Patents Assigned to IROBOT
  • Proximity Sensing On Mobile Robots
    Publication number: 20170031366
    Abstract: A proximity sensor includes first and second sensors disposed on a sensor body adjacent to one another. The first sensor is one of an emitter and a receiver. The second sensor is the other one of an emitter and a receiver. A third sensor is disposed adjacent the second sensor opposite the first sensor. The third sensor is an emitter if the first sensor is an emitter or a receiver if the first sensor is a receiver. Each sensor is positioned at an angle with respect to the other two sensors. Each sensor has a respective field of view. A first field of view intersects a second field of view defining a first volume that detects a floor surface within a first threshold distance. The second field of view intersects a third field of view defining a second volume that detects a floor surface within a second threshold distance.
    Type: Application
    Filed: August 23, 2016
    Publication date: February 2, 2017
    Applicant: iRobot Corporation
    Inventors: Steven V. Shamlian, Samuel Duffley, Nikolai Romanov, Dhiraj Goel, Frederic D. Hook, Mario E. Munich
  • Autonomous mobile robot
    Patent number: 9554508
    Abstract: A robot lawnmower includes a robot body, a drive system, a localizing system, a teach monitor, and a controller in communication with one another. The drive system is configured to maneuver the robot lawnmower over a lawn. The teach monitor determines whether the robot lawnmower is in a teachable state. The controller includes a data processing device and non-transitory memory in communication with the data processing device. The data processing device executes a teach routine when the controller is in a teach mode for tracing a confinement perimeter around the lawn as a human operator pilots the robot lawn mower, when the robot lawnmower is in the teachable state, the teach routine stores global positions determined by the localizing system in the non-transitory memory, and when the robot lawnmower is in the unteachable state, the teach routine issues an indication of the unteachable state.
    Type: Grant
    Filed: March 17, 2015
    Date of Patent: January 31, 2017
    Assignee: iRobot Corporation
    Inventors: Paul C. Balutis, Alec Likhite, Brian Doughty, Jeff Karlson, Tyler Nikitas
  • Autonomous robot auto-docking and energy management systems and methods
    Patent number: 9550294
    Abstract: A method for energy management in a 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: November 20, 2015
    Date of Patent: January 24, 2017
    Assignee: iRobot Corporation
    Inventors: David A. Cohen, Daniel N. Ozick, Clara Vu, James Lynch, Philip R. Mass
  • Robotic fingers and end effectors including same
    Patent number: 9545727
    Abstract: A robotic end effector includes a finger and at least one actuator. The finger extends from a proximal end to a distal end along a finger axis. The finger includes a first phalanx proximate the proximal end, a second phalanx proximate the distal end, and a knuckle joint including at least one vertebra interposed between and separating the first and second phalanxes. The knuckle joint is configured to permit the second phalanx to pivot relative to the first phalanx about a pivot axis transverse to the finger axis. Each vertebra has an axial thickness extending along the finger axis and a lateral width extending perpendicular to its axial thickness, and its lateral width is greater than its axial thickness. The at least one actuator is operable to move the second phalanx relative to the first phalanx about the pivot axis.
    Type: Grant
    Filed: November 5, 2015
    Date of Patent: January 17, 2017
    Assignee: iRobot Corporation
    Inventors: Steven V. Shamlian, Mark R. Claffee, Erik Amaral, Timothy R. Ohm, Annan M. Mozeika
  • Robotic mowing of separated lawn areas
    Patent number: 9538702
    Abstract: A method of mowing multiple areas includes training the robotic mower to move across a space separating at least two areas, and initiating a mowing operation. Training the robotic mower to move across the space separating the areas includes moving the robotic mower to a traversal launch point of a first of the areas, storing data indicative of location of the traversal launch point, moving the robotic mower to a traversal landing point of a second of the areas, and storing data indicative of location of the traversal landing point. The mowing operation causes the robotic mower to autonomously and in sequence mow the first of the areas, move to the traversal launch point, move from the traversal launch point across the space to the traversal landing point, and then mow the second of the areas.
    Type: Grant
    Filed: December 22, 2014
    Date of Patent: January 10, 2017
    Assignee: iRobot Corporation
    Inventors: Paul Balutis, Andrew Beaulieu, Brian Yamauchi
  • Robot management systems for determining docking station pose including mobile robots and methods using same
    Patent number: 9538892
    Abstract: A mobile robot system is provided that includes a docking station having at least two pose-defining fiducial markers. The pose-defining fiducial markers have a predetermined spatial relationship with respect to one another and/or to a reference point on the docking station such that a docking path to the base station can be determined from one or more observations of the at least two pose-defining fiducial markers. A mobile robot in the system includes a pose sensor assembly. A controller is located on the chassis and is configured to analyze an output signal from the pose sensor assembly. The controller is configured to determine a docking station pose, to locate the docking station pose on a map of a surface traversed by the mobile robot and to path plan a docking trajectory.
