Commanding a mobile robot using glyphs

• US 9,233,468 B2
• Filed: 11/12/2013
• Issued: 01/12/2016
• Est. Priority Date: 11/12/2013
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Gong, Sherman, Neumann, Rogelio
• Primary Examiner(s): Holwerda, Stephen
• Application Number:
  US14/077,380
• Publication Number:
  US 20150134115A1
• Time in Patent Office: 791 Days
• Field of Search: 700/257, 700/258, 700/259, 700/264
• US Class Current: 1/1
• CPC Class Codes: B25J 9/1656 characterised by programming, planning systems for manipulators
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G05B 2219/23363 Barcode
• CPC Class Codes: G05B 2219/37572 Camera, tv, vision
• CPC Class Codes: Y10S 901/47 Optical

Abstract

A method of operating a robot includes receiving image data from an image capture device of the robot. The image data is representative of a glyph viewed by the image capture device on the display of a computing device within a field of view of the image capture device. The method further includes determining, at a controller, a command message based on the glyph represented in the image data and issuing a command to at least one resource or component of the robot based on the command message.

Claims

1. A method of operating a robot, the method comprising:

receiving image data from an image capture device of the robot, the image data representative of a glyph viewed by the image capture device on a display of a computing device within a field of view of the image capture device;

determining, at a controller, a command message based on the glyph represented in the image data; and

issuing a command to at least one resource or component of the robot based on the command message,

wherein determining the command message includes determining network configuration data indicating a network identifier and/or a network password based on the image data, and

wherein issuing the command includes configuring a network connection of the robot based on the network configuration data.

2. A method of claim 1, wherein the glyph comprises a quick response code.

3. A method of claim 1, wherein:

determining the command message includes determining scheduling data based on the image data; and

issuing the command includes setting a robot schedule based on the scheduling data.

4. A method of claim 1, wherein:

determining the command message includes determining customization data including a text string from the image data; and

issuing the command includes configuring a customization setting based on the text string.

5. The method of claim 1, further comprising monitoring the image data to identify the glyph, wherein determining the command message is performed after the glyph is identified in the image data.

6. A method of communicating with a robot, the method comprising:

inputting data on a computing device, the computing device comprising;

an electronic display; and

a processing device in communication with the electronic display, the processing device;

receiving the inputted data;

generating a glyph representative of the inputted data; and

electronically displaying the glyph on the electronic display; and

positioning the computing device to orient the electronic display thereof within a field of view of an image capture device of the robot, a controller of the robot configured to issue one or more commands based on image data received from the image capture device, the image data representative of the glyph viewed on the electronic display of the computing device by the image capture device,

wherein the inputted data is network configuration data including a network identifier and/or a network password, and the network configuration data is used by the robot to configure a network connection of the robot.

7. A method of claim 6, wherein the glyph comprises a quick response code.

8. A method of claim 6, wherein the inputted data is scheduling data, the scheduling data being used by the robot to update a robot schedule.

9. A method of claim 6, wherein:

the inputted data includes a command type and one or more command parameters; and

generating the glyph includes;

generating a command message based on the command type and the one or more command parameters; and

generating the glyph based on the command message, the glyph having the command message encoded therein.

10. An autonomous robot comprising:

a robot body;

a drive system supporting the robot body and configured to maneuver the robot over a floor surface;

an image capture device disposed on the robot body; and

a controller in communication with the drive system and the image capture device, the controller configured to;

issue a command to a component and/or resource of the robot based on image data received from the image capture device, the image data representative of a glyph viewed on a display of a computing device by the image capture device;

identify the glyph in the image data;

determine a command message based on the glyph, wherein the command message includes network configuration data;

command the component and/or resource of the robot based on the command message; and

configure a network connection of the robot based on the network configuration data.

11. A robot of claim 10, wherein the glyph comprises a quick response code.

12. The robot of claim 10, wherein:

the command message includes a schedule update command and schedule parameters; and

the controller updates a schedule of the robot based on the schedule parameters.

13. A system comprising:

a computing device comprising;

an electronic display; and

a processing device in communication with the electronic display, the processing device;

receiving data representative of a command message;

generating a glyph representative of the data; and

electronically displaying the glyph on the electronic display; and

a robot comprising;

a robot body;

a drive system supporting the robot body and configured to maneuver the robot over a floor surface;

an image capture device disposed on the robot body; and

a controller in communication with the drive system and the image capture device, the controller configured to issue one or more commands based on image data received from the image capture device, the image data representative of the glyph viewed on the electronic display of the computing device by the image capture device,

wherein the command message includes network configuration data and the controller is configured to configure a network connection of the robot based on the network configuration data.

14. The system of claim 13, wherein the glyph comprises a quick response code.

15. The system of claim 13, wherein the controller is configured to decode the glyph represented in the image data to obtain the command message and to issue the one or more commands based on the control message.