Patents by Inventor Andrea M. Okerholm
Andrea M. Okerholm has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20230157506Abstract: An autonomous robot is maneuvered around a feature in an environment along a first trajectory. Data characterizing the first trajectory is stored as a trajectory landmark. The autonomous cleaning robot is maneuvered along a second trajectory. Data characterizing the second trajectory is compared to the trajectory landmark. Based on comparing the data characterizing the second trajectory to the trajectory landmark, it is determined that the first trajectory matches the second trajectory. A transform that aligns the first trajectory with the second trajectory is determined. The transform is applied to an estimate of a position of the autonomous cleaning robot as a correction of the estimate.Type: ApplicationFiled: November 22, 2021Publication date: May 25, 2023Inventors: Daniele Tamino, Artem Gritsenko, Andrea M. Okerholm Huttlin, Arman Karimian, Benjamin Pheil, Yao Chen, Renaud Moser, Jose Luis Franco Monsalve
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Patent number: 11498438Abstract: A surface treatment robot includes a chassis having forward and rear ends and a drive system carried by the chassis. The drive system includes right and left driven wheels and is configured to maneuver the robot over a cleaning surface. The robot includes a vacuum assembly, a collection volume, a supply volume, an applicator, and a wetting element, each carried by the chassis. The wetting element engages the cleaning surface to distribute a cleaning liquid applied to the surface by the applicator. The wetting element distributes the cleaning liquid along at least a portion of the cleaning surface when the robot is driven in a forward direction. The wetting element is arranged substantially forward of a transverse axis defined by the right and left driven wheels, and the wetting element slidably supports at least about ten percent of the mass of the robot above the cleaning surface.Type: GrantFiled: April 23, 2019Date of Patent: November 15, 2022Assignee: iRobot CorporationInventors: Duane L. Gilbert, Jr., Marcus R. Williams, Andrea M. Okerholm Huttlin, Elaine H. Kristant, Sheila A. Longo, Daniel E. Kee, Marc D. Strauss
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Publication number: 20220009363Abstract: An autonomous coverage robot detection system includes an emitter configured to emit a directed beam, a detector configured to detect the directed beam and a controller configured to direct the robot in response to a signal detected by the detector. In some examples, the detection system detects a stasis condition of the robot. In some examples, the detection system detects a wall and can follow the wall in response to the detected signal.Type: ApplicationFiled: July 23, 2021Publication date: January 13, 2022Inventors: Duane L. Gilbert, Jr., Marcus R. Williams, Andrea M. Okerholm, Elaine H. Kristant, Sheila A. Longo, Daniel E. Kee, Marc D. Strauss
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Patent number: 11072250Abstract: An autonomous coverage robot detection system includes an emitter configured to emit a directed beam, a detector configured to detect the directed beam and a controller configured to direct the robot in response to a signal detected by the detector. In some examples, the detection system detects a stasis condition of the robot. In some examples, the detection system detects a wall and can follow the wall in response to the detected signal.Type: GrantFiled: December 14, 2017Date of Patent: July 27, 2021Assignee: iRobot CorporationInventors: Duane L. Gilbert, Jr., Marcus Williams, Andrea M. Okerholm, Elaine H. Kristant, Sheila A. Longo, Daniel E. Kee, Marc D. Strauss
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Publication number: 20190246862Abstract: A surface treatment robot includes a chassis having forward and rear ends and a drive system carried by the chassis. The drive system includes right and left driven wheels and is configured to maneuver the robot over a cleaning surface. The robot includes a vacuum assembly, a collection volume, a supply volume, an applicator, and a wetting element, each carried by the chassis. The wetting element engages the cleaning surface to distribute a cleaning liquid applied to the surface by the applicator. The wetting element distributes the cleaning liquid along at least a portion of the cleaning surface when the robot is driven in a forward direction. The wetting element is arranged substantially forward of a transverse axis defined by the right and left driven wheels, and the wetting element slidably supports at least about ten percent of the mass of the robot above the cleaning surface.Type: ApplicationFiled: April 23, 2019Publication date: August 15, 2019Inventors: Duane L. Gilbert, JR., Marcus R. Williams, Andrea M. Okerholm Huttlin, Elaine H. Kristant, Sheila A. Longo, Daniel E. Kee, Marc D. Strauss
