Navigation system and method for a mobile robot
7 Assignments
0 Petitions
Accused Products
Abstract
An opto/acoustic navigation system allows a mobile robot to detect and mate with a floating plug-equipped charging unit upon detection of the need for recharging of the robot'"'"'s storage battery. A plurality of infrared (IR) emitters and sensors located on the robot and adjacent to the charger in combination with the robot'"'"'s acoustic sensors allow the robot to locate the charger, move to within a predetermined distance of the charger, maneuver to a position directly in front of the charger, and then back into engagement with the charger'"'"'s floating plug.
373 Citations
| AUTOMATIC SEARCH SYSTEM AND METHOD | ||
|
Patent #
US 20110046838A1
Filed 08/18/2010
|
Current Assignee
National Tsing Hua University
|
Original Assignee
National Tsing Hua University
|
| NAVIGATIONAL CONTROL SYSTEM FOR A ROBOTIC DEVICE | ||
|
Patent #
US 20110144805A1
Filed 12/13/2010
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| ROBOT BATTERY CHARGING APPARATUSES AND METHODS | ||
|
Patent #
US 20110148364A1
Filed 12/23/2009
|
Current Assignee
Ibaraki Toyota Jidosha Kabushiki Kaisha
|
Original Assignee
Toyota Motor Engineering Manufacturing North America Incorporated
|
| Robot localization system | ||
|
Patent #
US 7,970,491 B2
Filed 12/30/2003
|
Current Assignee
Samsung Electronics Co. Ltd.
|
Original Assignee
Samsung Electronics Co. Ltd.
|
| Mobile station for unmanned vehicle | ||
|
Patent #
US 7,957,850 B2
Filed 08/19/2009
|
Current Assignee
Deere Company
|
Original Assignee
Deere Company
|
| Autonomous Coverage Robots | ||
|
Patent #
US 20100037418A1
Filed 08/13/2009
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| SYSTEM AND METHOD FOR AUTONOMOUS VEHICLE LOCALIZATION | ||
|
Patent #
US 20100023195A1
Filed 07/28/2008
|
Current Assignee
Mtd Products Incorporated
|
Original Assignee
Precise Path Robotics Inc.
|
| METHOD AND SYSTEM FOR MULTI-MODE COVERAGE FOR AN AUTONOMOUS ROBOT | ||
|
Patent #
US 20100263142A1
Filed 06/30/2010
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| System and method for returning robot cleaner to charger | ||
|
Patent #
US 7,729,803 B2
Filed 07/14/2006
|
Current Assignee
Samsung Gwangju Electronics Co. Ltd.
|
Original Assignee
Samsung Gwangju Electronics Co. Ltd.
|
| Method and apparatus for generating and tracing cleaning trajectory of home cleaning robot | ||
|
Patent #
US 7,860,608 B2
Filed 04/08/2004
|
Current Assignee
Samsung Electronics Co. Ltd.
|
Original Assignee
Samsung Electronics Co. Ltd.
|
| Sonar scanner | ||
|
Patent #
US 7,688,676 B2
Filed 05/05/2008
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Docking system for a tele-presence robot | ||
|
Patent #
US 20100010672A1
Filed 07/10/2008
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| DOCUMENTATION THROUGH A REMOTE PRESENCE ROBOT | ||
|
Patent #
US 20100191375A1
Filed 01/29/2009
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Method and system for multi-mode coverage for an autonomous robot | ||
|
Patent #
US 7,663,333 B2
Filed 06/29/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Celestial navigation system for an autonomous robot | ||
|
Patent #
US 7,706,917 B1
Filed 07/07/2005
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Interactive play sets | ||
|
Patent #
US 7,744,441 B2
Filed 11/02/2005
|
Current Assignee
Mattel Incorporated
|
Original Assignee
Mattel Incorporated
|
| Autonomous surface cleaning robot for wet and dry cleaning | ||
|
Patent #
US 7,761,954 B2
Filed 08/07/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Sonar Scanner | ||
|
Patent #
US 20100256813A1
Filed 03/30/2010
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Control of an Exhaust Gas Aftertreatment Device in a Hybrid Vehicle | ||
|
Patent #
US 20090025371A1
Filed 06/17/2008
|
Current Assignee
Volvo Car Corporation
|
Original Assignee
Volvo Car Corporation
|
| OBSTACLE FOLLOWING SENSOR SCHEME FOR A MOBILE ROBOT | ||
|
Patent #
US 20090055022A1
Filed 05/23/2008
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Apparatus and method for correcting location information of mobile body, and computer-readable media storing computer program for controlling the apparatus | ||
|
Patent #
US 7,509,213 B2
Filed 07/11/2005
|
Current Assignee
Samsung Electronics Co. Ltd.
|
Original Assignee
Samsung Electronics Co. Ltd.
|
| MODULAR ROTARY MULTI-SENSOR SENSOR RING | ||
|
Patent #
US 20090088896A1
Filed 06/06/2008
|
Current Assignee
Cycogs LLC
|
Original Assignee
Wayland E. Tobey
|
| Medical Tele-Robotic System | ||
|
Patent #
US 20090105882A1
Filed 12/29/2008
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Robotic Platform | ||
|
Patent #
US 20090107738A1
Filed 12/31/2008
|
Current Assignee
Flir Detection Inc.
|
Original Assignee
iRobot Corporation
|
| System and method for localization utilizing dynamically deployable beacons | ||
|
Patent #
US 20090140926A1
Filed 12/04/2007
|
Current Assignee
Precise Path Robotics Inc.
|
Original Assignee
Precise Path Robotics Inc.
|
| Robotic platform | ||
|
Patent #
US 7,546,891 B2
Filed 08/06/2007
|
Current Assignee
Flir Detection Inc.
|
Original Assignee
iRobot Corporation
|
| Method and apparatus for allowing mobile robot to return to docking station | ||
|
Patent #
US 7,546,179 B2
Filed 04/14/2004
|
Current Assignee
Samsung Electronics Co. Ltd.
|
Original Assignee
Samsung Electronics Co. Ltd.
|
| Robotic Platform | ||
|
Patent #
US 20090173553A1
Filed 03/09/2009
|
Current Assignee
Flir Detection Inc.
|
Original Assignee
iRobot Corporation
|
| Robot navigation | ||
|
Patent #
US 7,567,052 B2
Filed 10/30/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Robotic platform | ||
|
Patent #
US 7,556,108 B2
Filed 08/06/2007
|
Current Assignee
Flir Detection Inc.
|
Original Assignee
iRobot Corporation
|
| Robot confinement | ||
|
Patent #
US 7,579,803 B2
Filed 10/30/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous floor-cleaning robot | ||
|
Patent #
US 7,571,511 B2
Filed 04/05/2004
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| AUTONOMOUS COVERAGE ROBOT NAVIGATION SYSTEM | ||
|
Patent #
US 20090228165A1
Filed 12/23/2008
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Mobile station for an unmanned vehicle | ||
|
Patent #
US 7,610,122 B2
Filed 08/16/2005
|
Current Assignee
Deere Company
|
Original Assignee
Deere Company
|
| Robotic platform | ||
|
Patent #
US 7,597,162 B2
Filed 12/24/2003
|
Current Assignee
Flir Detection Inc.
|
Original Assignee
iRobot Corporation
|
| Autonomous surface cleaning robot for dry cleaning | ||
|
Patent #
US 7,620,476 B2
Filed 08/19/2005
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Mobile Station for Unmanned Vehicle | ||
|
Patent #
US 20090298539A1
Filed 08/19/2009
|
Current Assignee
Deere Company
|
Original Assignee
Deere Company
|
| Mobile Station for Unmanned Vehicle | ||
|
Patent #
US 20090299582A1
Filed 08/19/2009
|
Current Assignee
Deere Company
|
Original Assignee
Deere Company
|
| Autonomous floor cleaning robot | ||
|
Patent #
US 7,636,982 B2
Filed 08/10/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous Floor Cleaning Robot | ||
|
Patent #
US 20080000041A1
Filed 08/06/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous robot auto-docking and energy management systems and methods | ||
|
Patent #
US 7,332,890 B2
Filed 01/21/2004
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| CLEANING ROBOT ROLLER PROCESSING | ||
|
Patent #
US 20080052846A1
Filed 05/21/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Mobile robotic system and battery charging method therefor | ||
|
Patent #
US 7,352,153 B2
Filed 06/25/2004
|
Current Assignee
Hunan Grand-Pro Robot Technology Co.Ltd.
|
Original Assignee
Jason Yan
|
| Sonar scanner | ||
|
Patent #
US 7,369,460 B2
Filed 03/21/2005
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Debris Sensor for Cleaning Apparatus | ||
|
Patent #
US 20080150466A1
Filed 09/24/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Robotic Platform | ||
|
Patent #
US 20080143064A1
Filed 08/06/2007
|
Current Assignee
Flir Detection Inc.
|
Original Assignee
iRobot Corporation
|
| Method and system for multi-mode coverage for an autonomous robot | ||
|
Patent #
US 7,388,343 B2
Filed 07/12/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous surface cleaning robot for wet and dry cleaning | ||
|
Patent #
US 7,389,156 B2
Filed 08/19/2005
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Sonar Scanner | ||
|
Patent #
US 20080205194A1
Filed 05/05/2008
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Jar opener | ||
|
Patent #
US 20080229885A1
Filed 03/22/2007
|
Current Assignee
Daka Research Inc.
|
Original Assignee
Daka Research Inc.
|
| Obstacle following sensor scheme for a mobile robot | ||
|
Patent #
US 7,430,455 B2
Filed 08/06/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Method and system for multi-mode coverage for an autonomous robot | ||
|
Patent #
US 7,429,843 B2
Filed 06/29/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Coverage robot mobility | ||
|
Patent #
US 7,441,298 B2
Filed 12/04/2006
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Robotic Platform | ||
|
Patent #
US 20080236907A1
Filed 06/13/2008
|
Current Assignee
Flir Detection Inc.
|
Original Assignee
iRobot Corporation
|
| Autonomous floor cleaning robot | ||
|
Patent #
US 7,448,113 B2
Filed 08/06/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
IROBERT
|
| Debris sensor for cleaning apparatus | ||
|
Patent #
US 7,459,871 B2
Filed 09/24/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Mobile station for an unmanned vehicle | ||
|
Patent #
US 20070042803A1
Filed 08/16/2005
|
Current Assignee
Deere Company
|
Original Assignee
Deere Company
|
| System and method for returning robot cleaner to charger | ||
|
Patent #
US 20070050086A1
Filed 07/14/2006
|
Current Assignee
Samsung Gwangju Electronics Co. Ltd.
|
Original Assignee
Samsung Gwangju Electronics Co. Ltd.
|
| Navigational control system for a robotic device | ||
|
Patent #
US 7,188,000 B2
Filed 01/27/2006
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Method and system for robot localization and confinement | ||
|
Patent #
US 7,196,487 B2
Filed 09/08/2005
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| System and method for automatically returning self-moving robot to charger | ||
|
Patent #
US 7,227,327 B2
Filed 12/28/2005
|
Current Assignee
LG Electronics Inc.
|
Original Assignee
LG Electronics Inc.
|
| Coverage robot mobility | ||
|
Patent #
US 20070234492A1
Filed 12/04/2006
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous coverage robot navigation system | ||
|
Patent #
US 20070244610A1
Filed 12/04/2006
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| SYSTEM AND METHOD FOR RETURNING MOBILE ROBOT TO CHARGING STAND | ||
|
Patent #
US 20070233319A1
Filed 03/23/2007
|
Current Assignee
LG Electronics Inc.
