Environmental management systems including mobile robots and methods using same

• US 9,380,922 B2
• Filed: 10/05/2013
• Issued: 07/05/2016
• Est. Priority Date: 01/18/2013
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Duffley, Samuel, Mammen, Jeffrey W., Halloran, Michael J.
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): RINK, RYAN J
• Application Number:
  US14/046,940
• Publication Number:
  US 20140207280A1
• Time in Patent Office: 1,004 Days
• US Class Current: 1/1
• 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 2201/00 Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
• CPC Class Codes: A47L 9/2857 User input or output elements for control, e.g. buttons, switches or displays
• 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 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A computer-implemented method for receiving user commands for a remote cleaning robot and sending the user commands to the remote cleaning robot, the remote cleaning robot including a drive motor and a cleaning motor, includes displaying a user interface including a control area, and within the control area: a user-manipulable launch control group including a plurality of control elements, the launch control group having a deferred launch control state and an immediate launch control state; at least one user-manipulable cleaning strategy control element having a primary cleaning strategy control state and an alternative cleaning strategy control state; and a physical recall control group including a plurality of control elements, the physical recall control group having an immediate recall control state and a remote audible locator control state. The method further includes: receiving user input via the user-manipulable control elements; responsive to the user inputs, displaying simultaneously within the same control area a real-time robot state reflecting a unique combination of control states; and commanding the remote cleaning robot to actuate the drive motor and cleaning motor to clean a surface based on the received input and unique combination of control states.

Claims

1. A computer-implemented method for receiving user commands for a remote cleaning robot and sending the user commands to the remote cleaning robot, the remote cleaning robot including a drive motor and a cleaning motor, the method comprising:

displaying a user interface on a user terminal, the user interface including a control area, and within the control area;

a user-manipulable launch control group including a plurality of control elements, the launch control group having a deferred launch control state and an immediate launch control state;

at least one user-manipulable cleaning strategy control element having a primary cleaning strategy control state and an alternative cleaning strategy control state; and

a physical recall control group including a plurality of control elements, the physical recall control group having an immediate recall control state and a remote audible locator control state;

receiving user input via the user-manipulable control elements;

responsive to the user inputs, displaying simultaneously within the same control area a real-time robot state reflecting a unique combination of control states;

commanding the remote cleaning robot to actuate the drive motor and cleaning motor to clean a surface based on the received input and unique combination of control states;

displaying, in the user interface, a graphical representation of an area to be cleaned by the remote cleaning robot and at least one user-manipulable pre-planned cleaning strategy control element having a deep cleaning strategy control state and a quick cleaning strategy control state, wherein;

responsive to selection of the deep cleaning strategy control state, the user terminal commands the remote cleaning robot to execute a relatively higher cumulative energy cleaning strategy; and

responsive to selection of the quick cleaning strategy control state, the user terminal commands the remote cleaning robot to execute a relatively lower cumulative energy cleaning strategy;

receiving user input via the at least one pre-planned cleaning strategy control element selecting different pre-planned cleaning strategies for different subsections of the graphical representation of the area to be cleaned by the remote cleaning robot in a pre-planned cleaning session; and

commanding the remote cleaning robot to clean corresponding subsections of the surface in accordance with the user inputs of the pre-planned cleaning strategies;

wherein;

the relatively higher cumulative energy cleaning strategy includes traveling a multiple pass travel path that is one of deterministic, systematic, and planned; and

the relatively lower cumulative energy cleaning strategy includes traveling a single pass travel path that is one of deterministic, systematic, and planned.

2. The method of claim 1 including displaying in the control area a scheduling control group including a plurality of scheduling control elements that are user-manipulable to schedule and initiate a deferred launch of the remote cleaning robot to clean the surface.

3. The method of claim 1 wherein

when the immediate recall control state is entered, the user terminal transmits a command to the remote cleaning robot to return to a dock.

4. The method of claim 1 wherein

when the remote audible locator control state is entered, the user terminal transmits a command to the remote cleaning robot to emit an audible signal from a transducer forming a part of the remote cleaning robot.

5. The method of claim 1 including:

receiving an alert signal at a user terminal indicating that the remote cleaning robot is unable to execute a user command; and

in response to the alert signal, displaying an alert within the control area indicating that the remote cleaning robot is unable to execute the user command.

6. The method of claim 5 further including displaying in the control area one or more remediation control elements.

7. The method of claim 6 wherein the one or more remediation control elements includes a beacon control element and, in response to actuation of the beacon control element, the user terminal transmits a command to the remote cleaning robot to emit an audible signal from a transducer forming a part of the remote cleaning robot.

8. The method of claim 6 wherein the one or more remediation control elements includes an escape maneuver control element and, in response to actuation of the escape maneuver control element, the user terminal transmits a command to the remote cleaning robot to execute a prescribed maneuver to attempt to become unstuck.

9. The method of claim 1 including displaying in the control area an operational message to the user.

10. The method of claim 1 wherein the user interface is provided on a user handheld mobile wireless communication terminal.

