ENVIRONMENTAL MANAGEMENT SYSTEMS INCLUDING MOBILE ROBOTS AND METHODS USING SAME

• US 20140207280A1
• Filed: 10/05/2013
• Published: 07/24/2014
• 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.
• Granted Patent: US 9,380,922 B2
• Time in Patent Office: Days
• US Class Current: 700/257
• 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 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; 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.

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:

the user interface is provided on a user terminal; and

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:

the user interface is provided on a user terminal; and

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 wherein:

the user interface is provided on a user terminal;

the primary cleaning strategy control state is a deep cleaning strategy control state;

the alternative cleaning strategy control state is a quick cleaning strategy control state;

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.

10. The method of claim 9 including:

displaying a graphical representation of an area to be cleaned by the remote cleaning robot;

displaying at least one cleaning control strategy element;

receiving user input via the at least one cleaning control strategy element indicating different cleaning strategies for different subsections of the graphical representation of the area to be cleaned by the remote cleaning robot; and

commanding the remote cleaning robot to clean corresponding subsections of the surface in accordance with the user inputs.

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

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

13. 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 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.

14. A system for monitoring and controlling mobile robot status in a living space of a structure, comprising:

a remote cleaning robot including a drive motor and a cleaning motor;

a user terminal remote from the remote cleaning robot and having a display, wherein the user terminal is operable to;

display 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;

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.

15. An environmental management system for monitoring conditions in a living space of a structure, the environmental management system comprising:

a hub;

a stationary sensor positioned in the structure to monitor a condition in the living space and operative to transmit corresponding stationary sensor data to the hub; and

a mobile robot configured to move about the living space, the mobile robot including an onboard robot sensor to monitor a condition in the living space and operative to wirelessly transmit corresponding robot sensor data to the hub.

16. A method for monitoring conditions in a living space of a structure using a hub, a stationary sensor positioned in the structure, and a mobile robot configured to move about the living space and including an onboard robot sensor, the method comprising:

monitoring a condition in the living space using the stationary sensor and transmitting corresponding stationary sensor data to the hub from the stationary sensor; and

monitoring a condition in the living space using the onboard robot sensor and wirelessly transmitting corresponding robot sensor data to the hub from the mobile robot.

17. A system for monitoring and controlling mobile robot status in a living space of a structure, comprising:

a hub in communication with a network;

a mobile robot in communication with the hub, the mobile robot configured to move about the living space, the mobile robot including an onboard robot sensor to monitor a condition in the living space and operative to wirelessly transmit corresponding robot sensor data to the hub; and

a mobile device in communication with the network, the mobile device including an interactive application for controlling or monitoring the state of the mobile robot;

wherein controlling the mobile robot comprises providing one or more selectable scheduling parameters or action commands; and

wherein monitoring the state of the mobile robot comprises providing a display of area coverage completion.

18. A computer program product for monitoring and controlling mobile robot status in a living space of a structure, the mobile robot in being in communication with a hub, configured to move about the living space, and including an onboard robot sensor to monitor a condition in the living space and operative to wirelessly transmit corresponding robot sensor data to the hub, 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 to control or monitor the state of the mobile robot;

wherein controlling the mobile robot comprises providing one or more selectable scheduling parameters or action commands; and

wherein monitoring the state of the mobile robot comprises providing a display of area coverage completion.