|
Original Assignee
LG Electronics Inc.
|
| Autonomous Floor Cleaning Robot | ||
|
Patent #
US 20070266508A1
Filed 08/10/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Method, system and apparatus for proximity-based recharge notification | ||
|
Patent #
US 6,323,775 B1
Filed 08/10/1999
|
Current Assignee
Telefonaktiebolaget LM Ericsson
|
Original Assignee
Telefonaktiebolaget LM Ericsson
|
| Method and system for robot localization and confinement | ||
|
Patent #
US 20060038521A1
Filed 09/08/2005
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Floor treatment system | ||
|
Patent #
US 7,053,578 B2
Filed 01/04/2005
|
Current Assignee
Alfred KRcher GmbH Company KG
|
Original Assignee
Alfred KRcher GmbH Company KG
|
| Electrical charging system, electrical charging controlling method, robot apparatus, electrical charging device, electrical charging controlling program and recording medium | ||
|
Patent #
US 7,061,199 B2
Filed 04/14/2005
|
Current Assignee
Sony Corporation
|
Original Assignee
Sony Corporation
|
| Navigational control system for a robotic device | ||
|
Patent #
US 20060136096A1
Filed 01/27/2006
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Electrical charging system, electrical charging controlling method, robot apparatus, electrical charging device, electrical charging controlling program and recording medium | ||
|
Patent #
US 7,057,368 B2
Filed 04/14/2005
|
Current Assignee
Sony Corporation
|
Original Assignee
Sony Corporation
|
| Electrical charging system, electrical charging controlling method, robot apparatus, electrical charging device, electrical charging controlling program and recording medium | ||
|
Patent #
US 7,068,004 B2
Filed 04/14/2005
|
Current Assignee
Sony Corporation
|
Original Assignee
Sony Corporation
|
| Electrical charging system, electrical charging controlling method, robot apparatus, electrical charging device, electrical charging controlling program and recording medium | ||
|
Patent #
US 7,071,648 B2
Filed 04/14/2005
|
Current Assignee
Sony Corporation
|
Original Assignee
Sony Corporation
|
| Apparatus and method for correcting location information of mobile body, and computer-readable media storing computer program for controlling the apparatus | ||
|
Patent #
US 20060178815A1
Filed 07/11/2005
|
Current Assignee
Samsung Electronics Co. Ltd.
|
Original Assignee
Samsung Electronics Co. Ltd.
|
| SYSTEM AND METHOD FOR AUTOMATICALLY RETURNING SELF-MOVING ROBOT TO CHARGER | ||
|
Patent #
US 20060273749A1
Filed 12/28/2005
|
Current Assignee
LG Electronics Inc.
|
Original Assignee
LG Electronics Inc.
|
| Robot obstacle detection system | ||
|
Patent #
US 7,155,308 B2
Filed 06/03/2003
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Sonar Scanner | ||
|
Patent #
US 6,870,792 B2
Filed 08/02/2001
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Method and system for robot localization and confinement | ||
|
Patent #
US 20050067994A1
Filed 08/19/2004
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous floor-cleaning robot | ||
|
Patent #
US 6,883,201 B2
Filed 12/16/2002
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Floor treatment system | ||
|
Patent #
US 20050150074A1
Filed 01/04/2005
|
Current Assignee
Alfred KRcher GmbH Company KG
|
Original Assignee
Alfred KRcher GmbH Company KG
|
| Electrical charging system, electrical charging controlling method, robot apparatus, electrical charging device, electrical charging controlling program and recording medium | ||
|
Patent #
US 6,914,403 B2
Filed 03/26/2003
|
Current Assignee
Sony Corporation
|
Original Assignee
Sony Corporation
|
| Electrical charging system, electrical charging controlling method, robot apparatus, electrical charging device, electrical charging controlling program and recording medium | ||
|
Patent #
US 20050182517A1
Filed 04/14/2005
|
Current Assignee
Sony Corporation
|
Original Assignee
Shingo Tsurumi
|
| Electrical charging system, electrical charging controlling method, robot apparatus, electrical charging device, electrical charging controlling program and recording medium | ||
|
Patent #
US 20050182516A1
Filed 04/14/2005
|
Current Assignee
Sony Corporation
|
Original Assignee
Shingo Tsurumi
|
| Electrical charging system, electrical charging controlling method, robot apparatus, electrical charging device, electrical charging controlling program and recording medium | ||
|
Patent #
US 20050182515A1
Filed 04/14/2005
|
Current Assignee
Sony Corporation
|
Original Assignee
Shingo Tsurumi
|
| Base station for robot | ||
|
Patent #
US D510,066 S1
Filed 05/05/2004
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Electrical charging system, electrical charging controlling method, robot apparatus, electrical charging device, electrical charging controlling program and recording medium | ||
|
Patent #
US 20050189899A1
Filed 04/14/2005
|
Current Assignee
Sony Corporation
|
Original Assignee
Shingo Tsurumi
|
| Electrical charging system, electrical charging controlling method, robot apparatus, electrical charging device, electrical charging controlling program and recording medium | ||
|
Patent #
US 20050194921A1
Filed 04/14/2005
|
Current Assignee
Sony Corporation
|
Original Assignee
Shingo Tsurumi
|
| Mobile robotic system and battery charging method therefor | ||
|
Patent #
US 20050231156A1
Filed 06/25/2004
|
Current Assignee
Hunan Grand-Pro Robot Technology Co.Ltd.
|
Original Assignee
Jason Yan
|
| Robot cleaner, system employing the same and method for re-connecting to external recharging device | ||
|
Patent #
US 6,957,712 B2
Filed 04/05/2002
|
Current Assignee
Samsung Gwangju Electronics Co. Ltd.
|
Original Assignee
Samsung Gwangju Electronics Co. Ltd.
|
| Electrical charging system, electrical charging controlling method, robot apparatus, electrical charging device, electrical charging controlling program and recording medium | ||
|
Patent #
US 6,965,211 B2
Filed 04/14/2005
|
Current Assignee
Sony Corporation
|
Original Assignee
Sony Corporation
|
| Sonar scanner | ||
|
Patent #
US 20050249035A1
Filed 03/21/2005
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Method and system for robot localization and confinement | ||
|
Patent #
US 6,965,209 B2
Filed 08/19/2004
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Electrical charging system, electrical charging controlling method, robot apparatus, electrical charging device, electrical charging controlling program and recording medium | ||
|
Patent #
US 20040012362A1
Filed 03/26/2003
|
Current Assignee
Sony Corporation
|
Original Assignee
Sony Corporation
|
| Method and system for robot localization and confinement | ||
|
Patent #
US 6,690,134 B1
Filed 01/24/2002
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous floor-cleaning robot | ||
|
Patent #
US 20040049877A1
Filed 12/16/2002
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous floor-cleaning robot | ||
|
Patent #
US 20040187249A1
Filed 04/05/2004
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Method and apparatus for generating and tracing cleaning trajectory of home cleaning robot | ||
|
Patent #
US 20040204804A1
Filed 04/08/2004
|
Current Assignee
Samsung Electronics Co. Ltd.
|
Original Assignee
Samsung Electronics Co. Ltd.
|
| Method and apparatus for allowing mobile robot to return to docking station | ||
|
Patent #
US 20040210346A1
Filed 04/14/2004
|
Current Assignee
Samsung Electronics Co. Ltd.
|
Original Assignee
Samsung Electronics Co. Ltd.
|
| Method and system for positioning an autonomous mobile unit for docking | ||
|
Patent #
US 6,504,610 B1
Filed 07/22/1999
|
Current Assignee
Siemens AG
|
Original Assignee
Siemens AG
|
| Mobile robots and their control system | ||
|
Patent #
US 6,532,404 B2
Filed 03/01/2002
|
Current Assignee
Andr Colens
|
Original Assignee
Andr Colens
|
| Mobile robots and their control system | ||
|
Patent #
US 6,389,329 B1
Filed 05/26/2000
|
Current Assignee
Solar Robotics SA
|
Original Assignee
Andre Colens
|
| Robot cleaner, system employing the same and method for re-connecting to external recharging device | ||
|
Patent #
US 20020153185A1
Filed 04/05/2002
|
Current Assignee
Samsung Gwangju Electronics Co. Ltd.
|
Original Assignee
Samsung Gwangju Electronics Co. Ltd.
|
| Mobile camera-space manipulation | ||
|
Patent #
US 6,194,860 B1
Filed 11/01/1999
|
Current Assignee
YODER SOFTWARE INC.
|
Original Assignee
YODER SOFTWARE INC.
|
| Method for docking an autonomous mobile unit with the use of a light beam | ||
|
Patent #
US 6,278,917 B1
Filed 05/12/2000
|
Current Assignee
Siemens AG
|
Original Assignee
Siemens AG
|
| Gas-controlled battery charging device for a driverless transport vehicle | ||
|
Patent #
US 5,488,285 A
Filed 08/30/1993
|
Current Assignee
Shinko Electric Industries Company Limited
|
Original Assignee
Shinko Electric Industries Company Limited
|
| Combined light beam and ultrasonic transducer safety sensing system | ||
|
Patent #
US 5,280,622 A
Filed 07/17/1992
|
Current Assignee
Mitsubishi Electronics America
|
Original Assignee
Mitsubishi Semiconductor America Inc.
|
| Nonholonomic camera space manipulation | ||
|
Patent #
US 5,300,869 A
Filed 07/01/1993
|
Current Assignee
Iowa State University Research Foundation Incorporated
|
Original Assignee
Iowa State University Research Foundation Incorporated
|
| Power-charging system for transporter cart | ||
|
Patent #
US 5,323,098 A
Filed 08/15/1991
|
Current Assignee
Daifuku Company Limited
|
Original Assignee
Daifuku Company Limited
|
| Autonomous lawn mower | ||
|
Patent #
US 5,204,814 A
Filed 11/13/1990
|
Current Assignee
CUTTING EDGE ROBOTICS INC.
|
Original Assignee
Mobot Incorporated
|
| Mobile robot on-board vision system | ||
|
Patent #
US 5,219,264 A
Filed 04/10/1990
|
Current Assignee
Texas Instruments Inc.
|
Original Assignee
Texas Instruments Inc.
|
| Mobile robot navigation employing retroreflective ceiling features | ||
|
Patent #
US 5,051,906 A
Filed 06/07/1989
|
Current Assignee
Carefusion 303 Incorporated
|
Original Assignee
TRANSITIONS RESEARCH CORPORATION
|
| Charging system for a vehicle | ||
|
Patent #
US 5,049,802 A
Filed 03/01/1990
|
Current Assignee
FMC Corporation
|
Original Assignee
Caterpillar Incorporated
|
| One dimensional image visual system for a moving vehicle | ||
|
Patent #
US 4,905,151 A
Filed 03/07/1988
|
Current Assignee
TRANSITIONS RESEARCH CORPORATION
|
Original Assignee
TRANSITIONS RESEARCH CORPORATION
|
| Method for laser-based two-dimensional navigation system in a structured environment | ||
|
Patent #
US 4,796,198 A
Filed 10/17/1986
|
Current Assignee
United States Of America As Represented By The Department Of Energy
|
Original Assignee
United States Department of Energy
|
| Remote controlled travel apparatus | ||
|
Patent #
US 4,835,692 A
Filed 02/02/1987
|
Current Assignee
BRIDGE PLATE CONSTRUCTIONS PTY. LTD. 21 FOWLER ROAD DANDENONG VICTORIA 3175 A CORP. OF VICTORIA
|
Original Assignee
BRIDGE PLATE CONSTRUCTION PTY. LTD.
