Remote control scheduler and method for autonomous robotic device

• US 10,893,787 B2
• Filed: 11/01/2016
• Issued: 01/19/2021
• Est. Priority Date: 06/24/2004
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Dubrovsky, Zivthan A., Landry, Gregg W., Halloran, Michael J., Lynch, James
• Primary Examiner(s): Kiswanto, Nicholas
• Application Number:
  US15/340,250
• Publication Number:
  US 20170113354A1
• Time in Patent Office: 1,540 Days
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: B25J 13/00 Controls for manipulators programme controls B25J9/16; control in general G05
• CPC Class Codes: B25J 13/006 by means of a wireless system for controlling one or several manipulators
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: G05B 19/409 characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters G05B19/408, G05B19/4093 take precedence
• CPC Class Codes: G05B 2219/34456 Authorize control of machine, robot if control panel has been connected
• CPC Class Codes: G05B 2219/36159 Detachable or portable programming unit, display, pc, pda
• CPC Class Codes: G05B 2219/45098 Vacuum cleaning robot
• 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 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0033 by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• 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 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: Y10S 901/02 Arm motion controller

Abstract

A method of scheduling a robotic device enables the device to run autonomously based on previously loaded scheduling information. The method consists of a communication device, such as a hand-held remote device, that can directly control the robotic device, or load scheduling information into the robotic device such that it will carry out a defined task at the desired time without the need for farther external control. The communication device can also be configured to load a scheduling application program into an existing robotic device, such that the robotic device can receive and implement scheduling information from a user.

Claims

1. A robotic system comprising:

a stationary charging device; and

an autonomous cleaning robot including a vacuum system, the autonomous cleaning robot configured to;

initiate, according to scheduling information, a cleaning operation in which the autonomous cleaning robot autonomously navigates about a floor surface to clean the floor surface according to a vacuum power level;

receive, from a user operable remote device, a command to initiate a docking operation in which the autonomous cleaning robot returns to the stationary charging device to dock at the stationary charging device;

send a return signal, to the user operable remote device, upon receiving the command to initiate the docking operation; and

initiate the docking operation in which the autonomous cleaning robot autonomously returns to the stationary charging device.

2. The robotic system of claim 1, wherein the stationary charging device is configured to store the scheduling information.

3. The robotic system of claim 1, wherein the scheduling information is indicative of a future time at which the autonomous cleaning robot initiates the cleaning operation.

4. The robotic system of claim 1, wherein the stationary charging device includes a transmitter configured to send an infrared signal along a designated path, and wherein the autonomous cleaning robot is configured to change movement direction based on sensing the infrared signal.

5. The robotic system of claim 1, wherein the autonomous cleaning robot is configured to receive drive information to move the autonomous cleaning robot forward, left, right, or backward.

6. The robotic system of claim 1, wherein the autonomous cleaning robot is configured to receive a command to initiate a spot cleaning operation to clean a spot on the floor surface.

7. The robotic system of claim 1, wherein the autonomous cleaning robot is configured to receive control information indicative of a length of time for which the autonomous cleaning robot is to perform the cleaning operation.

8. The robotic system of claim 1, wherein the user operable remote device comprises user input buttons operable to cause the user operable remote device to transmit control information to specify the vacuum power level at which the autonomous cleaning robot is to perform the cleaning operation.

9. The robotic system of claim 1, wherein the user operable remote device is a hand-held remote device separate from the autonomous cleaning robot and separate from the stationary charging device.

16. The robotic system of claim 1, wherein the autonomous cleaning robot is further configured to send, to the user operable remote device, a mission status report.

17. The robotic system of claim 1, wherein the autonomous cleaning robot is further configured to send, to the user operable remote device, a vacuum power level report.

18. The robotic system of claim 1, wherein the autonomous cleaning robot is further configured to send, to the user operable remote device, an error report.

19. The robotic system of claim 1, wherein the autonomous cleaning robot is further configured to illuminate an indicia on the autonomous cleaning robot upon receiving information from the user operable remote device.

10. A method of controlling operations of an autonomous cleaning robot, the method comprising:

wirelessly receiving, from a user operable remote device, information including a command to initiate a cleaning operation;

initiating departure from a stationary charging device at which the autonomously cleaning robot is docked and navigating about a floor surface to clean the floor surface in accordance with the command to initiate the cleaning operation;

wirelessly receiving, from the user operable remote device, a command to initiate a docking operation;

initiating the docking operation to return the autonomous cleaning robot to the stationary charging device; and

wirelessly sending, to the user operable remote device, a return signal upon receiving the command to initiate the docking operation.

11. The method of claim 10, further comprising:

wirelessly receiving, from the user operable remote device, drive information to move the autonomous cleaning robot forward, left, right, or backward; and

initiating movement of the autonomous cleaning robot in accordance with the drive information.

12. The method of claim 10, further comprising:

wirelessly receiving, from the user operable remote device, control information indicative of a length of time for which the autonomous cleaning robot is to perform the cleaning operation; and

performing the cleaning operation in accordance with the control information indicative of the length of time.

13. The method of claim 10, wherein the command to initiate the cleaning operation is received in response to the user operable remote device being operated.

14. The method of claim 12, wherein the control information is received in response to the user operable remote device being operated.

15. The method of claim 10, further comprising:

wirelessly receiving a command to initiate a spot cleaning operation; and

initiating the spot cleaning operation to clean a spot on the floor surface.

20. An autonomous cleaning robot comprising:

a vacuum system; and

a communication device configured to;

initiate, according to scheduling information, a cleaning operation in which the autonomous cleaning robot autonomously navigates about a floor surface to clean the floor surface according to a vacuum power level;

receive, from a user operable remote device, a command to initiate a docking operation in which the autonomous cleaning robot returns to a stationary charging device to dock at the stationary charging device;

send a return signal, to the user operable remote device, upon receiving the command to initiate the docking operation; and

initiate the docking operation in which the autonomous cleaning robot autonomously returns to the stationary charging device.

21. The autonomous cleaning robot of claim 20, wherein the autonomous cleaning robot is further configured to send, to the user operable remote device, a mission status report.

22. The autonomous cleaning robot of claim 20, wherein the autonomous cleaning robot is further configured to send, to the user operable remote device, a vacuum power level report.

23. The autonomous cleaning robot of claim 20, wherein the autonomous cleaning robot is further configured to send, to the user operable remote device, an error report.

24. The autonomous cleaning robot of claim 20, further comprising an illuminable indicia, wherein the autonomous cleaning robot is configured to illuminate the illuminable indicia upon receiving information from the user operable remote device.