Service robot and method of operating same

• US 8,838,268 B2
• Filed: 01/28/2009
• Issued: 09/16/2014
• Est. Priority Date: 01/28/2008
• Status: Active Grant

• Current Assignee: Seegrid Corporation
• Original Assignee: Seegrid Corporation
• Inventors: Friedman, Scott Justin-Marl, Moravec, Hans Peter
• Primary Examiner(s): To, Tuan C.
• Application Number:
  US12/361,441
• Publication Number:
  US 20090194137A1
• Time in Patent Office: 2,057 Days
• Field of Search: 701/23, 701/29.1, 700/245, 700/253, 153/19
• 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: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: A47L 9/2805 Parameters or conditions being sensed
• CPC Class Codes: A47L 9/281 the amount or condition of incoming dirt or dust
• 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 9/2894 Details related to signal transmission in suction cleaners
• CPC Class Codes: B25J 11/0085 Cleaning
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• 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 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• 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

Abstract

In accordance with aspects of the present invention, a service robot, such as a robotic cleaner, can be configured to more effectively service an environment. The service robot can include one or more sensors that sense its location, the location of objects, or both, and can also include noise reduction elements. The service robot can determine that it is under a “furnishing” and implement a different servicing pattern.

Claims

1. A method of performing robotic servicing using a servicing robot and global location awareness, the method comprising:

storing in a storage media an electronic map of an environment, the environment comprising a plurality of locations to be serviced;

the service robot automatically servicing each of the different locations according to an electronic service plan, including the service robot automatically navigating through the environment using the electronic map;

during the servicing, one or more of the service robot or other robot or control system in communication with the service robot;

tracking the servicing of the different locations and sensing a service state of each of the different locations;

recoding completion of the servicing, including associating a data and time of cleaning in the database with the location;

determining a frequency of servicing of the different locations within the environment based on the service states at each of the different locations; and

updating the service plan based on the determined frequency of servicing.

2. The method of claim 1, further including the service robot tailoring servicing routes to optimally service all locations.

3. The method of claim 2, further including the service robot servicing high-use locations with greater frequency than lower-use locations.

4. The method of claim 1, wherein the service robot is a robotic cleaner.

5. The method of claim 4, wherein the robotic cleaner is a robotic vacuum.

6. The method of claim 1, further including tracking dirt levels at each location and varying cleaning activity to clean high dirt level locations with increased frequency.

7. The method of claim 1, the electronic service plan comprising:

labels assigned to each location; and

at least some of the plurality of locations associated with specific times of the day, outside which cleaning should be performed in those locations.