Patents by Inventor Thomas W. Bushman

Thomas W. Bushman 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).

  • Patent number: 10124490
    Abstract: An autonomous mobile robot includes a robot body, a drive system, a sensor system, and a controller. The drive system supports the robot body and maneuvers the robot over a floor surface. The sensor system includes an inertial measurement unit for measuring a pose of the robot and issues a sensor signal including data having information regarding a pose of the robot. The controller communicates with the drive and sensor systems and executes a behavior system. The behavior system receives the sensor signal from the sensor system and executes a behavior. The behavior system executes an anti-stasis behavior in response to sensor signals indicating that the robot is constrained to evaluate a state of constraint. In addition, the behavior system executes an anti-tilt behavior in response to sensor signals indicating that the robot is tilted with respect to a direction of gravity to evaluate a state of tilt.
    Type: Grant
    Filed: August 31, 2016
    Date of Patent: November 13, 2018
    Assignee: iRobot Corporation
    Inventors: Mark Schnittman, Thomas W. Bushman
  • Publication number: 20170080570
    Abstract: An autonomous mobile robot includes a robot body, a drive system, a sensor system, and a controller. The drive system supports the robot body and maneuvers the robot over a floor surface. The sensor system includes an inertial measurement unit for measuring a pose of the robot and issues a sensor signal including data having information regarding a pose of the robot. The controller communicates with the drive and sensor systems and executes a behavior system. The behavior system receives the sensor signal from the sensor system and executes a behavior. The behavior system executes an anti-stasis behavior in response to sensor signals indicating that the robot is constrained to evaluate a state of constraint. In addition, the behavior system executes an anti-tilt behavior in response to sensor signals indicating that the robot is tilted with respect to a direction of gravity to evaluate a state of tilt.
    Type: Application
    Filed: August 31, 2016
    Publication date: March 23, 2017
    Applicant: iRobot Corporation
    Inventors: Mark Schnittman, Thomas W. Bushman
  • Patent number: 9457471
    Abstract: An autonomous mobile robot includes a robot body, a drive system, a sensor system, and a controller. The drive system supports the robot body and maneuvers the robot over a floor surface. The sensor system includes an inertial measurement unit for measuring a pose of the robot and issues a sensor signal including data having information regarding a pose of the robot. The controller communicates with the drive and sensor systems and executes a behavior system. The behavior system receives the sensor signal from the sensor system and executes a behavior. The behavior system executes an anti-stasis behavior in response to sensor signals indicating that the robot is constrained to evaluate a state of constraint. In addition, the behavior system executes an anti-tilt behavior in response to sensor signals indicating that the robot is tilted with respect to a direction of gravity to evaluate a state of tilt.
    Type: Grant
    Filed: December 30, 2014
    Date of Patent: October 4, 2016
    Assignee: iRobot Corporation
    Inventors: Mark Schnittman, Thomas W. Bushman
  • Publication number: 20150197012
    Abstract: An autonomous mobile robot includes a robot body, a drive system, a sensor system, and a controller. The drive system supports the robot body and maneuvers the robot over a floor surface. The sensor system includes an inertial measurement unit for measuring a pose of the robot and issues a sensor signal including data having information regarding a pose of the robot. The controller communicates with the drive and sensor systems and executes a behavior system. The behavior system receives the sensor signal from the sensor system and executes a behavior. The behavior system executes an anti-stasis behavior in response to sensor signals indicating that the robot is constrained to evaluate a state of constraint. In addition, the behavior system executes an anti-tilt behavior in response to sensor signals indicating that the robot is tilted with respect to a direction of gravity to evaluate a state of tilt.
    Type: Application
    Filed: December 30, 2014
    Publication date: July 16, 2015
    Applicant: iRobot Corporation
    Inventors: Mark Schnittman, Thomas W. Bushman
  • Patent number: 7813559
    Abstract: The present invention includes a method of determining a location of a component on a workpiece. A before-placement standard image is acquired of an intended placement location on a standard workpiece. Then, a standard component is placed upon the standard workpiece and the placement is verified. An after-placement standard image is acquired and a standard difference image is created from the before and after standard images. Then, a before-placement test image is acquired of an intended placement location on the workpiece. A component is then placed upon the workpiece, and after-placement test image is acquired. A test difference image is created from the before and after test images. A first offset is calculated between the before standard difference image and the before test image. Then, the test difference is transformed based on the first offset to generate a difference test image (DTR) that is registered to the standard difference image.