|
| Programmable robot of the wire-guided or radio-controlled type, for loading and unloading automatically empty spools and filled spools into and from wire winding machines | ||
|
Patent #
US 4,834,308 A
Filed 01/22/1988
|
Current Assignee
S.A.M.P. S.P.A. MECCANICA DI PRECISIONE AN ITALIAN CO.
|
Original Assignee
S.A.M.P. S.P.A. MECCANICA DI PRECISIONE
|
| Optical navigation system for an automatic guided vehicle, and method | ||
|
Patent #
US 4,858,132 A
Filed 09/11/1987
|
Current Assignee
Nationsbank Of North Carolina N.A.
|
Original Assignee
Ndc Technologies Inc.
|
| Method and apparatus for filtering reflections from direct images for mobile robot navigation | ||
|
Patent #
US 4,789,940 A
Filed 08/30/1985
|
Current Assignee
Texas Instruments Inc.
|
Original Assignee
Texas Instruments Inc.
|
| Mobile teleconferencing system that projects an image provided by a mobile robot | ||
|
Patent #
US 20070291128A1
Filed 06/15/2006
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
Teladoc Health Inc.
|
| Interactive play sets | ||
|
Patent #
US 20070293119A1
Filed 11/02/2005
|
Current Assignee
Mattel Incorporated
|
Original Assignee
Mattel Incorporated
|
| Robotic platform | ||
|
Patent #
US 8,113,304 B2
Filed 06/13/2008
|
Current Assignee
Flir Detection Inc.
|
Original Assignee
iRobot Corporation
|
| Cleaning robot roller processing | ||
|
Patent #
US 8,087,117 B2
Filed 05/21/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Sonar scanner | ||
|
Patent #
US 8,107,318 B2
Filed 03/30/2010
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| AUTOMATIC GUIDED VEHICLE AND METHOD FOR DRIVE CONTROL OF THE SAME | ||
|
Patent #
US 20120059545A1
Filed 09/01/2011
|
Current Assignee
Hitachi Industrial Products Ltd.
|
Original Assignee
Hitachi Plant Technologies Limited
|
| AUTOMATIC DOCKING SYSTEM | ||
|
Patent #
US 20120129410A1
Filed 11/19/2010
|
Current Assignee
Maxwell Tyers
|
Original Assignee
Maxwell Tyers
|
| CHARGING DEVICE OF ROBOT CLEANER | ||
|
Patent #
US 20120143428A1
Filed 06/30/2009
|
Current Assignee
LG Electronics Inc.
|
Original Assignee
LG Electronics Inc.
|
| Robot battery charging apparatuses and methods | ||
|
Patent #
US 8,212,533 B2
Filed 12/23/2009
|
Current Assignee
Ibaraki Toyota Jidosha Kabushiki Kaisha
|
Original Assignee
Toyota Motor Engineering Manufacturing North America Incorporated
|
| Compact autonomous coverage robot | ||
|
Patent #
US 8,239,992 B2
Filed 05/09/2008
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Debris sensor for cleaning apparatus | ||
|
Patent #
US 8,253,368 B2
Filed 01/14/2010
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Sonar scanner | ||
|
Patent #
US 8,295,125 B2
Filed 01/13/2012
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| System and method for autonomous vehicle localization | ||
|
Patent #
US 8,301,325 B2
Filed 07/28/2008
|
Current Assignee
Mtd Products Incorporated
|
Original Assignee
Precise Path Robotics Inc.
|
| ROBOT | ||
|
Patent #
US 20120290111A1
Filed 05/07/2012
|
Current Assignee
ASUSTek Computer Suzhou Company Limited
|
Original Assignee
ASUSTek Computer Suzhou Company Limited
|
| Modular rotary multi-sensor sensor ring | ||
|
Patent #
US 8,364,312 B2
Filed 06/06/2008
|
Current Assignee
Cycogs LLC
|
Original Assignee
Cycogs LLC
|
| Robotic platform | ||
|
Patent #
US 8,365,848 B2
Filed 06/17/2008
|
Current Assignee
Flir Detection Inc.
|
Original Assignee
iRobot Corporation
|
| Robot confinement | ||
|
Patent #
US 8,368,339 B2
Filed 08/13/2009
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Device For Influencing Navigation Of An Autonomous Vehicle | ||
|
Patent #
US 20130035793A1
Filed 10/09/2012
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Robot system | ||
|
Patent #
US 8,374,721 B2
Filed 12/04/2006
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Debris sensor for cleaning apparatus | ||
|
Patent #
US 8,378,613 B2
Filed 10/21/2008
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous coverage robot navigation system | ||
|
Patent #
US 8,380,350 B2
Filed 12/23/2008
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous surface cleaning robot for wet cleaning | ||
|
Patent #
US 8,382,906 B2
Filed 08/07/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Navigational control system for a robotic device | ||
|
Patent #
US 8,386,081 B2
Filed 07/30/2009
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous surface cleaning robot for wet and dry cleaning | ||
|
Patent #
US 8,387,193 B2
Filed 08/07/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous robot auto-docking and energy management systems and methods | ||
|
Patent #
US 8,390,251 B2
Filed 08/06/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous surface cleaning robot for wet cleaning | ||
|
Patent #
US 8,392,021 B2
Filed 08/19/2005
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Method and system for multi-mode coverage for an autonomous robot | ||
|
Patent #
US 8,396,592 B2
Filed 02/05/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| SONAR SCANNER | ||
|
Patent #
US 20130070563A1
Filed 10/22/2012
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Obstacle following sensor scheme for a mobile robot | ||
|
Patent #
US 8,412,377 B2
Filed 06/24/2005
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Detecting robot stasis | ||
|
Patent #
US 8,417,383 B2
Filed 05/31/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Cleaning robot roller processing | ||
|
Patent #
US 8,418,303 B2
Filed 11/30/2011
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous coverage robot sensing | ||
|
Patent #
US 8,438,695 B2
Filed 12/08/2011
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Mobile station for unmanned vehicle | ||
|
Patent #
US 8,442,700 B2
Filed 08/19/2009
|
Current Assignee
Deere Company
|
Original Assignee
Deere Company
|
| Debris sensor for cleaning apparatus | ||
|
Patent #
US 8,456,125 B2
Filed 12/15/2011
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous robot auto-docking and energy management systems and methods | ||
|
Patent #
US 8,461,803 B2
Filed 12/29/2006
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Method and system for multi-mode coverage for an autonomous robot | ||
|
Patent #
US 8,463,438 B2
Filed 10/30/2009
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous floor-cleaning robot | ||
|
Patent #
US 8,474,090 B2
Filed 08/29/2008
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Obstacle following sensor scheme for a mobile robot | ||
|
Patent #
US 8,478,442 B2
Filed 05/23/2008
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Navigational control system for a robotic device | ||
|
Patent #
US 8,515,578 B2
Filed 12/13/2010
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous floor-cleaning robot | ||
|
Patent #
US 8,516,651 B2
Filed 12/17/2010
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Coverage robots and associated cleaning bins | ||
|
Patent #
US 8,528,157 B2
Filed 05/21/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Obstacle following sensor scheme for a mobile robot | ||
|
Patent #
US 8,565,920 B2
Filed 06/18/2009
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Removing debris from cleaning robots | ||
|
Patent #
US 8,572,799 B2
Filed 05/21/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Modular robot | ||
|
Patent #
US 8,584,305 B2
Filed 12/04/2006
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Modular robot | ||
|
Patent #
US 8,584,307 B2
Filed 12/08/2011
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Celestial navigation system for an autonomous robot | ||
|
Patent #
US 8,594,840 B1
Filed 03/31/2009
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Sonar scanner | ||
|
Patent #
US 8,599,645 B2
Filed 10/22/2012
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Coverage robot mobility | ||
|
Patent #
US 8,600,553 B2
Filed 06/05/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous coverage robot navigation system | ||
|
Patent #
US 8,606,401 B2
Filed 07/01/2010
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Celestial navigation system for an autonomous robot | ||
|
Patent #
US 8,634,958 B1
Filed 09/26/2011
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Celestial navigation system for an autonomous robot | ||
|
Patent #
US 8,634,956 B1
Filed 03/31/2009
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Lawn care robot | ||
|
Patent #
US 8,634,960 B2
Filed 03/19/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous floor-cleaning robot | ||
|
Patent #
US 8,656,550 B2
Filed 06/28/2010
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Robot confinement | ||
|
Patent #
US 8,659,256 B2
Filed 06/30/2010
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Robot confinement | ||
|
Patent #
US 8,659,255 B2
Filed 06/30/2010
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Coverage robot mobility | ||
|
Patent #
US 8,661,605 B2
Filed 09/17/2008
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous surface cleaning robot for wet and dry cleaning | ||
|
Patent #
US 8,670,866 B2
Filed 02/21/2006
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous floor-cleaning robot | ||
|
Patent #
US 8,671,507 B2
Filed 06/28/2010
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Medical tele-robotic system with a master remote station with an arbitrator | ||
|
Patent #
US 8,682,486 B2
Filed 07/17/2013
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Device for influencing navigation of an autonomous vehicle | ||
|
Patent #
US 8,688,270 B2
Filed 10/09/2012
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Automatic search system and method | ||
|
Patent #
US 8,712,625 B2
Filed 08/18/2010
|
Current Assignee
National Tsing Hua University
|
Original Assignee
National Tsing Hua University
|
| Autonomous coverage robot | ||
|
Patent #
US 8,726,454 B2
Filed 05/09/2008
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous surface cleaning robot for dry cleaning | ||
|
Patent #
US 8,739,355 B2
Filed 08/07/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous robot auto-docking and energy management systems and methods | ||
|
Patent #
US 8,749,196 B2
Filed 12/29/2006
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Robot system | ||
|
Patent #
US 8,761,931 B2
Filed 05/14/2013
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Obstacle following sensor scheme for a mobile robot | ||
|
Patent #
US 8,761,935 B2
Filed 06/24/2008
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous floor-cleaning robot | ||
|
Patent #
US 8,763,199 B2
Filed 06/28/2010
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Robotic platform | ||
|
Patent #
US 8,763,732 B2
Filed 03/09/2009
|
Current Assignee
Flir Detection Inc.
|
Original Assignee
iRobot Corporation
|
| Autonomous surface cleaning robot for wet and dry cleaning | ||
|
Patent #
US 8,774,966 B2
Filed 02/08/2011
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Methods and apparatus for position estimation using reflected light sources | ||
|
Patent #
US 8,780,342 B2
Filed 10/12/2012
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Robot confinement | ||
|
Patent #
US 8,781,627 B2
Filed 06/19/2009
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous surface cleaning robot for dry cleaning | ||
|
Patent #
US 8,782,848 B2
Filed 03/26/2012
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Obstacle following sensor scheme for a mobile robot | ||
|
Patent #
US 8,788,092 B2
Filed 08/06/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Navigational control system for a robotic device | ||
|
Patent #
US 8,793,020 B2
Filed 09/13/2012
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Vacuum brush | ||
|
Patent #
US 8,800,107 B2
Filed 02/16/2011
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Charging device of robot cleaner | ||
|
Patent #
US 8,825,256 B2
Filed 06/30/2009
|
Current Assignee
LG Electronics Inc.
|
Original Assignee
LG Electronics Inc.