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Patent number: 10299652Abstract: A surface treatment robot includes a chassis having forward and rear ends and a drive system carried by the chassis. The drive system includes right and left driven wheels and is configured to maneuver the robot over a cleaning surface. The robot includes a vacuum assembly, a collection volume, a supply volume, an applicator, and a wetting element, each carried by the chassis. The wetting element engages the cleaning surface to distribute a cleaning liquid applied to the surface by the applicator. The wetting element distributes the cleaning liquid along at least a portion of the cleaning surface when the robot is driven in a forward direction. The wetting element is arranged substantially forward of a transverse axis defined by the right and left driven wheels, and the wetting element slidably supports at least about ten percent of the mass of the robot above the cleaning surface.Type: GrantFiled: March 19, 2014Date of Patent: May 28, 2019Assignee: iRobot CorporationInventors: Duane L. Gilbert, Jr., Marcus R. Williams, Andrea M. Okerholm Huttlin, Elaine H. Kristant, Sheila A. Longo, Daniel E. Kee, Marc D. Strauss
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Publication number: 20180116479Abstract: An autonomous coverage robot detection system includes an emitter configured to emit a directed beam, a detector configured to detect the directed beam and a controller configured to direct the robot in response to a signal detected by the detector. In some examples, the detection system detects a stasis condition of the robot. In some examples, the detection system detects a wall and can follow the wall in response to the detected signal.Type: ApplicationFiled: December 14, 2017Publication date: May 3, 2018Inventors: Duane L. Gilbert, JR., Marcus Williams, Andrea M. Okerholm, Elaine H. Kristant, Sheila A. Longo, Daniel E. Kee, Marc D. Strauss
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Publication number: 20160075024Abstract: A method of navigating an autonomous coverage robot between bounded areas includes positioning a navigation beacon in a gateway between adjoining first and second bounded areas. The beacon configured to transmit a gateway marking emission across the gateway. In some example, the navigation beacon may also transmit a proximity emission laterally about the beacon, where the robot avoids cleaning and migration within the proximity emission. The method also includes placing the coverage robot within the first bounded area. The robot autonomously traverses the first bounded area in a cleaning mode and upon encountering the gateway marking emission in the gateway, the robot remains in the first bounded area, thereby avoiding the robot migration into the second area. Upon termination of the cleaning mode in the first area, the robot autonomously initiates a migration mode to move through the gateway, past the beacon, into the second bounded area.Type: ApplicationFiled: August 21, 2015Publication date: March 17, 2016Inventors: Daniel N. Ozick, Andrea M. Okerholm, Jeffrey W. Mammen, Michael J. Halloran, Paul E. Sandin, Chikyung Won
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Patent number: 9149170Abstract: A method of navigating an autonomous coverage robot between bounded areas includes positioning a navigation beacon in a gateway between adjoining first and second bounded areas. The beacon configured to transmit a gateway marking emission across the gateway. In some example, the navigation beacon may also transmit a proximity emission laterally about the beacon, where the robot avoids cleaning the migration within the proximity emission. The method also includes placing the coverage robot within the first bounded area. The robot autonomously traverses the first bounded area in a cleaning mode and upon encountering the gateway marking emission in the gateway, the robot remains in the first bounded area, thereby avoiding the robot migration into the second area. Upon termination of the cleaning mode in the first area, the robot autonomously initiates a migration mode to move through the gateway, past the beacon, into the second bounded area.Type: GrantFiled: July 5, 2007Date of Patent: October 6, 2015Assignee: iRobot CorporationInventors: Daniel N. Ozick, Andrea M. Okerholm, Jeffrey W. Mammen, Michael J. Halloran
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Patent number: 9144360Abstract: An autonomous mobile robot system for bounded areas including a navigation beacon and an autonomous coverage robot. The navigation beacon has a gateway beacon emitter arranged to transmit a gateway marking emission with the navigation beacon disposed within a gateway between the first bounded area and an adjacent second bounded area. The autonomous coverage robot includes a beacon emission sensor responsive to the beacon emission, and a drive system configured to maneuver the robot about the first bounded area in a cleaning mode in which the robot is redirected in response to detecting the gateway marking emission. The drive system is also configured to maneuver the robot through the gateway into the second bounded area in a migration mode.Type: GrantFiled: December 4, 2006Date of Patent: September 29, 2015Assignee: iRobot CorporationInventors: Daniel N. Ozick, Andrea M. Okerholm, Jeffrey W. Mammen, Michael J. Halloran, Paul E. Sandin, Chikyung Won
