured light sensor and by sensing a magnetic field emanating from the transmitter coil; and thereafter induction charging the robot using the receiver coil and the transmitter coil with the robot in the docked position.
    Type: Grant
    Filed: July 12, 2017
    Date of Patent: March 3, 2020
    Assignee: iRobot Corporation
    Inventors: John P. O'Brien, Vazgen Karapetyan, William Morris
  • Patent number: 10575699
    Abstract: A system for enabling spot cleaning includes a mobile computing device and a mobile cleaning robot. The mobile computing device includes at least one camera configured to capture images of an environment, and at least one data processor configured to (a) establish, based at least in part on first information provided by the at least one image sensor, a coordinate system in the environment, (b) determine, based at least in part on second information provided by the at least one camera, a first set of coordinates of a region at a first location, (c) determine, based at least in part on third information provided by the at least one camera, a second set of coordinates of a mobile cleaning robot at a second location, (d) send the first set of coordinates and second set of coordinates, or coordinates of the first location relative to the second location, to the mobile cleaning robot, and (e) send an instruction to the mobile cleaning robot to request the mobile cleaning robot to travel to the first location.
    Type: Grant
    Filed: January 5, 2018
    Date of Patent: March 3, 2020
    Assignee: iRobot Corporation
    Inventors: Angela Bassa, Husain Al-Mohssen
  • Patent number: 10578197
    Abstract: A robot includes a support, a movable member coupled to the support to permit gimbal rotation about a pitch axis and a yaw axis, and first and second linear actuators connected to each of the support and the movable member and operable to rotate the movable member about the pitch axis and the yaw axis. The first linear actuator is pivotally attached to the movable member at a first pivot point. The second linear actuator is pivotally attached to the movable member at a second pivot point. The first and second pivot points are each angularly offset from the pitch axis and the yaw axis by about 45 degrees and are located on the same side of the pitch axis.
    Type: Grant
    Filed: November 15, 2017
    Date of Patent: March 3, 2020
    Assignee: iRobot Corporation
    Inventors: Mark R. Claffee, Timothy R. Ohm, Erik Amaral, Annan M. Mozeika
  • Patent number: 10581038
    Abstract: An autonomous mobile cleaning robot includes a cavity along a bottom portion of the robot, and a drive configured to support the robot above a floor surface. The drive is configured to propel the robot along the floor surface. The robot further includes a first electrical terminal disposed in the cavity and connected to electrical circuitry of the robot, a battery assembly, and a dovetail joint. The battery assembly includes a battery housing, a battery contained within the battery housing, and a second electrical terminal mounted to the battery housing and configured to engage with the first electrical terminal. The dovetail joint includes a vertically extending projection portion and a vertically extending socket portion.
    Type: Grant
    Filed: December 18, 2017
    Date of Patent: March 3, 2020
    Assignee: iRobot Corporation
    Inventors: Rogelio Manfred Neumann, Daniel E. C. Grande
  • Patent number: 10568483
    Abstract: An autonomous cleaning robot comprises a chassis, at least one motorized drive wheel mounted to the chassis and arranged to propel the robot across a surface, and a pair of cleaning rollers mounted to the chassis and having outer surfaces exposed on an underside of the chassis and to each other. The cleaning rollers are drivable to counter-rotate while the robot is propelled, thereby cooperating to direct raised debris upward into the robot between the rollers. A side brush is further mounted to the chassis to rotate beneath the chassis adjacent a lateral side of the chassis about an upwardly extending side brush axis, and the outer surface of a first of the cleaning rollers of the pair extends laterally beyond the outer surface of a second of the cleaning rollers of the pair and laterally beyond the side brush axis, such that the first cleaning roller defines a cleaning width spanning the side brush axis.
    Type: Grant
    Filed: December 12, 2014
    Date of Patent: February 25, 2020
    Assignee: iRobot Corporation
    Inventor: Oliver Lewis
  • Patent number: D890231
    Type: Grant
    Filed: May 4, 2018
    Date of Patent: July 14, 2020
    Assignee: iRobot Corporation
    Inventors: Jason Jeffrey Suchman, Douglas Dell'Accio, Andrew Vincent Wolff, Flavia Pastore