|
| Tele-presence system with a user interface that displays different communication links | ||
|
Patent #
US 8,836,751 B2
Filed 11/08/2011
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Method and system for multi-mode coverage for an autonomous robot | ||
|
Patent #
US 8,838,274 B2
Filed 06/30/2010
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Compact autonomous coverage robot | ||
|
Patent #
US 8,839,477 B2
Filed 12/19/2012
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Documentation through a remote presence robot | ||
|
Patent #
US 8,849,680 B2
Filed 01/29/2009
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Remote controlled robot system that provides medical images | ||
|
Patent #
US 8,849,679 B2
Filed 11/25/2008
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Autonomous robot auto-docking and energy management systems and methods | ||
|
Patent #
US 8,854,001 B2
Filed 11/08/2011
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous surface cleaning robot for wet and dry cleaning | ||
|
Patent #
US 8,855,813 B2
Filed 10/25/2011
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Robot confinement | ||
|
Patent #
US 8,868,237 B2
Filed 03/19/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Celestial navigation system for an autonomous robot | ||
|
Patent #
US 8,874,264 B1
Filed 11/18/2011
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Robotic vacuum | ||
|
Patent #
US 8,881,339 B2
Filed 04/30/2012
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Tele-presence robot system with software modularity, projector and laser pointer | ||
|
Patent #
US 8,897,920 B2
Filed 04/17/2009
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Systems and methods for visualizing and managing telepresence devices in healthcare networks | ||
|
Patent #
US 8,902,278 B2
Filed 07/25/2012
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Robotic vacuum cleaning system | ||
|
Patent #
US 8,910,342 B2
Filed 06/12/2014
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Robot | ||
|
Patent #
US 8,914,139 B2
Filed 05/07/2012
|
Current Assignee
ASUSTek Computer Suzhou Company Limited
|
Original Assignee
ASUSTek Computer Suzhou Company Limited
|
| Localization by learning of wave-signal distributions | ||
|
Patent #
US 8,930,023 B2
Filed 11/05/2010
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Method and system for guiding a robotic garden tool to a predetermined position | ||
|
Patent #
US 8,942,862 B2
Filed 03/17/2010
|
Current Assignee
Husqvarna AB
|
Original Assignee
Husqvarna AB
|
| Modular robot | ||
|
Patent #
US 8,950,038 B2
Filed 09/25/2013
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Lawn care robot | ||
|
Patent #
US 8,954,193 B2
Filed 12/12/2013
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Navigating autonomous coverage robots | ||
|
Patent #
US 8,954,192 B2
Filed 06/05/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Robotic vacuum cleaning system | ||
|
Patent #
US 8,955,192 B2
Filed 06/12/2014
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Interfacing with a mobile telepresence robot | ||
|
Patent #
US 8,965,579 B2
Filed 01/27/2012
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health, iRobot Corporation
|
| AUTONOMOUS ROBOT AUTO-DOCKING AND ENERGY MANAGEMENT SYSTEMS AND METHODS | ||
|
Patent #
US 20150057800A1
Filed 09/03/2014
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Celestial navigation system for an autonomous vehicle | ||
|
Patent #
US 8,972,052 B2
Filed 11/03/2009
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous surface cleaning robot for dry cleaning | ||
|
Patent #
US 8,966,707 B2
Filed 07/15/2010
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Coverage robot mobility | ||
|
Patent #
US 8,978,196 B2
Filed 12/20/2012
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Mobile robot with a head-based movement mapping scheme | ||
|
Patent #
US 8,983,174 B2
Filed 02/19/2013
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Autonomous surface cleaning robot for wet cleaning | ||
|
Patent #
US 8,985,127 B2
Filed 10/02/2013
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Telepresence robot with a camera boom | ||
|
Patent #
US 8,996,165 B2
Filed 10/21/2008
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Remote control scheduler and method for autonomous robotic device | ||
|
Patent #
US 9,008,835 B2
Filed 06/24/2005
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous floor-cleaning robot | ||
|
Patent #
US 9,038,233 B2
Filed 12/14/2012
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Lawn care robot | ||
|
Patent #
US 9,043,952 B2
Filed 12/12/2013
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Lawn care robot | ||
|
Patent #
US 9,043,953 B2
Filed 12/12/2013
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Remote presence system including a cart that supports a robot face and an overhead camera | ||
|
Patent #
US 9,089,972 B2
Filed 01/16/2014
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Enhanced video interaction for a user interface of a telepresence network | ||
|
Patent #
US 9,098,611 B2
Filed 03/14/2013
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Method and system for multi-mode coverage for an autonomous robot | ||
|
Patent #
US 9,104,204 B2
Filed 05/14/2013
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Navigational control system for a robotic device | ||
|
Patent #
US 9,128,486 B2
Filed 03/06/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Server connectivity control for tele-presence robot | ||
|
Patent #
US 9,138,891 B2
Filed 11/25/2008
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Debris sensor for cleaning apparatus | ||
|
Patent #
US 9,144,361 B2
Filed 05/13/2013
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous coverage robot navigation system | ||
|
Patent #
US 9,144,360 B2
Filed 12/04/2006
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Navigating autonomous coverage robots | ||
|
Patent #
US 9,149,170 B2
Filed 07/05/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Robot system that operates through a network firewall | ||
|
Patent #
US 9,160,783 B2
Filed 05/09/2007
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Autonomous floor cleaning robot | ||
|
Patent #
US 9,167,946 B2
Filed 08/06/2007
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Social behavior rules for a medical telepresence robot | ||
|
Patent #
US 9,174,342 B2
Filed 11/21/2014
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health, iRobot Corporation
|
| Automatic guided vehicle and method for drive control of the same | ||
|
Patent #
US 9,176,502 B2
Filed 09/01/2011
|
Current Assignee
Hitachi Industrial Products Ltd.
|
Original Assignee
Hitachi America Limited
|
| Docking system for a tele-presence robot | ||
|
Patent #
US 9,193,065 B2
Filed 07/10/2008
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Multi-camera mobile teleconferencing platform | ||
|
Patent #
US 9,198,728 B2
Filed 09/30/2005
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Autonomous robot auto-docking and energy management systems and methods | ||
|
Patent #
US 9,215,957 B2
Filed 09/03/2014
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Robotic vacuum | ||
|
Patent #
US 9,220,386 B2
Filed 04/30/2012
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Celestial navigation system for an autonomous vehicle | ||
|
Patent #
US 9,223,749 B2
Filed 12/31/2012
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous mobile robot system | ||
|
Patent #
US 9,229,454 B1
Filed 10/02/2013
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Apparatus and method for patient rounding with a remote controlled robot | ||
|
Patent #
US RE45,870 E1
Filed 07/06/2012
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Robotic platform | ||
|
Patent #
US 9,248,874 B2
Filed 12/31/2008
|
Current Assignee
Flir Detection Inc.
|
Original Assignee
iRobot Corporation
|
| Systems and methods for visualizing and managing telepresence devices in healthcare networks | ||
|
Patent #
US 9,251,313 B2
Filed 04/11/2012
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Apparatus and method for providing tethered electrical power to autonomous mobile robots | ||
|
Patent #
US 9,252,584 B2
Filed 07/31/2013
|
Current Assignee
Brett Aldrich
|
Original Assignee
Brett Aldrich
|
| Systems and methods for dynamic bandwidth allocation | ||
|
Patent #
US 9,264,664 B2
Filed 12/03/2010
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Protocol for a remotely controlled videoconferencing robot | ||
|
Patent #
US 9,296,107 B2
Filed 05/10/2012
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| AUTONOMOUS ROBOT AUTO-DOCKING AND ENERGY MANAGEMENT SYSTEMS AND METHODS | ||
|
Patent #
US 20160075021A1
Filed 11/20/2015
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Detecting robot stasis | ||
|
Patent #
US 9,317,038 B2
Filed 02/26/2013
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Robotic vacuum cleaning system | ||
|
Patent #
US 9,320,400 B2
Filed 12/31/2014
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous coverage robots | ||
|
Patent #
US 9,320,398 B2
Filed 08/13/2009
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Time-dependent navigation of telepresence robots | ||
|
Patent #
US 9,323,250 B2
Filed 08/02/2013
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health, iRobot Corporation
|
| DOCKING SYSTEM FOR A TELE-PRESENCE ROBOT | ||
|
Patent #
US 20160129597A1
Filed 10/09/2015
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Graphical user interfaces including touchpad driving interfaces for telemedicine devices | ||
|
Patent #
US 9,361,021 B2
Filed 11/21/2014
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health, iRobot Corporation
|
| Methods and apparatus for position estimation using reflected light sources | ||
|
Patent #
US 9,360,300 B2
Filed 06/02/2014
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Protocol for a remotely controlled videoconferencing robot | ||
|
Patent #
US 9,375,843 B2
Filed 06/18/2010
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Server connectivity control for tele-presence robot | ||
|
Patent #
US 9,381,654 B2
Filed 05/14/2013
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Docking station | ||
|
Patent #
US D760,649 S1
Filed 06/22/2015
|
Current Assignee
Mtd Products Incorporated
|
Original Assignee
Mtd Products Incorporated
|
| Robot system | ||
|
Patent #
US 9,392,920 B2
Filed 05/12/2014
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Use of motion data in the processing of automotive radar image processing | ||
|
Patent #
US 9,423,498 B1
Filed 09/25/2012
|
Current Assignee
Google LLC
|
Original Assignee
Google Inc.
|
| Robot lawnmower mapping | ||
|
Patent #
US 9,420,741 B2
Filed 12/15/2014
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Mobile videoconferencing robot system with network adaptive driving | ||
|
Patent #
US 9,429,934 B2
Filed 10/15/2013
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Localization by learning of wave-signal distributions | ||
|
Patent #
US 9,440,354 B2
Filed 01/05/2015
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous surface cleaning robot for wet and dry cleaning | ||
|
Patent #
US 9,445,702 B2
Filed 06/11/2014
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Obstacle following sensor scheme for a mobile robot | ||
|
Patent #
US 9,446,521 B2
Filed 06/06/2014
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Interfacing with a mobile telepresence robot | ||
|
Patent #
US 9,469,030 B2
Filed 10/27/2015
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health, iRobot Corporation
|
| Compact autonomous coverage robot | ||
|
Patent #
US 9,480,381 B2
Filed 08/11/2014
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Remote control scheduler and method for autonomous robotic device | ||
|
Patent #
US 9,486,924 B2
Filed 03/27/2015
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| SELF-PROPELLED DEVICE | ||
|
Patent #
US 20160324386A1
Filed 01/09/2015
|
Current Assignee
Toshiba Lifestyle Products Services Corporation
|
Original Assignee
Toshiba Lifestyle Products Services Corporation
|
| Removing debris from cleaning robots | ||
|
Patent #
US 9,492,048 B2
Filed 12/24/2013
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous robot localization | ||
|
Patent #
US 9,510,505 B2
Filed 10/10/2014
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Robotic lawn mowing boundary determination | ||
|
Patent #
US 9,516,806 B2
Filed 10/10/2014
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Robotic mowing of separated lawn areas | ||
|
Patent #
US 9,538,702 B2
Filed 12/22/2014
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Docking station | ||
|
Patent #
US D776,054 S1
Filed 06/23/2016
|
Current Assignee
Mtd Products Incorporated
|
Original Assignee
Mtd Products Incorporated
|
| Autonomous robot auto-docking and energy management systems and methods | ||
|
Patent #
US 9,550,294 B2
Filed 11/20/2015
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous mobile robot | ||
|
Patent #
US 9,554,508 B2
Filed 03/17/2015
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Robotic platform | ||
|
Patent #
US 9,573,638 B2
Filed 08/06/2007
|
Current Assignee
Flir Detection Inc.
