Robot system

• US 10,182,695 B2
• Filed: 01/26/2018
• Issued: 01/22/2019
• Est. Priority Date: 12/02/2005
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Halloran, Michael J., Mammen, Jeffrey W., Campbell, Tony L., Walker, Jason S., Sandin, Paul E., Billington, Jr., John N., Ozick, Daniel N.
• Primary Examiner(s): Figueroa, Jaime
• Application Number:
  US15/880,767
• Publication Number:
  US 20180146833A1
• Time in Patent Office: 361 Days
• Field of Search: 700245, 700264
• CPC Class Codes: A47L 11/24 Floor-sweeping machines, motor-driven
• CPC Class Codes: A47L 11/40 Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4013 Contaminants collecting devices, i.e. hoppers, tanks or the like
• CPC Class Codes: A47L 11/4027 Filtering or separating contaminants or debris
• CPC Class Codes: A47L 11/4041 Roll shaped surface treating tools
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 11/4072 Arrangement of castors or wheels
• CPC Class Codes: A47L 2201/00 Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 5/30 with driven dust-loosening tools, e.g. rotating brushes
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: A47L 9/0411 driven by electric motor
• CPC Class Codes: A47L 9/0466 Rotating tools
• CPC Class Codes: A47L 9/0477 Rolls
• CPC Class Codes: A47L 9/0488 Combinations or arrangements of several tools, e.g. edge cleaning tools
• CPC Class Codes: A47L 9/12 Dry filters
• CPC Class Codes: A47L 9/1409 Rigid filtering receptacles dust collecting receptacles for cyclones A47L9/1683
• CPC Class Codes: A47L 9/2826 the condition of the floor
• CPC Class Codes: A47L 9/2852 Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
• CPC Class Codes: A47L 9/2857 : User input or output elements for control, e.g. buttons, switches or displays
• CPC Class Codes: A47L 9/2894 : Details related to signal transmission in suction cleaners
• CPC Class Codes: A47L 9/30 : Arrangement of illuminating devices
• CPC Class Codes: B25J 11/0085 : Cleaning
• CPC Class Codes: B25J 13/006 : by means of a wireless system for controlling one or several manipulators
• CPC Class Codes: B25J 5/007 : mounted on wheels
• CPC Class Codes: B25J 9/0003 : Home robots, i.e. small robots for domestic use
• CPC Class Codes: B25J 9/1666 : Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1694 : characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: B60L 1/003 : to auxiliary motors, e.g. for pumps, compressors
• CPC Class Codes: B60L 15/2036 : Electric differentials, e.g. for supporting steering vehicles
• CPC Class Codes: B60L 2200/40 : Working vehicles
• CPC Class Codes: B60L 2250/10 : by alarm
• CPC Class Codes: B60L 2250/16 : by display
• CPC Class Codes: B60L 2260/32 : Auto pilot mode
• CPC Class Codes: B60L 50/52 : characterised by DC-motors
• CPC Class Codes: B60L 53/14 : Conductive energy transfer
• CPC Class Codes: B60L 53/31 : Charging columns specially adapted for electric vehicles
• CPC Class Codes: B60R 19/38 : adjustably or movably mounted, e.g. horizontally displaceable for securing a space between parked vehicles adjustably mounted for compensating manufacturing tolerances B60R19/24, B60R19/26
• 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 1/0227 : using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0234 : using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0242 : using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0255 : using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0272 : comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 : using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/028 : using a RF signal
• CPC Class Codes: H04B 1/02 : Transmitters
• CPC Class Codes: H04B 1/06 : Receivers
• CPC Class Codes: H04L 1/16 : in which the return channel carries supervisory signals, e.g. repetition request signals
• CPC Class Codes: Y02P 90/60 : Electric or hybrid propulsion means for production processes
• CPC Class Codes: Y02T 10/64 : Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y02T 90/14 : Plug-in electric vehicles
• CPC Class Codes: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles
• CPC Class Codes: Y10S 901/01 : Mobile robot
• CPC Class Codes: Y10S 901/50 : Miscellaneous

Abstract

A power-saving robot system includes at least one peripheral device and a mobile robot. The peripheral device includes a controller having an active mode and a hibernation mode, and a wireless communication component capable of activation in the hibernation mode. A controller of the robot has an activating routine that communicates with and temporarily activates the peripheral device, via wireless communication, from the hibernation mode. In another aspect a robot system includes a network data bridge and a mobile robot. The network data bridge includes a broadband network interface, a wireless command interface, and a data bridge component. The data bridge component extracts serial commands received via the broadband network interface from an internet protocol, applies a command protocol thereto, and broadcasts the serial commands via the wireless interface. The mobile robot includes a wireless command communication component that receives the serial commands transmitted from the network data bridge.