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Patent number: 8954192Abstract: A method of navigating an autonomous coverage robot between bounded areas includes positioning a navigation beacon in a gateway between adjoining first and second bounded areas. The beacon configured to transmit a gateway marking emission across the gateway. The method also includes placing the coverage robot within the first bounded area. The robot autonomously traverses the first bounded area in a cleaning mode and upon encountering the gateway marking emission in the gateway, the robot remains in the first bounded area, thereby avoiding the robot migration into the second area. Upon termination of the cleaning mode in the first area, the robot autonomously initiates a migration mode to move through the gateway, past the beacon, into the second bounded area.Type: GrantFiled: June 5, 2007Date of Patent: February 10, 2015Assignee: iRobot CorporationInventors: Daniel N. Ozick, Andrea M. Okerholm, Jeffrey W. Mammen, Michael J. Halloran, Paul E. Sandin, Chikyung Won
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Publication number: 20140215735Abstract: A surface treatment robot includes a chassis having forward and rear ends and a drive system carried by the chassis. The drive system includes right and left driven wheels and is configured to maneuver the robot over a cleaning surface. The robot includes a vacuum assembly, a collection volume, a supply volume, an applicator, and a wetting element, each carried by the chassis. The wetting element engages the cleaning surface to distribute a cleaning liquid applied to the surface by the applicator. The wetting element distributes the cleaning liquid along at least a portion of the cleaning surface when the robot is driven in a forward direction. The wetting element is arranged substantially forward of a transverse axis defined by the right and left driven wheels, and the wetting element slidably supports at least about ten percent of the mass of the robot above the cleaning surface.Type: ApplicationFiled: March 19, 2014Publication date: August 7, 2014Applicant: iRobot CorporationInventors: Duane L. Gilbert, JR., Marcus R. Williams, Andrea M. Okerholm, Elaine H. Kristant, Sheila A. Longo, Daniel E. Kee, Marc D. Strauss
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Patent number: 8726454Abstract: A surface treatment robot includes a chassis having forward and rear ends and a drive system carried by the chassis. The drive system includes right and left driven wheels and is configured to maneuver the robot over a cleaning surface. The robot includes a vacuum assembly, a collection volume, a supply volume, an applicator, and a wetting element, each carried by the chassis. The wetting element engages the cleaning surface to distribute a cleaning liquid applied to the surface by the applicator. The wetting element distributes the cleaning liquid along at least a portion of the cleaning surface when the robot is driven in a forward direction. The wetting element is arranged substantially forward of a transverse axis defined by the right and left driven wheels, and the wetting element slidably supports at least about ten percent of the mass of the robot above the cleaning surface.Type: GrantFiled: May 9, 2008Date of Patent: May 20, 2014Assignee: iRobot CorporationInventors: Duane L. Gilbert, Jr., Marcus R. Williams, Andrea M. Okerholm, Elaine H. Kristant, Sheila A. Longo, Daniel E. Kee, Marc D. Strauss
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Patent number: 8606401Abstract: A navigation beacon controls movement of a mobile robot in first and second areas. The navigation beacon includes a portable housing, a power source, and an emitter. The emitter is operable to emit a gateway marking emission when the robot is within a field of detection that extends between the areas. The gateway marking emission is detectable by the robot and prevents the robot from moving from one of the areas, through the field of detection, to the other of the areas. A switch is operable to switch the navigation beacon to be in an OFF mode in which the gateway beacon emitter is in an OFF state, a confinement mode in which the gateway beacon emitter is in an ON state, and a navigation mode in which the gateway beacon emitter is in the ON state and automatically switches to the OFF state in response to a predetermined condition.Type: GrantFiled: July 1, 2010Date of Patent: December 10, 2013Assignee: iRobot CorporationInventors: Daniel N. Ozick, Andrea M. Okerholm, Jeffrey W. Mammen, Michael J. Halloran, Paul E. Sandin, Chikyung Won