12. The method of claim 1 wherein the remote cleaning robot uses at least one simultaneous localization and mapping (SLAM) technique to generate a map of the area to cleaned.

13. The method of claim 12 wherein the remote cleaning robot includes an onboard camera, and uses video acquired from the onboard camera in the at least one SLAM technique to generate the map of the area to cleaned.

14. The method of claim 1 wherein:

the relatively lower cumulative energy cleaning strategy includes using a stored map for navigation and not a discovery process; and

the relatively higher cumulative energy cleaning strategy includes using a discovery process for navigation.

15. The method of claim 1 wherein the relatively lower cumulative energy cleaning strategy includes traveling at a faster forward speed than in the relatively higher energy cumulative energy cleaning strategy.

16. The method of claim 1 wherein:

the relatively higher cumulative energy cleaning strategy includes the remote cleaning robot concentrating its cleaning on edges and corners of a living space; and

the relatively lower cumulative energy cleaning strategy includes the remote cleaning robot concentrating its cleaning in open areas and/or in designated areas.

17. The method of claim 1 wherein:

the remote cleaning robot includes an onboard debris bin;

the relatively higher cumulative energy cleaning strategy includes the remote cleaning robot evacuating its onboard debris bin during the pre-planned cleaning session to increase the remote cleaning robot'"'"'s cleaning power; and

the relatively lower cumulative energy cleaning strategy includes the remote cleaning robot not evacuating its onboard debris bin prior to the end of the pre-planned cleaning session.

20. The method of claim 3 wherein the dock is wirelessly connected to a network.

21. The method of claim 20 wherein the dock is wirelessly connected to the remote cleaning robot to transmit data from the network to the robot via the dock and/or to transmit data from the robot to the network via the dock.

22. The method of claim 1 including:

generating a progressively improving map of the area being cleaned;

displaying a graphical representation of the progressively improving map in the user interface on the user terminal;

using the remote cleaning robot, localizing a location of a dock in the area being cleaned; and

displaying, in the user interface, a graphical representation of the relative position of the location of the dock in the graphical representation of the progressively improving map.

11. A computer program product for receiving user commands for a remote cleaning robot and sending the user commands to the remote cleaning robot, the remote cleaning robot including a drive motor and a cleaning motor, the computer program product comprising:

a non-transitory computer readable storage medium having computer readable code embodied in the medium, the computer readable code comprising;

computer readable code configured to;

display a user interface on a user terminal, the user interface including a control area, and within the control area;

a user-manipulable launch control group including a plurality of control elements, the launch control group having a deferred launch control state and an immediate launch control state;

at least one user-manipulable cleaning strategy control element having a primary cleaning strategy control state and an alternative cleaning strategy control state; and

a physical recall control group including a plurality of control elements, the physical recall control group having an immediate recall control state and a remote audible locator control state;

receive user input via the user-manipulable control elements;

responsive to the user inputs, display simultaneously within the same control area a real-time robot state reflecting a unique combination of control states; and

command the remote cleaning robot to actuate the drive motor and cleaning motor to clean a surface based on the received input and unique combination of control states;

display, in the user interface, a graphical representation of an area to be cleaned by the remote cleaning robot and at least one user-manipulable pre-planned cleaning strategy control element having a deep cleaning strategy control state and a quick cleaning strategy control state, wherein;

responsive to selection of the deep cleaning strategy control state, the user terminal commands the remote cleaning robot to execute a relatively higher cumulative energy cleaning strategy; and

responsive to selection of the quick cleaning strategy control state, the user terminal commands the remote cleaning robot to execute a relatively lower cumulative energy cleaning strategy;

receive user input via the at least one pre-planned cleaning strategy control element selecting different pre-planned cleaning strategies for different subsections of the graphical representation of the area to be cleaned by the remote cleaning robot in a pre-planned cleaning session; and

command the remote cleaning robot to clean corresponding subsections of the surface in accordance with the user inputs of the pre-planned cleaning strategies;

wherein;

the relatively higher cumulative energy cleaning strategy includes traveling a multiple pass travel path that is one of deterministic, systematic, and planned; and

the relatively lower cumulative energy cleaning strategy includes traveling a single pass travel path that is one of deterministic, systematic, and planned.

18. The computer program product of claim 11 wherein:

the relatively lower cumulative energy cleaning strategy includes using a stored map for navigation and not a discovery process; and

the relatively higher cumulative energy cleaning strategy includes using a discovery process for navigation.

19. The computer program product of claim 11 wherein:

the remote cleaning robot includes an onboard debris bin; and

the relatively higher cumulative energy cleaning strategy includes the remote cleaning robot evacuating its onboard debris bin during the pre-planned cleaning session to increase the remote cleaning robot'"'"'s cleaning power; and

the relatively lower cumulative energy cleaning strategy includes the remote cleaning robot not evacuating its onboard debris bin prior to the end of the pre-planned cleaning session.