Mobile robot providing environmental mapping for household environmental control

• US 9,802,322 B2
• Filed: 12/02/2015
• Issued: 10/31/2017
• Est. Priority Date: 01/18/2013
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Angle, Colin, Snelling, David, O'Dea, Melissa, Farlow, Timothy S., Duffley, Samuel, Mammen, Jeffrey W., Halloran, Michael J.
• Primary Examiner(s): PATTON, SPENCER D
• Application Number:
  US14/956,523
• Publication Number:
  US 20160167234A1
• Time in Patent Office: 699 Days
• 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: B25J 13/006 by means of a wireless system for controlling one or several manipulators
• CPC Class Codes: G05B 15/02 electric
• CPC Class Codes: G05B 2219/2642 Domotique, domestic, home control, automation, smart house
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0044 by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps maps used for automatic navigation G05D1/0274; flight directors G01C23/005
• CPC Class Codes: G05D 1/2245 providing the operator with a purely computer-generated representation of the environment of the vehicle, e.g. virtual reality
• CPC Class Codes: G06F 15/16 Combinations of two or more digital computers each having at least an arithmetic unit, a program unit and a register, e.g. for a simultaneous processing of several programs coordinating program control therefor G06F9/52; in regulating and control system G05B
• CPC Class Codes: G06Q 10/1095 Meeting or appointment
• CPC Class Codes: H04B 5/0031 for data transfer
• CPC Class Codes: H04B 5/72 for local intradevice communication
• CPC Class Codes: H04L 12/2809 indicating that an appliance service is present in a home automation network monitoring functionality H04L43/0817; discovery or management thereof, e.g. service location protocol [SLP] or web services, H04L67/51
• CPC Class Codes: H04L 12/282 based on user interaction within the home receiver circuitry for displaying additional information being controlled by a remote control apparatus H04N21/42204
• CPC Class Codes: H04L 2012/2841 Wireless
• CPC Class Codes: H04L 2012/285 Generic home appliances, e.g. refrigerators
• CPC Class Codes: H04L 67/125 involving control of end-device applications over a network
• CPC Class Codes: H04L 67/62 Establishing a time schedule for servicing the requests
• CPC Class Codes: H04W 4/30 Services specially adapted for particular environments, situations or purposes
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A mobile robot includes a processor connected to a memory and a wireless network circuit, for executing routines stored in the memory and commands generated by the routines and received via the wireless network circuit. The processor drives the mobile robot to a multiplicity of accessible two dimensional locations within a household, and commands an end effector, including at least one motorized actuator, to perform mechanical work in the household. A plurality of routines include a first routine which monitors a wireless local network and detects a presence of a network entity on the wireless local network, a second routine which receives a signal from a sensor detecting an action state of one of the network entities, the action state changeable between waiting and active, and a third routine which commands the end effector to change state of performing mechanical work based on the presence and on the action state.

Claims

1. A mobile robot, comprising:

a processor connected to a memory and a wireless network circuit, for executing routines stored in the memory and commands generated by the routines and received via the wireless network circuit;

driven wheels commandable by the processor to reach a multiplicity of accessible two dimensional locations within a household; and

a localizing circuit;

the processor executing a plurality of routines including;

a navigation routine which commands the driven wheels to move the robot about the household,

a surface mapping routine that accumulates observations from the localizing circuit to record a two dimensional array representing accessible two dimensional locations of the mobile robot;

a mission time estimate routine that accumulates timed readings from the localizing circuit and determines at least one estimated completion time span for the mobile robot to substantially cover a surface area corresponding to a contiguous set of possible locations within the two dimensional array; and

a mission pre-planning routine that compares a target completion time to the at least one estimated completion time span, and commands the driven wheels to begin covering the surface area sufficiently in advance of the target completion time for the at least one estimated completion time to pass, so that the surface area is substantially covered before the target completion time.

2. The mobile robot of claim 1, wherein the mission pre-planning routine further comprises identifying a target completion time and launching the robot autonomously based on an occupancy schedule of the household.

3. The mobile robot of claim 2, wherein the mission pre-planning routine comprises identifying the target completion time and launching the robot autonomously when the household is not occupied.

4. The mobile robot of claim 2, wherein the occupancy schedule is directly input to the mobile robot at a user interface display.

5. The mobile robot of claim 2, wherein the occupancy schedule is wirelessly transmitted to the mobile robot from a remote human machine interface in wireless communication with the robot.

6. The mobile robot of claim 2, wherein the occupancy schedule is wirelessly transmitted to the mobile robot through native calendar integration.

7. The mobile robot of claim 1, wherein the mobile robot monitors and learns an occupancy schedule of the household over a period or periods of time and sets the target completion time based on the learned occupancy schedule.

8. The mobile robot of claim 1, wherein the mobile robot learns an occupancy schedule of the household over a period of time, identifies one or more occupancy patterns and sets the target completion time based on the one or more learned occupancy patterns.

9. The mobile robot of claim 1 wherein the localizing circuit includes at least one localizing sensor that observes sensor readings from objects within the household, for determining a current pose of the mobile robot with reference to the observed objects.

10. The mobile robot of claim 1 wherein the mobile robot uses vision based simultaneous localization and mapping (VSLAM) to localize the mobile robot in a map of the household.

11. The mobile robot of claim 10 including a camera on the robot, wherein the mobile robot uses image data from the camera to localize the mobile robot in the map of the household using VSLAM.

12. The mobile robot of claim 1 wherein the mobile robot builds a progressively improving map of the household.

13. The mobile robot of claim 12 wherein the mobile robot builds the progressively improving map of the household using vision based simultaneous localization and mapping (VSLAM).

14. The mobile robot of claim 12 wherein the mobile robot is configured to display on a user device a representation comparing the progressively improving map of the household to an area within the progressively improving map covered by the mobile robot.

15. The mobile robot of claim 12 wherein the mobile robot is configured to locate and represent one or more specific physical items within the progressively improving map.

16. The mobile robot of claim 1 wherein the mobile robot is a mobile cleaning robot.

17. The mobile robot of claim 1 where in the mobile robot is configured to patrol a selected zone within the household.

18. The mobile robot of claim 1 where in the mobile robot includes a camera and is configured to send images from the camera to a remote terminal.