Harvey A Koselka

6374155, Apr 16, 2002

Nov 24, 1999

09/449177

Bret A. Wallach - San Diego CA
Harvey A. Koselka - Trabuco Canyon CA
David L. Gollaher - San Diego CA

Personal Robotics, Inc. - San Diego CA

G06F 1900

700245, 701 23, 701 24, 701 25, 701 26, 701208, 701342, 7013511, 70135706, 70135713, 701340, 701457, 701435, 701318, 701587

An autonomous mobile robot system allocates mapping, localization, planning and control functions to at least one navigator robot and allocates task performance functions to one or more functional robots. The at least one navigator robot maps the work environment, localizes itself and the functional robots within the map, plans the tasks to be performed by the at least one functional robot, and controls and tracks the at least one functional robot during task performance. The at least one navigator robot performs substantially all calculations for mapping, localization, planning and control for both itself and the functional robots. In one implementation, the at least one navigator robot remains stationary while controlling and moving the at least one functional robot in order to simplify localization calculations. In one embodiment, the at least one navigator robot is equipped with sensors and sensor processing hardware required for these tasks, while the at least one functional robot is not equipped with sensors or hardware employed for these purposes.

6496755, Dec 17, 2002

Mar 8, 2002

10/094703

Bret A. Wallach - San Diego CA
Harvey A. Koselka - Trabuco Canyon CA
David L. Gollaher - San Diego CA

Personal Robotics, Inc. - San Diego CA

G05B 1900

700245, 700257, 700264, 701 1, 701 3, 701 23, 701 24, 701 25, 701 26, 701120, 701123, 701200, 701207, 701215, 701300, 701301, 31856811, 318587, 3423571

An autonomous mobile robot system allocates mapping, localization, planning and control functions to at least one navigator robot and allocates task performance functions to one or more functional robots. The at least one navigator robot maps the work environment, localizes itself and the functional robots within the map, plans the tasks to be performed by the at least one functional robot, and controls and tracks the functional robot during task performance. The navigator robot performs substantially all calculations for mapping, localization, planning and control for both itself and the functional robots. In one implementation, the navigator robot remains stationary while controlling and moving the functional robot in order to simplify localization calculations. In one embodiment, the navigator robot is equipped with sensors and sensor processing hardware required for these tasks, while the functional robot is not equipped with sensors or hardware employed for these purposes.

6633150, Oct 14, 2003

May 2, 2001

09/847600

Bret A. Wallach - San Diego CA
Harvey Koselka - Trabuco Canyon CA
David Gollaher - San Diego CA

Personal Robotics, Inc. - San Diego CA

B25J 500

31856812, 15 211, 15 534, 15220917

An apparatus and method for improving traction for mobile robots where traction is a concern. The mobile robot of the invention includes wheels and brushes. The wheels are mounted to the body of the robot. The brush is mounted to the body close to the wheels. When the wheels are rotating, the brush rubs against the wheel to get rid of debris on the tread of the wheel and cleans the wheel so that traction for the robot can be improved. An alternative way to improve traction by reducing slippage utilizes suction cups or wiper elements mounted on the wheel.

6741054, May 25, 2004

May 2, 2001

09/847598

Harvey Koselka - Trabuco Canyon CA
Bret A. Wallach - San Diego CA
David Gollaher - San Diego CA

Vision Robotics Corporation - San Diego CA

B25J 918

318445, 31859811, 31856812, 15 3, 15 971

A floor mopping assembly finding use in a cleaning robot. The cleaning robot may be remotely controlled or autonomous. In one embodiment, a feed roller lets out a roll of webbing or toweling, a take-up roller reels in the toweling, and a motor system causes transfer of the toweling between the feed roller and the take-up roller. A housing holds the motor system and the rollers, which are mounted in the housing such that the motor causes transfer of the webbing between the rollers. One of the rollers is configured to rest on the floor or surface so as to cause the toweling to clean the surface. In an alternative embodiment, the assembly also includes a pad to press the toweling against the surface, where the pad is mounted in the housing such that the motor causes transfer of the toweling between the rollers and between the pad and the surface.

6925679, Aug 9, 2005

Mar 15, 2002

10/100222

Bret A. Wallach - San Diego CA, US
Harvey A. Koselka - Trabuco Canyon CA, US
David L. Gollaher - San Diego CA, US

Vision Robotics Corporation - San Diego CA

A47L009/28

15319, 153401

An autonomous canister vacuum cleaner has a cleaning head module, a vacuum fan module separated from the cleaning module, and a hose assembly connecting the cleaning head module with the vacuum fan module. The vacuum fan module includes a controller that performs navigation and control functions for both the vacuum fan module and the cleaning head module. Alternatively, the controller may be separated from the vacuum fan module and the cleaning head module, and can be mobile. The vacuum fan module and the cleaning head module each include a drive mechanism for propulsion. The cleaning head module includes a cleaning brush assembly that can be motorized or air driven. The cleaning head module may also include a microcontroller that communicates with the controller.

7133069, Nov 7, 2006

Mar 15, 2002

10/100221

Bret A. Wallach - San Diego CA, US
Harvey A. Koselka - Trabuco Canyon CA, US

Vision Robotics, Inc. - San Diego CA

H04N 5/225
H04N 5/235

3482181, 3482291

A system and method of increasing the dynamic range of image sensors by controlling the exposure (either electronically or mechanically) of multiple images and optionally forming a composite image from the properly exposed areas of the multiple images of varying exposure settings. Certain embodiments of the system and method utilize image processing techniques to determine the various exposure settings and to form the optional composite image. The properly exposed areas can be used directly by machine vision applications.

7196719, Mar 27, 2007

Jul 16, 2004

10/710512

Harvey Koselka - Trabuco Canyon CA, US
Bret Wallach - San Diego CA, US

Vision Robotics Corporation - San Diego CA

H04N 13/02

348 47, 348139

An angled axis machine vision system having two cameras angled with respect to roil axis. Provides advantages of horizontal alignment between two cameras and eliminates problem of utilizing horizontal/vertical lines in the environment for distance calculations when lines arc parallel or close to parallel to axis between camera centers. With camera centers angled about roll axis, horizontal/vertical lines in environment appear angled with respect to horizon, enabling accurate distance calculations. With the cameras angled about roll, lines in the environment may line up parallel to the axis between camera centers, but these instances are rare in real world environments. May be rotatably mounted in the roll axis wherein two sets of pictures from each of the cameras may either he utilized: the two sets compared for the number of parallel lines parallel to axis between camera centers and the set of pictures with least parallel lines used for distance calculations.

7228203, Jun 5, 2007

Mar 26, 2005

11/090356

Harvey Koselka - Trabuco Canyon CA, US
Bret Wallach - San Diego CA, US
David Gollaher - San Diego CA, US

Vision Robotics Corporation - San Diego CA

G06F 19/00

700245, 700246, 700250, 700254, 700260, 700261, 31856812, 901 1, 901 2, 702188

Autonomous personal service robot to monitor its owner for symptoms of distress and provide assistance. The system may include sensors to detect situations before they affect people such as smoke, heat, temperature and carbon monoxide sensors. The system can provide security for the home. The PRA may comprise features such as a medicine dispenser and blood pressure cuff. Features such as broadband internet, MP3 player, reading lights and eye glass tracker provide butler type capabilities that enable the system to appeal to markets beyond the elderly and infirmed. The system may also include an X10 transmitter/receiver to automatically control various household lights and appliances. Equipping the system with a robot arm enables the robot to fetch items, turn on and off wall switches and open the refrigerator.