Remote control scheduler and method for autonomous robotic device

• US 10,045,676 B2
• Filed: 04/24/2017
• Issued: 08/14/2018
• Est. Priority Date: 06/24/2004
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Dubrovsky, Zivthan A., Landry, Gregg W., Halloran, Michael J., Lynch, James
• Primary Examiner(s): Nguyen, Bao Long T
• Application Number:
  US15/495,153
• Publication Number:
  US 20170224183A1
• Time in Patent Office: 477 Days
• Field of Search: 700245, 700250, 700253, 700257, 701 2, 901 1, 901 50, 31856812, 31856824
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: B25J 13/00 Controls for manipulators programme controls B25J9/16; control in general G05
• CPC Class Codes: B25J 13/006 by means of a wireless system for controlling one or several manipulators
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: G05B 19/409 characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters G05B19/408, G05B19/4093 take precedence
• CPC Class Codes: G05B 2219/34456 Authorize control of machine, robot if control panel has been connected
• CPC Class Codes: G05B 2219/36159 Detachable or portable programming unit, display, pc, pda
• CPC Class Codes: G05B 2219/45098 Vacuum cleaning robot
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0033 by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: Y10S 901/02 Arm motion controller

Abstract

A method of scheduling a robotic device enables the device to run autonomously based on previously loaded scheduling information. The method consists of a communication device, such as a hand-held remote device, that can directly control the robotic device, or load scheduling information into the robotic device such that it will carry out a defined task at the desired time without the need for further external control. The communication device can also be configured to load a scheduling application program into an existing robotic device, such that the robotic device can receive and implement scheduling information from a user.

Claims

1. A method of cleaning a room using a robotic cleaning device, the method comprising:

autonomously navigating the robotic cleaning device having a battery about a floor surface of the room;

transmitting a power level report from the robotic cleaning device to a mobile device;

automatically returning the robotic cleaning device to a docking station based on a power level of the robotic cleaning device;

transmitting a mission status report from the robotic cleaning device to the mobile device; and

transmitting from the robotic cleaning device an error report indicative of an error of at least one of a filter or a brush of the robotic cleaning device.

2. The method of claim 1, further comprising:

receiving, from the mobile device at the robotic cleaning device, information about a cleaning power setting; and

cleaning at a cleaning power between a minimum setting and a maximum setting based on the received information about the cleaning power setting.

3. The method of claim 2, further comprising:

transmitting, from the robotic cleaning device to the mobile device, a return signal indicative of completion of receiving the information about the cleaning power, and

providing a visual or audio signal indicative of the completion of receiving the information about the cleaning power.

4. The method of claim 1, wherein transmitting the mission status report comprises transmitting the mission status report after a cleaning operation is complete.

5. The method of claim 1, wherein transmitting the mission status report comprises transmitting the mission status report during a cleaning operation.

6. The method of claim 1, further comprising generating a map of the room.

7. The method of claim 6, wherein the map of the room is indicative of a position of an object positioned in the room.

8. The method of claim 1, wherein the mobile device comprises a wireless communication device selected from the group consisting of a personal computing device, a laptop computer, and a mobile phone.

9. The method of claim 1, further comprising receiving information indicative of a user-selected cleaning power for the robotic cleaning device,

wherein autonomously navigating the robotic cleaning device comprises initiating a cleaning operation at a cleaning power that is based on the received user-selected cleaning power.

10. The method of claim 1, further comprising receiving, from the mobile device at the robotic cleaning device, a command to perform a cleaning operation at a user-selected cleaning power.

11. The method of claim 1, wherein the power level report and mission status report are included in a single report that is wirelessly transmitted.

12. The method of claim 1, further comprising authenticating a communication link between the robotic cleaning device and the mobile device before transmitting the power level report and before transmitting the mission status report.

13. The method of claim 1, further comprising generating a schedule based on a pattern of one or more user-initiated cleaning operations, and

wherein autonomously navigating the robotic cleaning device about the floor surface comprises initiating a cleaning operation in accordance with the schedule.

14. The method of claim 1, wherein automatically returning the robotic cleaning device to the docking station comprises automatically returning the robotic cleaning device to the docking station when the power level of the robotic cleaning device drops to a predetermined level.

15. The method of claim 1, wherein the error report is indicative of an error of the filter of the robotic cleaning device.

16. The method of claim 1, wherein the error report is indicative of an error of the brush of the robotic cleaning device.

17. The method of claim 1, wherein the robotic cleaning device further comprises a vacuum.

18. The method of claim 1, wherein the robotic cleaning device further comprises a cleaning brush.

19. A method of cleaning a room using a robotic cleaning device, the method comprising:

autonomously navigating the robotic cleaning device having a battery about a floor surface of the room;

transmitting a power level report from the robotic cleaning device to a mobile device;

automatically returning the robotic cleaning device to a docking station based on a power level of the robotic cleaning device;

transmitting a mission status report from the robotic cleaning device to the mobile device;

receiving, from the mobile device at the robotic cleaning device, information about a cleaning power setting;

cleaning at a cleaning power between a minimum setting and a maximum setting based on the received information about the cleaning power setting;

transmitting, from the robotic cleaning device to the mobile device, a return signal indicative of completion of receiving the information about the cleaning power; and

providing a visual or audio signal indicative of the completion of receiving the information about the cleaning power.

20. The method of claim 19, wherein transmitting the mission status report comprises transmitting the mission status report after a cleaning operation is complete.

21. The method of claim 19, wherein transmitting the mission status report comprises transmitting the mission status report during a cleaning operation.

22. The method of claim 19, further comprising generating a map of the room.

23. The method of claim 19, wherein the mobile device comprises a mobile phone.

24. The method of claim 19, wherein the power level report and mission status report are included in a single report that is wirelessly transmitted.

25. The method of claim 19, further comprising generating a schedule based on a pattern of one or more user-initiated cleaning operations, and

wherein autonomously navigating the robotic cleaning device about the floor surface comprises initiating a cleaning operation in accordance with the schedule.

26. The method of claim 19, wherein automatically returning the robotic cleaning device to the docking station comprises automatically returning the robotic cleaning device to the docking station when the power level of the robotic cleaning device drops to a predetermined level.

27. The method of claim 19, wherein the robotic cleaning device further comprises a vacuum.

28. The method of claim 19, wherein the robotic cleaning device further comprises a cleaning brush.