Remote control scheduler and method for autonomous robotic device

• US 9,486,924 B2
• Filed: 03/27/2015
• Issued: 11/08/2016
• 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:
  US14/670,572
• Publication Number:
  US 20160023357A1
• Time in Patent Office: 592 Days
• US Class Current: 1/1
• 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 method of cleaning a room, the method comprising:

transmitting from a cleaning robot to a mobile phone a status of the cleaning robot; and

receiving at the cleaning robot from the mobile phone, in response to an operator command input at the mobile phone and at least in part indicative of a schedule, information including instructions configured to cause a processor of the cleaning robot to execute a cleaning operation in the room according to the schedule, wherein executing the cleaning operation in the room according to the schedule comprises;

leaving a stationary charging device at which the cleaning robot is docked according to the schedule, and

navigating about a floor surface of the room.

2. The method of claim 1, wherein transmitting the status to the mobile phone comprises transmitting a mission status report.

3. The method of claim 2, wherein the mission status report is transmitted after the cleaning operation is complete, the mission status report being indicative of completeness of the mission.

4. The method of claim 2, wherein transmitting the mission status report comprises transmitting the mission status report during the cleaning operation.

5. The method of claim 1, further comprising transmitting information to cause the cleaning robot to generate a map of the room.

6. The method of claim 5, wherein the map of the room comprises a position of an object in the room.

7. The method of claim 1, further comprising storing the schedule on a memory of the cleaning robot.

8. The method of claim 1, wherein transmitting the status to the mobile phone comprises transmitting an error report indicative of an error of at least one of a filter, a sensor, a brush, a drive, or a dust compartment of the cleaning robot.

9. The method of claim 1, wherein transmitting the status to the mobile phone comprises transmitting a power report indicative of at least one of a stop and power status, a low power status, a recharging status, and a specific power level.

10. The method of claim 1, further comprising receiving an infrared signal from a portable signal transmitter, wherein navigating about the floor surface comprises navigating about the floor surface in response to the infrared signal from the portable signal transmitter.

11. The method of claim 1, wherein transmitting from the cleaning robot to the mobile phone the status of the cleaning robot causes the mobile phone to illuminate a visual indicator.

12. A method of controlling a cleaning robot to clean a room, the method comprising:

initiating formation of a wireless communication link between the cleaning robot and a mobile phone; and

entering an operator command input into the mobile phone to cause the mobile phone to transmit, using the wireless communication link, information to the cleaning robot, the operator command input being at least in part indicative of a schedule, and the information comprising instructions configured to cause a processor of the cleaning robot to perform operations including executing a cleaning operation in the room according to the schedule, wherein executing the cleaning operation in the room according to the schedule comprises;

leaving, according to the schedule, a stationary charging device at which the cleaning robot is docked, and

navigating about a floor surface of the room.

13. The method of claim 12, wherein entering the operator command input comprises entering an adjustment to scheduling information to generate the schedule, the scheduling information being transmitted from the cleaning robot to the mobile phone using the wireless communication link.

14. The method of claim 12, wherein entering the operator command input comprises entering a start time comprising at least one of a selected time, a selected date, and a selected day, and wherein the operations further comprise leaving, according to the schedule, the stationary charging device at the start time.

15. The method of claim 12, wherein:

entering the operator command input comprises entering a return command, and

the operations further comprise returning to the stationary charging device in response to the return command.

16. The method of claim 12, wherein:

entering the operator command input comprises designating a cleaning mission selected from among a plurality of cleaning missions and

the operations further comprise navigating about the floor surface of the room according to the designated cleaning mission.

17. The method of claim 16, wherein:

designating the cleaning mission from among the plurality of cleaning missions comprises entering a movement command, and

the operations further comprise moving, based on the movement command, in at least one of a forward direction, leftward direction, and rightward direction.

18. The method of claim 12, wherein entering the operator command input to cause the mobile phone to transmit the information to the cleaning robot comprises:

entering the operator command input into the mobile phone such that the mobile phone stores the operator command input on a memory of the mobile phone and transmits the information to the cleaning robot.

19. The method of claim 12, wherein entering the operator command input into the mobile phone comprises providing a voice command to the mobile phone.