WO2023018947A1 - Robotic cleaner - Google Patents

Robotic cleaner Download PDF

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Publication number
WO2023018947A1
WO2023018947A1 PCT/US2022/040180 US2022040180W WO2023018947A1 WO 2023018947 A1 WO2023018947 A1 WO 2023018947A1 US 2022040180 W US2022040180 W US 2022040180W WO 2023018947 A1 WO2023018947 A1 WO 2023018947A1
Authority
WO
WIPO (PCT)
Prior art keywords
robotic
mobile device
robotic cleaner
cleaning system
map
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2022/040180
Other languages
French (fr)
Inventor
Robert Hall
Alex Irkliy
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SharkNinja Operating LLC
Original Assignee
SharkNinja Operating LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SharkNinja Operating LLC filed Critical SharkNinja Operating LLC
Priority to EP22856663.4A priority Critical patent/EP4384056B1/en
Priority to CN202280060153.8A priority patent/CN117915817A/en
Publication of WO2023018947A1 publication Critical patent/WO2023018947A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0044—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/222—Remote-control arrangements operated by humans
    • G05D1/224—Output arrangements on the remote controller, e.g. displays, haptics or speakers
    • G05D1/2244—Optic
    • G05D1/2247—Optic providing the operator with simple or augmented images from one or more cameras
    • G05D1/2249—Optic providing the operator with simple or augmented images from one or more cameras using augmented reality
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/229—Command input data, e.g. waypoints
    • G05D1/2297—Command input data, e.g. waypoints positional data taught by the user, e.g. paths
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • G05D1/6484—Performing a task within a working area or space, e.g. cleaning by taking into account parameters or characteristics of the working area or space, e.g. size or shape
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/10—Specific applications of the controlled vehicles for cleaning, vacuuming or polishing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/40—Indoor domestic environment
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

Definitions

  • the present disclosure is generally directed to a robotic cleaner and more specifically to a robotic cleaner configured to cooperate with a mobile device such as a mobile phone or tablet.
  • Autonomous cleaning devices are configured to autonomously traverse (or navigate) a surface while at least partially cleaning the surface.
  • An autonomous cleaning device is a robotic vacuum cleaner.
  • a robotic vacuum cleaner may include a suction motor, a dust cup fluidly coupled to the suction motor, and one or more driven wheels configured to urge the robotic vacuum cleaner across a surface to be cleaned. In operation, the robotic vacuum cleaner traverses the surface to be cleaned while collecting at least a portion of any debris present on the surface to be cleaned.
  • FIG. 1 is a schematic example of a robotic cleaner and a mobile device, consistent with embodiments of the present disclosure.
  • FIG. 2 is a schematic example of a mobile device, consistent with embodiments of the present disclosure.
  • FIG. 3 is a flow chart of an example method, consistent with embodiments of the present disclosure.
  • FIG. 4 is a flow chart of an example method, consistent with embodiments of the present disclosure.
  • FIG. 5 is a flow chart of an example method, consistent with embodiments of the present disclosure.
  • the present disclosure is generally directed to a robotic cleaner configured to cooperate with a mobile device.
  • the robotic cleaner may be configured to generate a map of an environment and to communicate the generated map to the mobile device.
  • the mobile device may be configured to localize itself within the map received from the robotic cleaner.
  • the mobile device may include a display and a camera, wherein the display displays one or more images (e.g., in the form of video) corresponding to a field of view of the camera.
  • the mobile device may be configured to generate one or more augmented reality elements to be displayed over the one or more images.
  • the augmented reality elements may be generated in response to one or more user inputs and correspond to a position and/or region within the environment that is shown in the one or more images.
  • an augmented reality element to identify a position and/or region within an environment may be easier and/or more accurate when compared to using a graphical representation (e.g., in the form of a two dimensional map).
  • the identified position and/or region may be localized within the map received from the robotic cleaner (e.g., converted into coordinates within the received map).
  • a plurality of user inputs may be used identify vertices of a polygon that encloses a region of the environment shown within the one or more images.
  • the resulting polygon may be shown in the one or more images as an augmented reality element.