|
Original Assignee
iRobot Defense Holdings Inc.
|
| Robot confinement | ||
|
Patent #
US 9,582,005 B2
Filed 02/12/2014
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| AUTONOMOUS ROBOT AUTO-DOCKING AND ENERGY MANAGEMENT SYSTEMS AND METHODS | ||
|
Patent #
US 20170072564A1
Filed 11/18/2016
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Portable remote presence robot | ||
|
Patent #
US 9,602,765 B2
Filed 05/28/2014
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Robot system | ||
|
Patent #
US 9,599,990 B2
Filed 06/15/2016
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Mobile tele-presence system with a microphone system | ||
|
Patent #
US 9,616,576 B2
Filed 09/10/2014
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Autonomous floor-cleaning robot | ||
|
Patent #
US 9,622,635 B2
Filed 05/21/2014
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Localization by learning of wave-signal distributions | ||
|
Patent #
US 9,623,557 B2
Filed 08/26/2016
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Robotic vacuum cleaning system | ||
|
Patent #
US 9,675,224 B2
Filed 11/20/2015
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Robot confinement | ||
|
Patent #
US 9,713,302 B2
Filed 09/18/2014
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Tele-presence system with a user interface that displays different communication links | ||
|
Patent #
US 9,715,337 B2
Filed 08/07/2014
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Mobile robot with a head-based movement mapping scheme | ||
|
Patent #
US 9,766,624 B2
Filed 02/09/2015
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Social behavior rules for a medical telepresence robot | ||
|
Patent #
US 9,776,327 B2
Filed 11/03/2015
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health, iRobot Corporation
|
| Time-dependent navigation of telepresence robots | ||
|
Patent #
US 9,785,149 B2
Filed 04/26/2016
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health, iRobot Corporation
|
| Robotic mowing of separated lawn areas | ||
|
Patent #
US 9,826,678 B2
Filed 12/01/2016
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Tele-presence robot system with multi-cast features | ||
|
Patent #
US 9,842,192 B2
Filed 07/11/2008
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Medical tele-robotic system with a master remote station with an arbitrator | ||
|
Patent #
US 9,849,593 B2
Filed 02/07/2014
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Robotic lawn mowing boundary determination | ||
|
Patent #
US 9,854,737 B2
Filed 12/07/2016
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Restricting movement of a mobile robot | ||
|
Patent #
US 9,868,211 B2
Filed 04/09/2015
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous robot auto-docking and energy management systems and methods | ||
|
Patent #
US 9,884,423 B2
Filed 04/19/2017
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Celestial navigation system for an autonomous vehicle | ||
|
Patent #
US 9,921,586 B2
Filed 12/01/2016
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous robot auto-docking and energy management systems and methods | ||
|
Patent #
US 9,931,750 B2
Filed 11/18/2016
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Navigational control system for a robotic device | ||
|
Patent #
US 9,949,608 B2
Filed 05/30/2014
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Removing debris from cleaning robots | ||
|
Patent #
US 9,955,841 B2
Filed 10/01/2013
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Protocol for a remotely controlled videoconferencing robot | ||
|
Patent #
US 9,956,690 B2
Filed 06/28/2016
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Enhanced diagnostics for a telepresence robot | ||
|
Patent #
US 9,974,612 B2
Filed 02/13/2014
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Going back and charging system for sweeping robot and method for controlling the same | ||
|
Patent #
US 9,989,968 B2
Filed 08/12/2016
|
Current Assignee
Jiangsu Midea Cleaning Appliances Co. Ltd.
|
Original Assignee
Jiangsu Midea Cleaning Appliances Co. Ltd.
|
| Blade assembly for a grass cutting mobile robot | ||
|
Patent #
US 10,021,830 B2
Filed 02/02/2016
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Lawn care robot | ||
|
Patent #
US 10,037,038 B2
Filed 04/28/2015
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Remote control scheduler and method for autonomous robotic device | ||
|
Patent #
US 10,045,676 B2
Filed 04/24/2017
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Self-propelled device | ||
|
Patent #
US 10,048,694 B2
Filed 01/09/2015
|
Current Assignee
Toshiba Lifestyle Products Services Corporation
|
Original Assignee
Toshiba Lifestyle Products Services Corporation
|
| Server connectivity control for a tele-presence robot | ||
|
Patent #
US 10,059,000 B2
Filed 06/30/2016
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Graphical user interfaces including touchpad driving interfaces for telemedicine devices | ||
|
Patent #
US 10,061,896 B2
Filed 05/13/2016
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health, iRobot Corporation
|
| Autonomous robot localization | ||
|
Patent #
US 10,067,232 B2
Filed 12/05/2016
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Compact autonomous coverage robot | ||
|
Patent #
US 10,070,764 B2
Filed 10/24/2016
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Robotic mowing of separated lawn areas | ||
|
Patent #
US 10,159,180 B2
Filed 10/26/2017
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Systems and methods for dynamic bandwidth allocation | ||
|
Patent #
US 10,218,748 B2
Filed 02/02/2016
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Charging device of robot cleaner | ||
|
Patent #
US RE47,264 E1
Filed 09/24/2015
|
Current Assignee
LG Electronics Inc.
|
Original Assignee
LG Electronics Inc.
|
| Charging device of robot cleaner | ||
|
Patent #
US RE47,265 E1
Filed 12/10/2015
|
Current Assignee
LG Electronics Inc.
|
Original Assignee
LG Electronics Inc.
|
| Mobile robot with a head-based movement mapping scheme | ||
|
Patent #
US 10,241,507 B2
Filed 09/18/2017
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Coverage robots and associated cleaning bins | ||
|
Patent #
US 10,244,915 B2
Filed 05/13/2013
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Multi-camera mobile teleconferencing platform | ||
|
Patent #
US 10,259,119 B2
Filed 10/27/2015
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Robot lawnmower mapping | ||
|
Patent #
US 10,274,954 B2
Filed 08/05/2016
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous coverage robot | ||
|
Patent #
US 10,299,652 B2
Filed 03/19/2014
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Vacuum brush | ||
|
Patent #
US 10,314,449 B2
Filed 07/08/2014
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Medical tele-robotic system with a master remote station with an arbitrator | ||
|
Patent #
US 10,315,312 B2
Filed 11/20/2017
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Social behavior rules for a medical telepresence robot | ||
|
Patent #
US 10,328,576 B2
Filed 09/29/2017
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Tele-presence system with a user interface that displays different communication links | ||
|
Patent #
US 10,331,323 B2
Filed 07/24/2017
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Enhanced video interaction for a user interface of a telepresence network | ||
|
Patent #
US 10,334,205 B2
Filed 01/09/2017
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Telepresence robot system that can be accessed by a cellular phone | ||
|
Patent #
US 10,343,283 B2
Filed 05/24/2010
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Interfacing with a mobile telepresence robot | ||
|
Patent #
US 10,399,223 B2
Filed 03/01/2017
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Portable remote presence robot | ||
|
Patent #
US 10,404,939 B2
Filed 03/20/2017
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Blade assembly for a grass cutting mobile robot | ||
|
Patent #
US 10,426,083 B2
Filed 06/13/2018
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Robotic vacuum cleaning system | ||
|
Patent #
US 10,433,696 B2
Filed 05/09/2017
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Ranging and angle of arrival antenna system for a mobile robot | ||
|
Patent #
US 10,459,063 B2
Filed 02/16/2017
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous surface cleaning robot for dry cleaning | ||
|
Patent #
US 10,470,629 B2
Filed 05/30/2014
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Robot-based rack processing system | ||
|
Patent #
US 10,470,841 B2
Filed 03/28/2017
|
Current Assignee
Steris Corporation
|
Original Assignee
Steris Corporation
|
| Robotic based health care system | ||
|
Patent #
US 10,471,588 B2
Filed 03/28/2012
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Docking system for a tele-presence robot | ||
|
Patent #
US 10,493,631 B2
Filed 10/09/2015
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Cleaning roller for cleaning robots | ||
|
Patent #
US 10,512,384 B2
Filed 12/15/2016
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Modular Robot | ||
|
Patent #
US 10,524,629 B2
Filed 08/18/2014
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Time-dependent navigation of telepresence robots | ||
|
Patent #
US 10,591,921 B2
Filed 09/29/2017
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Cleaning roller for cleaning robots | ||
|
Patent #
US 10,595,624 B2
Filed 07/25/2017
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Docking station for robotic cleaner | ||
|
Patent #
US 10,595,696 B2
Filed 05/01/2019
|
Current Assignee
SharkNinja Operating LLC
|
Original Assignee
SharkNinja Operating LLC
|
| Celestial navigation system for an autonomous vehicle | ||
|
Patent #
US 10,599,159 B2
Filed 04/19/2017
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Clinical workflows utilizing autonomous and semiautonomous telemedicine devices | ||
|
Patent #
US 10,603,792 B2
Filed 11/21/2014
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Restricting movement of a mobile robot | ||
|
Patent #
US 10,639,793 B2
Filed 10/30/2017
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Graphical user interfaces including touchpad driving interfaces for telemedicine devices | ||
|
Patent #
US 10,658,083 B2
Filed 07/25/2018
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Robot system that operates through a network firewall | ||
|
Patent #
US 10,682,763 B2
Filed 10/09/2015
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Robotic lawn mowing boundary determination | ||
|
Patent #
US 10,750,667 B2
Filed 12/21/2017
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Autonomous robot auto-docking and energy management systems and methods | ||
|
Patent #
US 10,758,100 B2
Filed 03/30/2018
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Systems and methods for visualizing patient and telepresence device statistics in a healthcare network | ||
|
Patent #
US 10,762,170 B2
Filed 11/23/2015
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Systems and methods for management of information among medical providers and facilities | ||
|
Patent #
US 10,769,739 B2
Filed 04/25/2011
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Social behavior rules for a medical telepresence robot | ||
|
Patent #
US 10,780,582 B2
Filed 05/21/2019
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Tele-robotic system with a robot face placed on a chair | ||
|
Patent #
US 10,808,882 B2
Filed 10/19/2010
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Robot confinement | ||
|
Patent #
US 10,824,165 B2
Filed 03/21/2018
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Holonomic RFID reader | ||
|
Patent #
US 10,846,497 B2
Filed 10/08/2019
|
Current Assignee
ADASA Inc.
|
Original Assignee
ADASA Inc.
|
| Robotic mowing of separated lawn areas | ||
|
Patent #
US 10,874,045 B2
Filed 11/09/2018
|
Current Assignee
iRobot Corporation
|
Original Assignee
iRobot Corporation
|
| Remote presence system mounted to operating room hardware | ||
|
Patent #
US 10,875,182 B2
Filed 05/07/2008
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
Teladoc Health Inc.
|
| Server connectivity control for tele-presence robot | ||
|
Patent #
US 10,875,183 B2
Filed 08/27/2018
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
Teladoc Health Inc.
|
| Tele-presence robot system with multi-cast features | ||
|
Patent #
US 10,878,960 B2
Filed 12/11/2017
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
Teladoc Health Inc.
|
| Protocol for a remotely controlled videoconferencing robot | ||
|
Patent #
US 10,882,190 B2
Filed 01/13/2020
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
Teladoc Health Inc.
|
| Remote presence system including a cart that supports a robot face and an overhead camera | ||
|
Patent #
US 10,887,545 B2
Filed 03/20/2017
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
Teladoc Health Inc.