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Patent number: 8438695Abstract: An autonomous coverage robot detection system includes an emitter configured to emit a directed beam, a detector configured to detect the directed beam and a controller configured to direct the robot in response to a signal detected by the detector. In some examples, the detection system detects a stasis condition of the robot. In some examples, the detection system detects a wall and can follow the wall in response to the detected signal.Type: GrantFiled: December 8, 2011Date of Patent: May 14, 2013Assignee: iRobot CorporationInventors: Duane L. Gilbert, Jr., Marcus R. Williams, Andrea M. Okerholm, Elaine H. Kristant, Sheila A. Longo, Daniel E. Kee, Marc D. Strauss
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Patent number: 8380350Abstract: An autonomous mobile robot system for bounded areas including a navigation beacon and an autonomous coverage robot. The navigation beacon has a gateway beacon emitter arranged to transmit a gateway marking emission with the navigation beacon disposed within a gateway between the first bounded area and an adjacent second bounded area. The autonomous coverage robot includes a beacon emission sensor responsive to the beacon emission, and a drive system configured to maneuver the robot about the first bounded area in a cleaning mode in which the robot is redirected in response to detecting the gateway marking emission. The drive system is also configured to maneuver the robot through the gateway into the second bounded area in a migration mode.Type: GrantFiled: December 23, 2008Date of Patent: February 19, 2013Assignee: iRobot CorporationInventors: Daniel N. Ozick, Andrea M. Okerholm, Jeffrey W. Mammen, Michael J. Halloran, Paul E. Sandin, Chikyung Won
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Publication number: 20120265343Abstract: An autonomous coverage robot detection system includes an emitter configured to emit a directed beam, a detector configured to detect the directed beam and a controller configured to direct the robot in response to a signal detected by the detector. In some examples, the detection system detects a stasis condition of the robot. In some examples, the detection system detects a wall and can follow the wall in response to the detected signal.Type: ApplicationFiled: December 8, 2011Publication date: October 18, 2012Inventors: Duane L. Gilbert, JR., Marcus R. Williams, Andrea M. Okerholm, Elaine H. Kristant, Sheila A. Longo, Daniel E. Kee, Marc D. Strauss
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Publication number: 20120265346Abstract: An autonomous coverage robot detection system includes an emitter configured to emit a directed beam, a detector configured to detect the directed beam and a controller configured to direct the robot in response to a signal detected by the detector. In some examples, the detection system detects a stasis condition of the robot. In some examples, the detection system detects a wall and can follow the wall in response to the detected signal.Type: ApplicationFiled: June 29, 2012Publication date: October 18, 2012Applicant: IROBOT CORPORATIONInventors: Duane L. Gilbert, JR., Marcus R. Williams, Andrea M. Okerholm, Elaine H. Kristant, Sheila A. Longo, Daniel E. Kee, Marc D. Strauss
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Publication number: 20110004339Abstract: A navigation beacon controls movement of a mobile robot in first and second areas. The navigation beacon includes a portable housing, a power source, and an emitter. The emitter is operable to emit a gateway marking emission when the robot is within a field of detection that extends between the areas. The gateway marking emission is detectable by the robot and prevents the robot from moving from one of the areas, through the field of detection, to the other of the areas. A switch is operable to switch the navigation beacon to be in an OFF mode in which the gateway beacon emitter is in an OFF state, a confinement mode in which the gateway beacon emitter is in an ON state, and a navigation mode in which the gateway beacon emitter is in the ON state and automatically switches to the OFF state in response to a predetermined condition.Type: ApplicationFiled: July 1, 2010Publication date: January 6, 2011Applicant: IROBOT CORPORATIONInventors: Daniel N. OZICK, Andrea M. OKERHOLM, Jeffrey W. MAMMEN, Michael J. HALLORAN, Paul E. SANDIN, Chikyung WON
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Publication number: 20090228165Abstract: An autonomous mobile robot system for bounded areas including a navigation beacon and an autonomous coverage robot. The navigation beacon has a gateway beacon emitter arranged to transmit a gateway marking emission with the navigation beacon disposed within a gateway between the first bounded area and an adjacent second bounded area. The autonomous coverage robot includes a beacon emission sensor responsive to the beacon emission, and a drive system configured to maneuver the robot about the first bounded area in a cleaning mode in which the robot is redirected in response to detecting the gateway marking emission. The drive system is also configured to maneuver the robot through the gateway into the second bounded area in a migration mode.Type: ApplicationFiled: December 23, 2008Publication date: September 10, 2009Inventors: Daniel N. Ozick, Andrea M. Okerholm, Jeffrey W. Mammen, Michael J. Halloran, Paul E. Sandin, Chikyung Won