  • the enclosed region may be localized within the received map and associated with a command/instruction (e.g., a clean here command/instruction, an avoid command/instruction, a surface type command/instruction, and/or any other command/instruction).
  • a command/instruction e.g., a clean here command/instruction, an avoid command/instruction, a surface type command/instruction, and/or any other command/instruction.
  • the enclosed region may be associated with the command/instruction in response to a user input that interacts with the augmented reality element representing the polygon.
  • FIG. 1 shows a schematic example of a robotic cleaner 100 configured to cooperate with a mobile device 102 (e.g., a mobile phone, a tablet computer, a laptop computer, and/or any other type of mobile device).
  • the robotic cleaner 100 includes one or more driven wheels 104 (shown in hidden lines), a suction motor 106 (shown in hidden lines) fluidly coupled to a suction inlet 108 (shown in hidden lines) and a dust cup 110 (shown in hidden lines), and a robot controller 112 (shown in hidden lines) communicatively coupled to one or more robot sensors 114 (shown in hidden lines) and/or one or more robot transmitters/receivers 116 (shown in hidden lines).
  • a mobile device 102 e.g., a mobile phone, a tablet computer, a laptop computer, and/or any other type of mobile device.
  • the robotic cleaner 100 includes one or more driven wheels 104 (shown in hidden lines), a suction motor 106 (shown in hidden lines) fluid
  • the robot controller 112 is configured to cause the robotic cleaner 100 to autonomously navigate an environment (e.g., a home and/or a room within a home). While navigating the environment, the robotic cleaner 100 may be configured to generate a map of the environment (e.g., using the one or more robot sensors 114).
  • the robot controller 112 may be configured to receive environmental and/or positional (e.g., orientation) information from at least one of the one or more robot sensors 114.
  • the environmental information may correspond to obstacles (e.g., walls, furniture, and/or any other obstacle) within the environment.
  • the robot controller 112 can use received environmental and/or positional information to generate one or more maps of the environment.
  • the robot controller 112 may be configured to generate one or more path plans along which the robotic cleaner 100 may travel when traversing the environment.
  • the robot controller 112 can use the one or more maps in conjunction with received environmental and/or positional information for purposes of localization.
  • Localizing the robotic cleaner 100 within the map may allow the robotic cleaner 100 to navigate to specific locations (e.g., a dirty location identified by a user) and/or avoid specific locations (e.g., a region that a user does not want the robotic cleaner 100 to traverse).
  • specific locations e.g., a dirty location identified by a user
  • specific locations e.g., a region that a user does not want the robotic cleaner 100 to traverse
  • the mobile device 102 is configured to communicatively couple to the robotic cleaner 100.
  • the mobile device 102 includes a display 118, a mobile controller 120 (shown in hidden lines), one or more mobile transmitters/receivers 122 (shown in hidden lines), and one or more mobile sensors 124 (shown in hidden lines).
  • At least one of the one or more mobile transmitters/receivers 122 are configured to communicatively couple (directly or indirectly) with at least one of the one or more robot transmitters/receivers 116.
  • the mobile device 102 may be configured to transmit one or more instructions/commands to the robotic cleaner 100.
  • the robotic cleaner 100 may be configured to transmit data (e.g., the environmental and/or positional information) to the mobile device 102.
  • the robotic cleaner 100 and the mobile device 102 may be configured for bi-directional communication.
  • the mobile device 102 may be configured to transmit one or more instructions/commands that are based, at least in part, on user input and receive environmental and/or positional information (e.g., in the form of a map) from the robotic cleaner 100.
  • the mobile controller 120 may be configured to localize the mobile device 102 within an environment using at least one of the one or more mobile sensors 124.
  • the mobile device 102 may receive a map of the environment from the robotic cleaner 100 and localize itself within the environment using the received map.
  • the mobile controller 120 may receive environmental information from at least one of the one or more mobile sensors 124 and determine a location of the mobile device 102 within the received map.
  • the mobile controller 120 may be configured to track movement of the mobile device 102 within the environment in real-time. In some instances, positional changes of the mobile device 102 may be tracked relative to a point (e.g., a position of the robotic cleaner 100).