    Type: Grant
    Filed: October 5, 2013
    Date of Patent: January 10, 2017
    Assignee: iRobot Corporation
    Inventors: Philip Fong, Jason Meltzer, Steffen Gutmann, Vazgen Karapetyan, Mario E. Munich
  • Re-localization of a robot for slam
    Patent number: 9534899
    Abstract: Vector Field SLAM is a method for localizing a mobile robot in an unknown environment from continuous signals such as WiFi or active beacons. Disclosed is a technique for localizing a robot in relatively large and/or disparate areas. This is achieved by using and managing more signal sources for covering the larger area. One feature analyzes the complexity of Vector Field SLAM with respect to area size and number of signals and then describe an approximation that decouples the localization map in order to keep memory and run-time requirements low. A tracking method for re-localizing the robot in the areas already mapped is also disclosed. This allows to resume the robot after is has been paused or kidnapped, such as picked up and moved by a user. Embodiments of the invention can comprise commercial low-cost products including robots for the autonomous cleaning of floors.
    Type: Grant
    Filed: November 9, 2012
    Date of Patent: January 3, 2017
    Assignee: iRobot Corporation
    Inventors: Jens-Steffen Gutmann, Philip Fong, Mario E. Munich
  • Method and System for Controlling a Remote Vehicle
    Publication number: 20160378111
    Abstract: A system for controlling one or more remote vehicles. The system includes an operator control unit with a touch-screen user interface comprising an initial screen including a map view window that facilitates operator entry of mission commands to one or more remote vehicles, a remote vehicle selection/detection window allowing the operator to see which remote vehicles have been detected by the operator control unit and select among those vehicles to display a detailed window for the selected remote vehicle, the detailed window including status information regarding the remote vehicle, and a button or icon for launching a control application including the initial screen and the remote vehicle selection/detection window. The map view window displays a map of a remote vehicle environment.
    Type: Application
    Filed: October 2, 2013
    Publication date: December 29, 2016
    Applicant: iRobot Corporation
    Inventors: Scott R. Lenser, Christopher Vernon Jones, Brian Masao Yamauchi
  • Autonomous Behaviors for a Remote Vehicle
    Publication number: 20160378110
    Abstract: A method of operating a remote vehicle configured to communicate with an operator control unit (OCU) includes executing a click-to-drive behavior, a cruise control behavior, and a retro-traverse behavior on a computing processor. The click-to-drive behavior includes receiving a picture or a video feed and determining a drive destination in the received picture or video feed. The cruise control behavior includes receiving an absolute heading and velocity commands from the OCU and computing a drive heading and a drive velocity. The a retro-traverse behavior includes generating a return path interconnecting at least two previously-traversed waypoints of a list of time-stamped waypoints, and executing a retro-traverse of the return path by navigating the remote vehicle successively to previous time-stamped waypoints in the waypoints list until a control signal is received from the operator control unit.
    Type: Application
    Filed: October 1, 2013
    Publication date: December 29, 2016
    Applicant: iRobot Corporation
    Inventors: Emilie Phillips, Aaron Powers, Andrew Shein, Josef P. Jamieson, Tyson Sawyer
  • Celestial navigation system for an autonomous vehicle
    Patent number: 9529363
    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: December 11, 2015
    Date of Patent: December 27, 2016
    Assignee: iRobot Corporation
    Inventor: Mark J. Chiappetta
  • Small unmanned ground vehicle
    Patent number: 9522595
    Abstract: The present teachings relate generally to a small remote vehicle having rotatable flippers and a weight of less than about 10 pounds and that can climb a conventional-sized stairs. The present teachings also relate to a small remote vehicle can be thrown or dropped fifteen feet onto a hard/inelastic surface without incurring structural damage that may impede its mission. The present teachings further relate to a small remote vehicle having a weight of less than about 10 pounds and a power source supporting missions of at least 6 hours.
    Type: Grant
    Filed: December 31, 2011
    Date of Patent: December 20, 2016
    Assignee: iRobot Defense Holdings, Inc.