Claims

1. An autonomous mobile cleaning robot comprising:

a drive system to move the mobile cleaning robot about an environment;

a wireless communication component configured to detect wireless signals emitted by a plurality of devices in the environment; and

a controller configured to

determine a location of the mobile cleaning robot by measuring strengths of the detected wireless signals to determine distances between the mobile cleaning robot and the plurality of devices, and

control the drive system to navigate the mobile cleaning robot about the environment based at least in part on the determined location and the measured strengths of the detected wireless signals while the mobile cleaning robot performs a vacuuming, brushing, or mopping operation.

2. The mobile cleaning robot of claim 1, wherein configurations of the controller to control the drive system to navigate the mobile cleaning robot about the environment based at least in part on the determined location and the measured strengths of the detected wireless signals comprise configurations to prohibit movement of the mobile cleaning robot into an area of the environment based on the detected wireless signals.

3. The mobile cleaning robot of claim 1, wherein configurations of the controller to control the drive system to navigate the mobile cleaning robot about the environment based at least in part on the determined location and the measured strengths of the detected wireless signals comprise configurations to guide movement of the mobile cleaning robot into an area of the environment based on the detected wireless signals.

4. The mobile cleaning robot of claim 1, wherein the controller is further configured to

detect a loss of communication between the wireless communication component and one of the plurality of devices, and

provide a user indication indicative of the loss of communication.

5. The mobile cleaning robot of claim 1, wherein the wireless signals comprise electromagnetic signals having a radio frequency.

6. The mobile cleaning robot of claim 1, wherein the controller is further configured to wirelessly communicate, using the wireless communication component, with a peripheral device in the environment and operate the wireless communication component to cause the peripheral device to activate.

7. The mobile cleaning robot of claim 6, wherein configurations of the controller to operate the wireless communication component to cause the peripheral device to activate comprise configurations to operate the wireless communication component to cause the peripheral device to activate in accordance with a schedule.

8. The mobile cleaning robot of claim 6, wherein configurations of the controller to operate the wireless communication component to cause the peripheral device to activate comprise configurations to operate the wireless communication component to cause the peripheral device to activate when the peripheral device is within a line of sight of the mobile cleaning robot.

9. The mobile cleaning robot of claim 6, wherein configurations of the controller to operate the wireless communication component to cause the peripheral device to activate comprise configurations to operate the wireless communication component to cause the peripheral device to activate from a hibernation state.

10. The mobile cleaning robot of claim 6, wherein configurations of the controller to operate the wireless communication component to cause the peripheral device to activate comprise configurations to cause the peripheral device to activate in response to receiving, by the wireless communication component, a query from the peripheral device.

11. The mobile cleaning robot of claim 6, wherein the peripheral device corresponds to one of the plurality of devices.

12. The mobile cleaning robot of claim 1, wherein one of the plurality of devices comprises a base station to which the mobile cleaning robot docks to recharge a battery of the mobile cleaning robot.

13. The mobile cleaning robot of claim 11, wherein the wireless communication component is further configured to receive identification information of one of the plurality of devices by detecting a corresponding wireless signal emitted by the one of the plurality of devices.

14. The mobile cleaning robot of claim 13, wherein the corresponding wireless signal corresponds to a broadcast signal emitted by the one of the plurality of devices.

15. The mobile cleaning robot of claim 1, wherein the wireless communication component is further configured to transmit, to one of the plurality of devices, a wireless signal indicative of identification information of the mobile cleaning robot.

16. The mobile cleaning robot of claim 1, wherein the wireless communication component is further configured to receive a control signal from one of the plurality of devices, and the controller is configured to control the drive system to move the mobile cleaning robot in accordance with the control signal.

17. The mobile cleaning robot of claim 1, wherein the drive system is further configured to move the mobile cleaning robot through a home while the wireless communication component detects the wireless signals from the plurality of devices in the home.

18. The mobile cleaning robot of claim 1, wherein:

the wireless communication component is further configured to wirelessly communicate with a network and receive a command from a remote user device through the network, and

the controller is further configured to control the drive system to move the mobile cleaning robot in accordance with the command.

19. The mobile cleaning robot of claim 1, wherein configurations of the controller to control the drive system to navigate the mobile cleaning robot about the environment based at least in part on the determined location and the measured strengths of the detected wireless signals comprise configurations to navigate the mobile cleaning robot along a path to a room in the environment based the detected wireless signals.