|
| Graphical user interfaces including touchpad driving interfaces for telemedicine devices | ||
|
Patent #
US 10,892,052 B2
Filed 05/13/2020
|
Current Assignee
Teladoc Health Inc.
|
Original Assignee
InTouch Technologies Inc. D.B.A. InTouch Health
|
| Robot vehicle guidance system including checkpoint realignment system | ||
|
Patent #
US 4,500,970 A
Filed 01/15/1982
|
Current Assignee
Richard A. Boulais, Johnathan E. Daemmer
|
Original Assignee
Richard A. Boulais
|
| Sonar ranging/light detection system for use in a robot | ||
|
Patent #
US 4,620,285 A
Filed 04/24/1984
|
Current Assignee
NEC Corporation
|
Original Assignee
HEATH COMPANY
|
| Control apparatus for omnidirectional, polar coordinated platform for lawnmower and the like | ||
|
Patent #
US 4,533,998 A
Filed 07/06/1984
|
Current Assignee
Moshel Eluzar-Receiver Byn. Y.S. Supreme Court
|
Original Assignee
Reza Falamak
|
| Robot vehicle | ||
|
Patent #
US 4,556,940 A
Filed 09/03/1981
|
Current Assignee
Mitsubishi Electric Corporation
|
Original Assignee
Mitsubishi Electric Corporation
|
| Automated operatorless vehicles | ||
|
Patent #
US 4,465,155 A
Filed 06/17/1981
|
Current Assignee
Marshall S. Collins
|
Original Assignee
Marshall S. Collins
|
| Vehicle collision avoidance system | ||
|
Patent #
US 4,379,497 A
Filed 09/02/1980
|
Current Assignee
SAURER AUTOMATION SYSTEMS INC.
|
Original Assignee
Bell Howell LLC
|
| Driverless vehicle autoguided by light signals and three non-directional detectors | ||
|
Patent #
US 4,309,758 A
Filed 08/01/1979
|
Current Assignee
Imperial Chemical Industries Limited
|
Original Assignee
Imperial Chemical Industries Limited
|
| Method and system for the automatic orientation and control of a robot | ||
|
Patent #
US 4,119,900 A
Filed 06/16/1976
|
Current Assignee
MITEC MODERNE INDUSTRIETECHNIK GMBH
|
Original Assignee
ITO PATENT-AG
|
| Robot movable in a group | ||
|
Patent #
US 4,028,533 A
Filed 12/29/1975
|
Current Assignee
Techno-Venture Co. Ltd.
|
Original Assignee
TECHNO-VENTURE CO. LTD.
|
| Method and apparatus for measuring the distance and/or relative elevation between two points in an opto-electronic manner | ||
|
Patent #
US 3,900,260 A
Filed 01/23/1974
|
Current Assignee
MTC MESSTECHNIK UND OPTOELEKTRONIK AG
|
Original Assignee
MITEC Moderne Industrietechnik GmbH Frieding-Herrsching DT
|
0 Claims
1 Specification
This application is related to but in no way dependent upon the following application which is assigned to the assignee of the present application and filed in the name of the present inventor: Ser. No. 603,471, filed Apr. 24, 1984, entitled "Sonar Ranging/Light Detection System For Use In A Robot".
This invention relates generally to the displacement of a mobile robot and is particularly directed to a navigation system and method to permit a mobile robot to detect, navigate to, and be recharged by a charging unit following detection of a low charge state in its storage battery.
The impact of robotics in areas ranging from the work place to the home is rapidly increasing. Industrial applications typically involve the high speed, repetitive performance of a specific task by a movable arm having grasping means on one end and which is generally capable of multi-axis movement. Mobile robots are similarly being used in increasing numbers of applications where it is necessary to transport an object between designated locations or to perform a given task at more than one location. In the home, mobile robotic systems are becoming increasingly popular with hobbyists as well as in toys and in electro-mechanical apparatus of an instructional nature.
Two primary considerations with regard to mobile robots relate to the manner in which the robot is powered, or energized, and to its navigation system. Some mobile robots are controlled and powered by means of an electrical cable coupled to the robot which, while simplifying the navigation system required and the number of instructions which the robot is requird to "learn", limits the mobility of the robot and thus the range of tasks which it may perform. In battery powered robots the requirement for an attached power cable is eliminated and displacement of the robot typically involves the positioning of numerous sensors/emitters in the immediate vicinity of the robot or a "track" system which the robot follows in moving from place to place.
Where the mobile robot is powered by a rechargeable battery, the prior art has made use of elongated strips positioned upon the floor which the robot senses and follows in the direction of a recharging unit upon detection of a low charge condition. When the robot arrives at the recharging unit, a plug and socket arrangement is generally provided to allow the robot to mate with the charger for recharging its storage battery or batteries. In addition to the undesirable feature of requiring numerous guide strips positioned upon the surface on which the robot moves, such systems suffer from another limitation in that if the robot makes an incorrect turn while on or upon reaching the guide strip system, the robot may travel away from rather than toward the recharging unit. If this error is not detected quickly enough, the robot may become fully discharged before it arrives at the recharging unit.
The present invention represents an improvement over the prior art in that by making use of a unique navigation system and method for a mobile robot it does not suffer from the aforementioned limitations. A combined opto/acoustic navigation system permits the robot to detect a charging unit in the room within which it is positioned. The navigation system then allows the robot to detect and navigate about obstacles while traveling to a position directly in front of the charging unit to permit the robot to dock with the floating plug-equipped charging unit for the recharging of its storage battery.
Accordingly, it is an object of the present invention to provide for the recharging of a storage battery in a mobile robot upon detection of a low charge state.
It is another object of the present invention to provide for the automatic displacement of a mobile robot energized by a storage battery to a charging unit for the recharging thereof.
Yet another object of the present invention is to provide an opto/acoustic navigation system and method for use in a rechargeable mobile robot for detecting, navigating to, and engaging a charging unit.
A further object of the present invention is to provide a navigation system and method for a mobile robot which is inexpensive, highly reliable, and is adapted for use either at home or in a work environment.
The present invention contemplates an opto/acoustic navigation system to permit a rechargeable battery-powered mobile robot to detect, navigate to and mate with a socket engaging charging unit upon detection of the need for recharging. An aft portion of the robot'"'"'s head is provided with a narrow vertical slot adjacent to and behind which are positioned within the head three infrared (IR) light emitting diodes (LED'"'"'s) arranged in a vertical column. Also positioned on an aft portion of the head near the vertical slot is an IR photodiode. Located adjacent to the charging unit are three LED'"'"'s arranged to cover an entire room and above the charging unit at robot-head height on the wall are located two IR photodiodes coupled to the charging unit. In the search mode, the three LED'"'"'s within the robots'"'"'s head emit a series of pulses at a first pulse rate as the head rotates. Upon detection of these pulses by the wall-mounted photodiodes, the charging unit'"'"'s LED'"'"'s emit a series of pulses at a second pulse rate which is detected by the robot'"'"'s photodiode. The robot'"'"'s head is then rotated so that the back of its head is over the front if its base which is then rotated to face the charger. The robot then moves toward the charger in a straight line using the aforementioned IR LED'"'"'s and photodiodes by maintaining the back of its head and the front if its base directed toward the charging unit. Using a first sonar in its base, the robot moves to within a predetermined distance of either an object or the charging unit. A second rotating sonar sensor in an upper portion of the robot'"'"'s head is then used to determine in which direction to turn for displacing the robot in a generally circular path with the object/charging unit at the center until it determines whether the object is, in fact, the charging unit by comparing the radius of the displacement path with the previously measured, predetermined distance to the object. If the charger is not detected, a semi-random "wander" routine is executed and the entire procedure is then repeated. If both distances agree, the robot'"'"'s slot and IR LED'"'"'s in combination with the wall-mounted mirror above the charging unit are used to directly align its charging receptacle with the charging unit'"'"'s floating plug whereupon the robot moves in a straight line for engagement with the charging unit.
The appended claims set forth in those novel features which characterize the invention. However, the invention itself, as well as further objects and advantages thereof, will best be understood by reference to the following detailed description of a preferred embodiment taken in conjunction with the accompanying drawings, where like reference characters identify like elements throughout the various figures, in which:
FIG. 1 is a top plan view of a robot with which the navigation system and method of the present invention is intended for use;
FIG. 2 is a side view of the upper, or head, portion of the mobile robot of FIG. 1;
FIG. 3 is a rear view of the upper, or head, portion of the mobile robot of FIG. 1;
FIG. 4 is a simplified schematic of a charger in combination with a reflecting mirror and a plurality of light emitting diodes and photodiodes for use in the present invention;
FIGS. 5 through 10 illustrate in simplified diagrammatic form the sequence of operations and displacement of the mobile robot as it detects, navigates to, and docks with the charger in accordance with the present invention;
FIG. 11 is a flow chart illustrating the sequence of operations executed during the displacement of a mobile robot to a charging unit in accordance with the present invention; and
FIG. 12 is a combination simplified schematic and block diagram of a navigation system for the automatic docking of a mobile robot with a recharging unit.
Referring to FIG. 1, there is shown a top plan view of a mobile robot 20 with which the navigation system and method of the present invention is intended for use.
The mobile robot 20 includes a lower body portion 22 which is provided with a plurality of wheels (not shown) by means of which the robot 20 may be displaced along a surface. Positioned on an upper portion of the body 22 of the robot 20 is a rotating head 24. Located in a forward portion of the robot'"'"'s body is a movable arm 26 which includes a gripper assembly 28 on the distal end thereof. The arm 26 and gripper assembly 28 combination may be adapted to perform a wide variety of functions including the grasping, lifting and manipulation of an object.
The robot'"'"'s head 24 is free to rotate 360° on the lower body of the robot about an axis generally designated as "X" in FIG. 1. Additional details of the robot'"'"'s head 24 are shown in FIGS. 2 and 3 which are side and rear views, respectively, of the head assembly. The rotating head 24 includes a lower portion, or base, 31. Securely positioned upon the lower portion 31 of the robot'"'"'s rotating head 24 are a plurality of spaced support members 32, 34 and 36 which, in turn, are coupled to and provide support for a generally horizontally oriented upper panel 30 on the top of the robot'"'"'s rotating head.
Positioned on a lower surface of the upper panel 30 of the rotating head 24 is an upper sonar transducer 44 which is coupled to appropriate signal generation and sensing circuitry (not shown) to permit acoustic signals to be transmitted and received. Positioned immediately beneath the upper sonar transducer 44 is the combination of a support member 48 and a rotating mirror 46. The support member 48 is rotationally coupled to the lower portion 31 of the rotating head 24 and to an appropriate drive system (not shown) for effecting the rotation of the support member. The upper end of the support member is securely coupled to the mirror 46 which rotates in unison with the support member 48.
The rotating mirror 46 is oriented at an inclined angle relative to vertical so as to reflect acoustic signals generated by the upper sonar transducer 44 in a generally horizontal direction in a 360° arc about the vertical axis designated as "X" in FIG. 1. Similarly, the orientation of the rotating mirror 46 allows for the reflection of acoustic signals incident thereon to be redirected upward into the upper sonar transducer 44 for detection and processing by appropriate circuitry (not shown) within the robot. The orientation of the upper sonar transducer 44 and the rotating mirror 46 combination provides 360° coverage about the robot 20. As described in the aforementioned cross-referenced application entitled "Sonar Ranging/Light Detection System For Use In A Robot", the details of which are hereby incorporated by reference in the present application, this arrangement allows angular distances to be measured at 15° intervals in a preferred embodiment.