    Inventors: Pavlo E. Rudakevych, Garran M. Gossage, Christopher Lyunne Morey, Todd M. Meaney, Timothy R. Ohm, Adam Wozniak
  • Systems and methods for performing simultaneous localization and mapping using machine vision systems
    Patent number: 9519289
    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: September 16, 2015
    Date of Patent: December 13, 2016
    Assignee: iRobot Corporation
    Inventors: Mario Munich, Nikolai Romanov, Dhiraj Goel, Philip Fong
  • Robotic lawn mowing boundary determination
    Patent number: 9516806
    Abstract: A method of mowing an area with an autonomous mowing robot comprises storing, in non-transient memory of the robot, a set of geospatially referenced perimeter data corresponding to positions of the mowing robot as the mowing robot is guided about a perimeter of an area to be mowed, removing from the set of perimeter data one or more data points thereby creating a redacted data set and controlling the mowing robot to autonomously mow an area bounded by a boundary corresponding to the redacted data set, including altering direction of the mowing robot at or near a position corresponding to data in the redacted data set so as to redirect the robot back into the bounded area.
    Type: Grant
    Filed: October 10, 2014
    Date of Patent: December 13, 2016
    Assignee: iRobot Corporation
    Inventors: Brian Yamauchi, Andrew Beaulieu, Paul Balutis
  • Autonomous robot localization
    Patent number: 9510505
    Abstract: A location estimation system for use with an autonomous lawn mowing robot, comprises a plurality of synthetic surfaces positioned with respect to a mowable space in an environment, a radiation source coupled to the lawn mowing robot, a detector coupled to the lawn mowing robot and configured to detect radiation reflected by objects in the environment, and a controller configured to controllably direct radiation from the radiation source to scan the environment, and to vary at least one of an output power of the directed radiation and a scan rate of the directed radiation, as a function of detected radiation reflected from one or more of the synthetic surfaces.
    Type: Grant
    Filed: October 10, 2014
    Date of Patent: December 6, 2016
    Assignee: iRobot Corporation
    Inventors: Michael J. Halloran, Jamie Milliken, Travis Pierce, Eric Charles Peters
  • System and method for behavior based control of an autonomous vehicle
    Patent number: 9513634
    Abstract: System and method for behavior based control of an autonomous vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle lever, steering gear, tie rods, throttle, brake, accelerator, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. The behaviors include action sets ranked by priority, and the action sets include alternative actions that the vehicle can take to accomplish its task. The alternative actions are ranked by preference, and an arbiter selects the action to be performed and, optionally, modified.
    Type: Grant
    Filed: July 13, 2015
    Date of Patent: December 6, 2016
    Assignee: iRobot Corporation
    Inventors: Robert Todd Pack, James Allard, David S. Barrett, Misha Filippov, Selma Svendsen
  • Contact sensors for a mobile robot
    Patent number: 9505140
    Abstract: A robot includes a body and a bumper. The body is movable relative to a surface and includes a first portion of a sensor. The bumper is mounted on the body and movable relative to the body and includes a backing and a second portion of the sensor. The backing is movable relative to the body in response to a force applied to the bumper. The second portion of the sensor is attached to the backing and movable with the backing relative to the first portion of the sensor in response to a force applied to the bumper. The sensor is configured to output an electrical signal in response to a movement of the backing. The electrical signal is proportional to an amount of displacement of the second portion relative to the first portion.
    Type: Grant
    Filed: June 2, 2015
    Date of Patent: November 29, 2016
    Assignee: iRobot Corporation
    Inventors: Victor Fay, Seth Blitzblau, Samuel Duffley, Kyle Dumont, Justin H. Woodman
  • Floor cleaning roller core
    Patent number: D774263
    Type: Grant
    Filed: March 3, 2015
    Date of Patent: December 13, 2016
    Assignee: iRobot Corporation
    Inventors: Andrew Scott Reichel, Gao Ke Ting, Matthew Blouin
  • Robot confinement beacon
    Patent number: D775990
    Type: Grant
    Filed: February 10, 2015
    Date of Patent: January 10, 2017
    Assignee: iRobot Corporation
    Inventors: Cory White, Stuart Jang, Austin Harvey
  • Robot confinement beacon
    Patent number: D775991
    Type: Grant
    Filed: February 10, 2015
    Date of Patent: January 10, 2017
    Assignee: iRobot Corporation
    Inventors: Cory White, Stuart Jang, Austin Harvey
  • Floor cleaning roller core
    Patent number: D776378
    Type: Grant
    Filed: February 13, 2015
    Date of Patent: January 10, 2017
    Assignee: iRobot Corporation
    Inventors: Matthew Blouin, Gao Ke Ting