Remote control scheduler and method for autonomous robotic device

• US 9,008,835 B2
• Filed: 06/24/2005
• Issued: 04/14/2015
• Est. Priority Date: 06/24/2004
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Dubrovsky, Zivthan, Landry, Gregg, Halloran, Michael John, Lynch, James Kenneth
• Primary Examiner(s): Kiswanto, Nicholas
• Application Number:
  US11/166,891
• Publication Number:
  US 20050287038A1
• Time in Patent Office: 3,581 Days
• Field of Search: 700/245, 700/257, 701/2, 701/200
• 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: 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 further 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 mobile robotic device comprising a processor;

a stationary charging device to which the robotic device returns; and

a hand-held remote device separate from the mobile robotic device, the hand-held remote device comprising;

a start button configured to provide a wireless remote signal directing the mobile robotic device to immediately start an autonomous mission by leaving the stationary recharging device;

a dock button configured to provide a wireless remote signal directing the mobile robotic device to immediately return to the stationary charging device; and

three buttons of a button input configured, in a control mode, to provide a wireless remote signal of direct control commands to immediately move the mobile robotic device forward, left, and right;

wherein the three buttons of the button input are configured, in a scheduling mode, to receive;

an operator'"'"'s input of schedule information for the mobile robotic device to leave the stationary charging device to operate autonomously according to a delay determined by at least one of a selected time, a selected date, or a selected day;

at least one transmitter for transmitting from the hand-held remote device to at least one of the mobile robotic device and the stationary charging device; and

a switch to toggle the hand-held remote device between the control mode and the scheduling mode;

wherein the processor on the mobile robotic device is configured to receive a command, representative of the schedule information from the hand-held remote device, and control the mobile robotic device to leave the stationary charging device according to the schedule information.

2. The system of claim 1, wherein the mobile robotic device is configured to transmit information to the remote hand-held device via communication connections.

3. The system of claim 1, wherein the command is representative of configuration information.

4. The system of claim 1, wherein the hand-held remote device includes a display to display an operator'"'"'s input of the schedule information.

5. The system of claim 1, wherein the mobile robotic device comprises a memory for storing information.

6. The system of claim 1, wherein the switch is a flip lid.

7. The system of claim 6, wherein the flip lid toggles the hand-held remote device into the control mode when the flip lid is in a closed position and wherein the flip lid toggles the hand-held remote device into the scheduling mode when the flip lid is in an open position.

8. A method of controlling a mobile robotic device comprising a processor, the method comprising:

providing a stationary charging device to which the robotic device returns;

providing a hand-held remote device separate from the mobile robotic device, the hand-held remote device comprising;

a start button configured to provide a wireless remote signal directing the mobile robotic device to immediately start an autonomous mission by leaving the stationary recharging device;

a dock button configured to provide a wireless remote signal directing the mobile robotic device to immediately return to the stationary charging device; and

three buttons of a button input configured, in a control mode, to provide a wireless remote signal of direct control commands to immediately move the mobile robotic device forward, left, and right;

wherein the three buttons of the button input are configured, in a scheduling mode, to receive;

an operator'"'"'s input of schedule information for the mobile robotic device to leave the stationary charging device to operate autonomously according to a delay determined by at least one of a selected time, a selected date, or a selected day;

at least one transmitter for transmitting from the hand-held remote device to at least one of the mobile robotic device and the stationary charging device; and

a switch to toggle the hand-held remote device between the control mode and the scheduling mode;

wherein the method further comprises sending a command representative of the schedule information from the hand-held remote device to the processor on the mobile robotic device, the mobile robotic device receiving the command at the processor, thereby controlling the mobile robotic device to leave the stationary charging device according to the schedule information.

9. The method of claim 8, further comprising transmitting information from the mobile robotic device to the hand-held remote device via communication connections.

10. The method of claim 8, wherein the command is representative of configuration information.

11. The method of claim 8, wherein the mobile robotic device comprises a memory for storing information.