    Type: Grant
    Filed: May 18, 2005
    Date of Patent: October 12, 2010
    Assignee: CyberOptics Corporation
    Inventors: David W. Duquette, Eric P. Rudd, Thomas W. Bushman, Swaminathan Manickam, Timothy A. Skunes, Steven K. Case
  • Patent number: 7706595
    Abstract: Embodiments include measuring motion characteristics of the workpiece through the placement process. Since the component is placed on the workpiece with some force to ensure proper adhesion to the workpiece, some deflection of the workpiece is expected during the placement cycle. The placement force is adjusted to ensure that the component is safely placed into the solder paste or adhesive. Placement force is adjusted through a number of characteristics including: choice of spring tension in the nozzle; the length of the nozzle and the amount of over-travel into the board; the rigidity of the board and design; and the placement of the board support mechanisms. With proper adjustment of these characteristics and parameters, high quality placements onto the workpiece can be ensured.
    Type: Grant
    Filed: November 1, 2004
    Date of Patent: April 27, 2010
    Assignee: CyberOptics Corporation
    Inventors: Thomas W. Bushman, David D. Madsen, Paul R. Haugen, Steven K. Case, John D. Gaida, M. Hope Madsen
  • Patent number: 7239399
    Abstract: Improved component placement inspection and verification is performed by a pick and place machine. Improvements include stereovision imaging of the intended placement location; enhanced illumination to facilitate the provision of relatively high-power illumination in the restricted space near the placement nozzle(s); optics to allow image acquisition device to view the placement location from an angle relative to a plane of the placement location, thereby reducing the possibility of such images being obstructed by the component; techniques for rapidly acquiring images with commercially available CCD arrays such that acquisition of before and after images does not substantially impact system throughput; and image processing techniques to provide component inspection and verification information.
    Type: Grant
    Filed: November 8, 2002
    Date of Patent: July 3, 2007
    Assignee: CyberOptics Corporation
    Inventors: David W. Duquette, Paul R. Haugen, David Fishbaine, John D. Gaida, David D. Madsen, Theodore Paul Dale, Todd D. Liberty, Brant O. Buchika, Scott D. Roth, Thomas W. Bushman
  • Publication number: 20030110610
    Abstract: Improved component placement inspection and verification is performed by a pick and place machine. Improvements include stereovision imaging of the intended placement location; enhanced illumination to facilitate the provision of relatively high-power illumination in the restricted space near the placement nozzle(s); optics to allow image acquisition device to view the placement location from an angle relative to a plane of the placement location, thereby reducing the possibility of such images being obstructed by the component; techniques for rapidly acquiring images with commercially available CCD arrays such that acquisition of before and after images does not substantially impact system throughput; and image processing techniques to provide component inspection and verification information.
    Type: Application
    Filed: November 8, 2002
    Publication date: June 19, 2003
    Inventors: David W. Duquette, Paul R. Haugen, David Fishbaine, John D. Gaida, David D. Madsen, Theodore Paul Dale, Todd D. Liberty, Brant O. Buchika, Scott D. Roth, Thomas W. Bushman
  • Patent number: 6272247
    Abstract: A system for digital image recognition which combines sparse correlation with image pyramiding to reduce the number of pixels used in correlation provides effective recognition of a reference image template without exhaustive correlation of all pixels in the reference image template. An optimal sparse pixel set is selected from the pixels of the reference image template by correlating the reference image template against a search image scene which is to be searched. Such a sparse pixel set includes those pixels which are optimal in defining the correlation sensitive features of the reference image template. By terminating the accumulation of sparse pixels at an optimal point, performance is maximized without compromising accuracy of recognition. The resultant optimal sparse pixel set is then correlated against the pixels in the search image scene through a series of transformations to find a match of the reference image template within the search image scene.
    Type: Grant
    Filed: May 18, 1999
    Date of Patent: August 7, 2001
    Assignee: Datacube, Inc.
    Inventors: Swaminathan Manickam, Scott D. Roth, Thomas W. Bushman