Positioned within an aft surface of the base 31 of the rotating head 24 is a rear slot 38. Positioned within the base 31 of the rotating head 24 are three infrared (IR) light emitting diodes (LED'"'"'s) 40 which are aligned in a generally vertical, linear configuration. The IR LED'"'"'s 40 are positioned behind the rear slot 38 within the rotating head 24 and are aligned therewith. This arrangement permits light signals generated by the IR LED'"'"'s 40 to be transmitted through the rear slot 30 in an angularly restricted pattern. Thus, the IR signals emitted through the rear slot 38 from the IR LED'"'"'s 40 are in the form of a narrow beam transmitted generally horizontally in a 360° scan pattern as the robot'"'"'s head 24 rotates. Also positioned on an aft portion of the base 31 of the rotating head 24 adjacent to the rear slot 38 therein is a photodiode 42. The photodiode 42 is responsive to and rendered conductive by IR radiation incident thereon. The circuitry employed to couple the various electronic components described thus far is shown in FIG. 12 and described in detail below.
Referring to FIGS. 4 and 5, there are respectively shown front and top planar views of a charger unit 50 for use in the present invention. The charger 50 is positioned on the floor adjacent to the wall 53 and includes a floating plug 51 on a lateral portion thereof. The floating plug 51 is positioned on that portion of the charger 50 opposite to that which is in abutting contact with the wall 53. The floating plug 51 includes first and second plug leads, or contacts, 52, 54 which are adapted for insertion within a complementary receptacle (not shown) on a rear portion of the lower body 22 of the mobile robot 20. The receptacle in the robot 20 is much longer than the floating plug 51 on the charger 50 which facilitates the docking, or interfacing, of the robot 20 with the charger 50 even when the mobile robot is not in perfect alignment with the charger.
On an upper surface of the charger 50 is positioned a pod 56 which contains three IR LED'"'"'s 56A, 56B and 56C. These three IR LED'"'"'s are aimed slightly upward above horizontal and are oriented in a fanned-out manner so as to cover the entire room of which the wall 53 defines one lateral surface. This arrangement of the three IR LED'"'"'s 56A, 56B and 56C permits the photodiode 42 on the robot to detect an IR signal emitted from the IR LED pod 56 from anywhere within the room, provided an obstacle is not interposed between the robot'"'"'s head 24 and the charger'"'"'s IR LED pod 56. IR signals emitted by the charger 50 are received directly by the robot'"'"'s photodiode 42.
Also mounted on the wall 53 directly above the charger 50 and at the same height above the floor as the robot'"'"'s head is a photodiode module 60 containing first and second photodiodes 60A, 60B. The photodiode module 60 is coupled to the charger 50 by means of a thin shielded cable 58 and is positioned immediately forward of a mirror 62 securely mounted to the wall 53. The photodiode module 60 projects outwardly from the mirror 62 to permit the first and second photodiodes 60A, 60B to detect an IR signal transmitted by the robot 20 from anywhere within the room.
The function of the mirror 62 as well as other features of the charger 50 and robot 20 as utilized in the mobile robot navigation system and method of the present invention are described in detail in the following paragraphs. The operation of the mobile robot navigation system and method is discussed in terms of FIGS. 5 through 10 which illustrate the operating sequence of events in the charger and the robot as it docks with the charger. A flow chart representing the various operations carried out by the robot and the charger is illustrated in FIG. 11. FIG. 12 is a simplified schematic diagram of circuitry for use in the robot and the charger in carying out the principles of the present invention.
As shown in FIG. 11, the first step 80 in the operating program stored within a microcomputer, or controller, 206 (shown in FIG. 12) involves the detection of a low charge state of a storage battery 207 which energizes the mobile robot 20. The charge state of the battery 207 is detected by a charge sensor circuit 209 which may be conventional in design and operation and which provides an appropriate signal to the controller 206. After determining that its battery requires re-charging, the robot 20 stops its base motors (not shown) and retracts its extendable arm 26 (if installed on the robot) at step 82. The operating program within the robot'"'"'s controller 206 then determines if the robot is able to detect the charger 50. Before doing this, the operating program first ensures that the robot has sufficient room to rotate where it is currently standing at step 84. This is accomplished by means of the robot'"'"'s rotating head sonar including the upper sonar transducer 44 and the rotating mirror 46. If it is determined at step 86 that there is sufficient room for the robot to rotate so that its retracted arm 26, which turns with its rotating head 24, will not strike anything, the operating program jumps to step 90 and enables the three IR LED'"'"'s 40 within the robot'"'"'s head to transmit pulses through the rear slot 38 at a 50 kHz rate. Rotation of the robot'"'"'s head is then initiated at step 92. If at step 86 it is determined that there is not sufficient room in the immediate vicinity of the robot to rotate without its retracted arm 26 contacting a nearby object, the robot executes a pseudo-random "wander" subroutine at step 88 to position the robot elsewhere in the room and again determines whether there is sufficient room to rotate its head following completion of this "wander" subroutine.
The operating program at step 94 then determines whether a full 360° rotation of the robot'"'"'s head has occurred. If the robot'"'"'s head has made a full 360° revolution, the program branches back to the "wander" subroutine at step 88 in order to randomly move the robot to another location and to begin again searching for the charger 50. If at step 94 it is determined that the robot'"'"'s head has not rotated a full 360°, the operating program at step 96 then determines if the charger 50 has been detected. If the charger has not yet been detected, the program branches back to step 94 where rotation of the robot'"'"'s head continues.
Detection of the charger 50 indicated at step 96 is accomplished in the following manner. As the robot'"'"'s head 24 rotates, the robot "looks" for the charger by turning on the three IR LED'"'"'s 40 within its head 24 so as to emit a 50 kHz pulse train through the rear slot 38 in the robot'"'"'s head. If there is a line-of-sight path from the robot'"'"'s head 24 to the charger 50, then when the back of the robot'"'"'s head is facing the charger, the first and second photodiodes 60A, 60B in the photodiode module 60 positioned above the charger will be aligned with the transmitting IR LED'"'"'s 40 through the rear slot 38 and will detect the 50 kHz pulses output therefrom. This causes the circuitry within the charger 50 (which is shown in FIG. 12 and described below) to pulse the three IR LED'"'"'s 56A, 56B and 56C within the IR LED pod 56 on top of the charger 50 to respond with an emitted IR signal at 35 kHz. This 35 kHz IR signal is then detected by the photodiode 42 on a rear portion of the robot'"'"'s head 24 as it rotates at step 96.
The operating program then determines at step 98 from the angular displacement between the robot'"'"'s lower body 12 and its head 24 which direction to rotate its lower body so as to traverse the smallest angle in aligning the front of its lower body 22 with the charger 50. The head 24 of the robot is then rotated so as to position the back of the head over the front of the robot'"'"'s lower body 22 at step 100. The lower body 22 of the robot is then rotated until its IR LED'"'"'s 40 are directed through the rear slot 38 toward the charger 50 so as to permit the LED'"'"'s within the IR LED pod 56 positioned upon the charger to illuminate the photodiode 42 in the robot'"'"'s head at step 102.
Following alignment of the rear of the robot'"'"'s head 24 with a front surface of its lower body 22, the head and base sonars of the robot are enabled at step 104. The head sonar includes the upper sonar transducer 44 as well as the rotating mirror 46 within the robot'"'"'s head 24, while the base sonar includes a transducer 47 mounted to a forward surface of the robot'"'"'s lower body 22. The operating program then causes the robot to begin moving forward at step 106 while maintaining the robot'"'"'s IR LED'"'"'s 40 in alignment through the rear slot 38 with the charger'"'"'s photodiodes 60A, 60B as shown by the IR beam 64 in FIG. 5. The operating program continues to monitor for receipt of the IR signal from the charger'"'"'s IR LED'"'"'s 56A, 56B and 56C by the robot'"'"'s photodiode 42 to ensure that the head of the robot is thus in alignment with the charger and that the robot continues to move directly toward the charger 50. The robot is capable of executing small course changes at step 110 under the control of the operating program to ensure that it continues to proceed directly toward the charger 50 as it moves forward. Thus, if sight of the charger is lost by the IR detection system of the robot at step 108, forward motion of the robot is stopped and a slight turn is executed in order to realign the optical emission and detection system of the robot with the charger. If the robot remains in alignment with the charger as it moves forward, the program branches to step 112 and determines by means of its lower sonar, which includes the base sonar transducer 47, whether it is within a predetermined distance from the charger. In a preferred embodiment, this distance is set at three feet. If the base sonar detects an object within three feet of the front of the robot'"'"'s lower body at step 112, the robot stops as shown in FIG. 6 and uses its rotating upper sonar to determine in which direction to turn in order to position itself in front of the charger. This is accomplished by comparing the sum of distances to objects to the right of the robot to the sum of distances to objects to the left of the robot. The sum of distances which is greater determines in which direction the robot must turn in order to travel to a point directly in front of the charger.
The robot then executes a 90° turn in the direction toward the largest detected sum of distances to objects on the right and left of the detected object immediately in front of it at step 116, with the robot displaced in a generally circular path with the charger at the center of the circle as shown in FIG. 7. In this procedure, the robot'"'"'s head is turned 90° toward the closest detected objects as previously described with respect to step 114, followed by a 90° turn of the base in the opposite direction at step 116 until IR contact is reestablished to permit the robot to move in a circular path relative to the detected object. The robot'"'"'s head then remains fixed relative to its base, with the front of its head oriented 90° relative to the front of its base.
The robot is then displaced forward one foot as shown in FIG. 6 causing loss of IR contact with the charger at step 118. The robot'"'"'s head is then rotated so that its IR LED'"'"'s are again directed through the slot therein toward the charger at step 120. The angle through which the robot'"'"'s head is rotated provides an indication of the distance from the robot to the charger. If it is determined by the robot that this distance is greater than the aforementioned predetermined distance to the charger, i.e., greater than 3 feet, as measured by its base sonar, then the detected object is not the charger but rather is something positioned between the robot and the charger. If at step 122, it is determined that the robot is positioned in front of another object rather than the charger, the program branches to step 88 and again executes the "wander" subroutine.
If at step 122, it is determined that the object in front of the robot is indeed the charger, the robot turns its head so as to orient the back of its head 90° relative to the front of its base at step 124. The robot then begins moving forward at step 126 in a circular path around the charger as shown in FIG. 7. By thus maintaining the head oriented toward the charger and fixed relative to its base and at a 90° angle relative thereto, the robot moves in a circular path with the charger at the center of the circle. If the base sonar detects an object in the path of the robot as it moves around the charger, the program at step 128 branches back to the "wander" subroutine at step 88 in order to circumnavigate this object. If at step 128 the base sonar does not detect an object between the robot and the charger, the operating program continues to monitor the IR detection system which includes the IR LED'"'"'s and photodiodes of the robot and the charger at step 130 with the robot transmitting IR signals at 50 kHz and looking for IR signals from the charger at 35 kHz. If contact with the charger is lost as determined at step 130, the program branches to step 134 and causes the robot to turn toward the charger until contact is re-established while moving in a circle about the charger.
