Robot system

• US 9,901,236 B2
• Filed: 01/27/2017
• Issued: 02/27/2018
• 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:
  US15/417,997
• Publication Number:
  US 20170135543A1
• Time in Patent Office: 396 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. A mobile cleaning robot comprising:

a drive system to move the robot on a floor surface;

a cleaning unit to clean the floor surface;

an audio output device to emit audio content;

a display system operable to present visual indications;

a controller configured to,

in an operational mode, operate the display system to present a first indicator indicative an operating state of the robot, the first indicator being indicative of one or more of a power state of the robot, a dormant state of the robot, a charging state of the robot, and a behavior of the robot, and

in a training mode, operate the display system to present a second indicator and operate the audio output device to audibly emit content in coordination with the second indicator to provide a user with one or more of an audible tutorial, technical support, a training program, instructions to demonstrate operational features of the robot, and instructions to interact with the robot.

2. The robot of claim 1, further comprising:

a receiver to wirelessly receive data representing the content from a remote computing device, and

a transmitter to wirelessly transmit data representing the operating state of the robot to the remote computing device.

3. The robot of claim 1, wherein the controller is further configured to

operate the display system to present the first indicator in accordance to an operative pattern corresponding to a state of the robot,

operate the display system to present the second indicator according to a training pattern in timed coordination with the audibly emitted content, the operative pattern being distinct from the training pattern.

4. The robot of claim 1, further comprising a bin in communication with the controller, wherein the first indicator is indicative of information representing an amount of substance in the bin.

5. The robot of claim 4, wherein the bin is a consumable fluid bin, and the audibly emitted content includes information representing an amount of fluid in the bin.

6. The robot of claim 1, wherein the controller is configured to

receive a customization selection indicative of one more of audible content, visual content, multimedia content, a choreographic routine, or a movement routine, and

operate the robot based on the customization selection.

7. The robot of claim 1, wherein the controller is configured to navigate the robot across the floor surface based on signals from a camera.

8. The robot of claim 1, wherein the display system includes an illuminable maintenance display substantially mimicking an appearance of the robot.

9. The robot of claim 1, further comprising a microphone configured to receive an audible command for a function performable by the robot, and the controller is configured to use speech recognition to cause the robot to perform the function provided by the received audible command.

10. A mobile cleaning robot comprising:

a drive system to move the robot on a floor surface;

a cleaning unit to clean the floor surface;

an audio output device to emit audio content;

a display system operable to present visual indications;

a controller configured to, in a training mode, operate the display system to present one or more indicators and operate the audio output device to audibly emit content in coordination with the presented one or more indicators to provide a user with one or more of an audible tutorial, technical support, a training program, and instructions to demonstrate operational features of the robot.

11. The robot of claim 10, further comprising:

a receiver to wirelessly receive data representing the content from a remote computing device, and

a transmitter to wirelessly transmit data representing an operating state of the robot to the remote computing device.

12. The robot of claim 10, wherein the controller is further configured to operate the audio output device to instruct the user to interact with the mobile cleaning robot.

13. The robot of claim 10, wherein the controller is further configured to operate the display system to present the one or more indicators according to a training pattern in timed coordination with the audibly emitted content.

14. The robot of claim 10, wherein, in an operational mode, the controller is configured to operate the display system to present an indicator indicative of an operational state of the robot.

15. The robot of claim 14, wherein the indicator is indicative of a power state of the robot in the operational mode.

16. The robot of claim 14, further comprising a bin in communication with the controller, wherein the indicator is indicative of information representing an amount of substance in the bin.

17. The robot of claim 16, wherein the bin is a consumable fluid bin, and the audibly emitted content includes information representing an amount of fluid in the bin.

18. The robot of claim 10, wherein the controller is configured to

receive a customization selection indicative of one more of audible content, visual content, multimedia content, a choreographic routine, or a movement routine, and

operate the robot based on the customization selection.

19. The robot of claim 10, wherein the controller is configured to navigate the robot across the floor surface based on signals from a camera.

20. The robot of claim 10, wherein the display system includes an illuminable maintenance display substantially mimicking an appearance of the robot.

21. The robot of claim 10, further comprising a microphone configured to receive an audible command for a function performable by the robot, and the controller is configured to use speech recognition to cause the robot to perform the function provided by the received audible command.