Programming and diagnostic tool for a mobile robot

• US 20060009879A1
• Filed: 06/24/2005
• Published: 01/12/2006
• Est. Priority Date: 06/24/2004
• Status: Abandoned Application

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Ozick, Daniel N., Vu, Clara, Cross, Matthew Edward, Cohen, David Andrew, Drislane, William Francis, Lynch, James Kenneth
• Application Number:
  US11/166,518
• Publication Number:
  US 20060009879A1
• Time in Patent Office: Days
• US Class Current: 700/245
• 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: G05D 2201/0203 Cleaning or polishing vehicle
• CPC Class Codes: G05D 2201/0215 Vacuum cleaner
• CPC Class Codes: Y10S 901/02 Arm motion controller

Abstract

A method of communicating with a robotic device and associated system enables configuration information and diagnostic information to be communicated between the robotic device and a configuration tool. The method consists of using a configuration tool, such as a hand-held device, that can communicate information to the robotic device to program the device to carry out a specific task or function. The configuration tool can also be configured to retrieve diagnostic information from a robotic device, and communicate this information to an analysis tool.

Claims

1. A method for communicating with a robotic device, the method comprising the steps of:

linking a configuration tool to the robotic device;

authenticating the configuration tool; and

at least one of;

loading, via the configuration tool, information into the robotic device; and

loading into the configuration tool information from the robotic device,

wherein the executed loading step is carried out after successful authentication of the configuration tool.

2. The method of claim 1, wherein the robotic device supplies power to the configuration tool.

3. The method of claim 1, wherein the link comprises at least one of a communication port, a wireless connection, and a physical connection.

4. The method of claim 3, wherein the physical connection comprises a verification attribute.

5. The method of claim 1, wherein the step of authenticating the configuration tool comprises at least one of identifying an authorization code included in the information, exchanging at least one predetermined message between the robotic device and the configuration tool, receiving configuration information from the robotic device, issuing an unlock command, and interconnecting a verification attribute and the robotic device.

6. The method of claim 5, wherein the at least one predetermined message comprises a message sent by the robotic device and a message sent by the configuration tool.

7. The method of claim 5 wherein the configuration information comprises processor type.

8. The method of claim 5, wherein the unlock command permits use of the communication port.

9. The method of claim 1, wherein the executed loading step occurs only during a limited validity lifetime.

10. The method of claim 9, wherein the limited validity lifetime is based at least in part on at least one of an elapsed time from authentication, a number of authentications, and a frequency of authentications.

11. The method of claim 1, wherein the configuration tool comprises a user interface.

12. The method of claim 1, wherein the information comprises at least one of operational data, and at least part of a computer program.

13. The method of claim 12, wherein the operational data comprises at least one of motor current and a sensor threshold value.

14. The method of claim 1, wherein at least part of the information is encrypted.

15. The method of claim 1, further comprising the step of decrypting, by the robotic device, the information.

16. An apparatus for communicating with a robotic device, the apparatus comprising:

a memory for storing information;

at least one port for communicating with the robotic device;

at least one authenticator for authenticating the apparatus; and

at least one loader for communicating, via the at least one port, at least part of the information, wherein the at least part of the information consists of at least one of information loaded from the apparatus into the robotic device and information loaded from the robotic device into the apparatus.

17. The apparatus of claim 16, wherein the robotic device supplies power to the apparatus.

18. The apparatus of claim 16, wherein the at least one port comprises at least one of a wireless connection and a physical connection.

19. The apparatus of claim 18, wherein the physical connection comprises a verification attribute.

20. The apparatus of claim 16, wherein the information comprises at least one of an authorization code, at least one predetermined message, an unlock command, at least part of a computer program, and operational data.

21. The apparatus of claim 20, wherein the at least one predetermined message comprises a message sent by the robotic device and a message sent by the apparatus.

22. The apparatus of claim 20, wherein the unlock command enables the at least one port.

23. The apparatus of claim 20, wherein the operational data comprises at least one of motor current and a sensor threshold value.

24. The apparatus of claim 16, wherein the authenticator comprises at least one of a receiver for receiving configuration information from the robotic device, and an interconnection between the verification attribute and the robotic device.

25. The apparatus of claim 24, wherein the configuration information comprises processor type.

26. The apparatus of claim 16, wherein the at least one loader comprises a limited validity lifetime.

27. The apparatus of claim 26, wherein the limited validity lifetime is based at least in part on at least one of an elapsed time from authentication, a number of authentications, and a frequency of authentications.

28. The apparatus of claim 16, wherein the apparatus comprises a user interface.

29. The apparatus of claim 16, wherein the information is encrypted.

30. The apparatus of claim 29, further comprising a decrypter for decrypting the information within the robotic device.