As the robot travels in this circular path, it periodically reduces the sensitivity of its IR receiver while reducing the frequency of the transmitted IR signal from 50 kHz to 35 kHz in order to match the frequency of its IR receiver. Circuitry (described below) coupled to the photodiode module 60 on the charger 50 will not respond to 35 kHz signals transmitted by the robot. Thus, only when the robot 20 is directly in front of the charger 50 and the mirror 62 will the IR signal emitted through the rear slot 38 in the robot'"'"'s head 24 be reflected back to the robot'"'"'s IR detecting photodiode 42 by the mirror 62. The IR system within the robot 20 then alternates between the two frequency transmission modes of 50 and 35 kHz, alternately orienting the back of its head toward the charger to traverse the aforementioned circular path and looking for an IR reflection at 35 kHz from the wall-mounted mirror 62 indicating that the robot is directly in front of the charger. By periodically reducing its sensitivity to received 35 kHz IR signals, the robot is responsive only to 35 kHz signals reflected back to its photodiode 42 when positioned directly in front of the mirror 62.
Once the robot determines that it is directly in front of the charger 50, it stops moving in a generally circular path and rotates its head 24 so that the front of its head is positioned above the front of its lower body 22 at step 136, resulting in its IR system losing contact with the charger. The lower body and head of the robot are then rotated 90° so that an aft surface of the lower body is directed toward the charger 50 as shown in FIG. 8. IR contact is re-established with the charger once the robot'"'"'s head is rotated 90° such that the back of its head is directed toward the charger. The operating program at step 140 then causes the robot 20 to back up in the direction of the arrow shown in FIG. 9 toward the charger 50 until it senses engagement with the first and second plug contacts 52, 54 of the charger 50. Once docking with the charger 50 is detected by the robot 20, it stops moving and is positioned in electrical engagement with the floating plug 51 of the charger as shown in FIG. 10.
Referring to FIG. 12, there is shown in simplified block and schematic diagram form a navigation control system 150 for use with a mobile robot in accordance with the present invention. The navigation control system 150 is used in both the mobile robot and the charger and is directed to the control of the optical and acoustic emitters and sensors for controlling the displacement of the robot. Those circuit elements and components unique to the robot are included within blocks 74 and 78 shown in dotted line form in the figure and described in detail below. Details of the acoustic portion of the present invention are described in detail in the co-pending application entitled "Sonar Ranging/Light Detection System For Use In A Robot", cross-referenced above, the details of which are hereby incorporated by reference in the present application. The navigation control system 150 will now be described in terms of its use in the charger, with the minor modifications required for implementation within the mobile robot pointed out where appropriate in the following paragraphs.
The photodiode module 60 which includes first and second photodiodes 60A and 60B is coupled via a shielded cable 58 and a connector 152 to a two-stage amplifier 154 which includes NPN transistors 156 and 158. In the mobile robot, the photodiode module 60 is replaced by the single photodiode 42 positioned on an aft portion of the robot'"'"'s rotating head. The first and second photodiodes 60A, 60B are used in the charger 50 to provide 180° coverage for the received IR signals incident thereon from the mobile robot. The IR signals received by the first and second photodiodes 60A, 60B are amplified by the two-stage amplifier 154 which provides approximately 80 dB of voltage gain. The amplified output of the two-stage amplifier 154 drives a tone decoder 178. Within the two-stage amplifier 154, resistor 164 provides proper biasing for the first and second photodiodes 60A, 60B. Resistor 170 and grounded capacitor 166 provide filtering for the +V1 input voltage provided to the two-stage amplifier 154. In a preferred embodiment, +V1 =+12 VDC. Resistors 162 and 168 provide a voltage dividing function for proper biasing of the first NPN transistor 156 in the two-stage amplifier. Similarly, resistors 172 and 174 provide biasing in dividing down the input voltage +V1 for the second NPN transistor 158 within the two-stage amplifier 154. Capacitors 160 and 176 provide AC coupling of the received IR signal respectively to the bases of NPN transistors 156 and 158.
The amplified output of the two-stage amplifier circuit 154 is provided via a coupling capacitor 180 to the tone decoder 178. Back-to-back coupled, grounded diodes 184 and 186 limit the input signal provided to the tone decoder 178 to prevent false triggering of the tone decoder at spurious input signal frequencies. Capacitor 182 which couples the back-to-back coupled diodes 184 and 186 to the input of the tone decoder 178 provides DC isolation for the input to the tone decoder in order to prevent these diodes from changing the DC bias level at the input of the tone decoder. The tone decoder utilized in a preferred embodiment of the present invention is the 567 tone decoder integrated circuit which includes a phase lock loop (PLL).
Resistors 188 and 190 in combination with grounded capacitor 192 establish the operating frequency of the tone decoder 178. Variable resistor 190 allows the frequency of the tone decoder to be manually tuned for proper frequency alignment. LED 200 which is coupled to +V2 via resistor 198 provides a visual indication when the tone decoder 178 is properly aligned in frequency. Various operating characteristics of the tone decoder 178, e.g., frequency, bandwidth, settling time, etc., are established by the values of grounded capacitors 194 and 196. Similarly, capacitor 202 adds AC hysteresis in the PLL of the tone decoder 178 so that it is triggered more reliably at the desired signal level.
The tone decoder 178 is energized by a +V2 voltage source which, in a preferred embodiment, is at +5 VDC. If the received IR signal is within the capture range of the PLL detector within the tone decoder 178, the output of the tone decoder goes low and is provided via resistor 210 to the base of NPN transistor 212. Resistor 208 is a pull-up for the open-collector output of the tone decoder 178. NPN transistor 212 inverts the output of the tone decoder 178 and provides it to the input of a timer circuit 222 which, in a preferred embodiment of the present invention, is a 555 timer integrated circuit. The low output of the tone decoder 178, inverted by NPN transistor 212, enables the timer circuit 222 which is used as an astable multivibrator. Resistor 214 is a pull-up for transistor 212.
The frequency of the timer circuit 222 is established by the values of capacitor 242 and resistors 216, 218 and 220, the last of which is variable and allows the frequency of the timer circuit to be manually adjusted. The output of the timer circuit 222 is provided via resistor 224 to the base of an NPN switching transistor 226 which, in turn, provides a pulsed output via resistor 228 and connector 230 for driving the three LED'"'"'s 56A, 56B and 56C in a pulsed manner. The three aforementioned LED'"'"'s may be either in the IR LED pod 56 on the charger or may be within the robot'"'"'s rotating head 24 and positioned behind the rear slot 38 therein.
Those subsystems unique to the mobile robot and with which the circuitry of FIG. 12 interfaces are included within block 74 which is shown in dotted line form in the figure. For example, the controller 206 is coupled to a robot drive system 72 which provides for the displacement of the robot from point to point. The controller is further coupled to the robot'"'"'s head sonar 70 as well as to its base sonar 68 which respectively include the upper sonar transducer 44 and the base sonar transducer 47 for generating acoustic outputs therefrom and processing received acoustic signals. The controller 206 is also coupled via connector 204 between the tone decoder 178 and the NPN switching transistor 212 and is responsive to the output of the tone decoder. The controller 206 is also coupled via a charge sensor circuit 209 to a storage battery 207 within the robot for detection of a low charge state therein. Following detection of a low charge in the storage battery 207, the controller 206 initiates the previously described operating sequence illustrated in FIG. 11. In the charger 50, the controller is not present and the square wave pulsed output of the tone decoder 178 is provided only to the base of the NPN switching transistor 212 for driving the timer circuit 222 as previously described.
In a preferred embodiment of the present invention, the controller 206 is an Intel 8088 which is coupled to the charge sensor circuit 209 for monitoring the charge status of the storage battery 207. An Intel 8042 Universal Peripheral Interface (UPI) microcomputer is used as an interface unit 205 for coupling the controller 206 to the drive system 72, the base and head sonars 68, 70 as well as to various other components within the navigation control system 150 following detection of a low charge state in the storage battery 207. Thus, within the robot, upon detection of a low charge state in the storage battery 207, the controller 206 provides an appropriate output via the NPN switching transistor 212 to the timer circuit 222 for energizing the three IR LED'"'"'s 40 within its rotating head as it initiates a search for the charger. After the charger has been located and the robot is displaced in a generally circular path about the charger, the controller 206 provides a MODE control signal via line 233, connector 152 and biasing resistor 232 to the base of NPN transistor 234. This MODE control signal is used to reduce the frequency of the IR signal emitted by the IR LED'"'"'s 40 within its rotating head from 50 to 35 kHz in the following manner.
The MODE control signal utilized in the robot is provided from the controller 206 to the base of NPN transistor 234 and renders it conductive permitting it to shunt most of the signal within the two-stage amplifier 154 to neutral ground potential via coupling capacitor 179. This has the effect of lowering the gain and sensitivity of the navigation control system 150 to ensure that a received IR signal is reflected from the mirror 62 positioned above the charger 50 rather than from some other object. In addition, the MODE control signal is also provided via resistor 236 to the base of NPN transistor 238 which, in combination with capacitor 240 lowers the operating frequency of the timer circuit 222 and the frequency of the pulsed output therefrom. The reduced frequency output of the timer circuit 222 provided to the IR LED'"'"'s within the robot'"'"'s rotating head via transistor 226 reduces the frequency of the IR signal emitted from the LED'"'"'s from 50 to 35 kHz. It is in this manner that the frequency of the IR signal emitted from the three LED'"'"'s positioned within the robot'"'"'s rotating head is reduced as the robot attempts to position itself directly in front of the charger. The tone decoder 178 in the charger will not respond to this reduced frequency. Thus, only when the robot is directly in front of the charger will the IR signal emitted through the slot in the robot'"'"'s head be reflected back to the IR detector on its head by the mirror over the charger. The IR signal transmission system in the robot therefore alternates between these two frequency modes, first aiming the back of its head at the charger to maintain it traveling in a circular path about what it has determined to be the charger as described above while emitting a higher frequency IR signal, and then looking for a reflection of its reduced frequency IR output signal from the mirror positioned immediately above the charger in order to determine when it is directly in front of the charger and thus in position to begin the docking procedure.
There has thus been shown a navigation system and method which permits a mobile robot to detect, navigate to, and dock with a charging unit following detection of a low charge stage in its storage battery. The present invention permits the robot to detect the charging unit anywhere within the room in which it is, to travel toward the charger while accommodating other objects positioned between it and the charger, position itself directly in front of the charger, and dock with the charger to permit its storage battery to be recharged. The navigation system and method of the present invention makes use of sonar and IR emitters/detectors for accurately positioning the robot relative to the charger.
While particular embodiments of the present invention have been shown and described, it will be obvious to those skilled in the art that changes and modifications may be made without departing from the invention in its broader aspects. Therefore, the aim in the appended claims is to cover all such changes and modifications as fall within the true spirit and scope of the invention. The matter set forth in the foregoing description and accompanying drawings is offered by way of illustration only and not as a limitation. The actual scope of the invention is intended to be defined in the following claims when viewed in their proper perspective based on the prior art.
-
- Resources
-
Current AssigneeNEC Corporation
-
Original AssigneeHEATH COMPANY
-
InventorsPerdue, Terry A.
-
Primary Examiner(s)Fleming, Michael R.
-
Assistant Examiner(s)NOT, DEFINED
-
Time in patent office867 Days
-
Field of Search364/424, 364/444, 364/460, 364/461, 364/513, 318/587, 180/167-169, 180/65.3, 901/1, 901/46, 901/47, 343/7 VM
-
US Class Current701/23
-
CPC Class CodesB25J 19/005 using batteries, e.g. as a ...B25J 19/021 Optical sensing devicesG05D 1/0225 involving docking at a fixe...G05D 1/0242 using non-visible light sig...G05D 1/0255 using acoustic signals, e.g...H02J 7/00 Circuit arrangements for ch...
1 Family Member
-
Navigation System And Method For A Mobile Robot
- US 4,679,152 A
- Issued 07/07/1987
- Current Assignee NEC Corporation
- Original Assignee HEATH COMPANY