  • the one or more mobile sensors 124 may, in some instances, be used to modify the received map (e.g., to increase an accuracy of the received map).
  • the one or more mobile sensors 124 may be used to identify obstacle(s), obstacle type(s) (e.g., furniture, walls, and/or any other obstacle type), and/or surface type(s) (e.g., carpet or hard floor) and add this information to the received map, generating a modified map.
  • the modified map may be transmitted to the robotic cleaner 100.
  • a user may send a command/instruction to clean proximate to a specific piece of furniture that was identified using the mobile sensors 124.
  • the command/instruction may be included with the modified map (e.g., such that the command/instruction is carried out each time the robotic cleaner 100 is proximate the specific piece of furniture) and/or separate from the modified map (e.g., such that the robotic cleaner 100 carries out the command/instruction in response to receipt of the command/instruction and/or incorporates the command/instruction into the map).
  • the one or more mobile sensors 124 may include, for example, one or more of a camera (e.g., a monocular or stereo camera), a depth sensor (e.g., a light detection and ranging (LIDAR) sensor) configured to generate depth data, an orientation sensor (e.g., compass and/or accelerometer) configured to generate orientation data, and/or any other type of sensor.
  • a camera e.g., a monocular or stereo camera
  • a depth sensor e.g., a light detection and ranging (LIDAR) sensor
  • an orientation sensor e.g., compass and/or accelerometer
  • the one or more mobile sensors 124 may include a camera and a LIDAR sensor.
  • FIG. 2 shows a schematic example of a mobile device 200, which may be an example of the mobile device 102 of FIG. 2.
  • the mobile device 200 is generally shown in the form of a smartphone.
  • the mobile device 200 includes a display 202, a camera 204 (shown in hidden lines) opposite the display 202 and configured to generate one or more images of the environment, a depth (e.g., LIDAR) sensor 206 (shown in hidden lines) opposite the display 202 and configured to generate depth data, a wireless mobile transmitter/receiver 208 (shown in hidden lines), an orientation sensor 210 (shown in hidden lines) configured to generate orientation data, and a mobile controller 212 (shown in hidden lines).
  • LIDAR depth
  • LIDAR wireless mobile transmitter/receiver 208
  • an orientation sensor 210 shown in hidden lines
  • a mobile controller 212 shown in hidden lines.
  • the display 202 is configured to display the one or more captured images and to receive one or more user inputs (e.g., touch inputs) while displaying the one or more images.
  • the display 202 may be, for example, a capacitive or resistive touch screen display.
  • the one or more images captured by the camera 204 each include a plurality of pixels, wherein each of the plurality of pixels may be associated with depth data and/or orientation data.
  • the user input may be associated with one or more pixels of the one or more images.
  • a plurality of images are successively displayed (e.g., in the form of a video)
  • the user input may be associated with one or more pixels in each of the images.
  • the mobile controller 212 is configured to be communicatively coupled to the display 202, the camera 204, the LIDAR sensor 206, the wireless mobile transmitter/receiver 208, and the orientation sensor 210.
  • the mobile controller 212 may be configured to receive environmental data from the camera 204 (e.g., one or more images) and the LIDAR sensor 206 (e.g., depth data corresponding to the received one or more images) and orientation data from the orientation sensor 210 (e.g., a direction the camera 204 is facing when an image is captured).
  • the mobile controller 212 may be further configured to receive a map generated by the robotic cleaner 100 using the wireless mobile transmitter/receiver 208.
  • the mobile controller 212 may be configured to localize the mobile device 200 within the received map using the depth data received from the LIDAR sensor 206 and/or the orientation data received from the orientation sensor 210.
  • the mobile controller 212 may be configured to cause an image captured by the camera 204 to be presented on the display 202 (e.g., presented image 203).
  • the presented image 203 may be associated with orientation data from the orientation sensor 210 and depth data from the LIDAR sensor 206.
  • the presented image 203 may include a plurality of pixels 205, wherein each pixel 205 is associated with depth data and orientation data. Association of the presented image 203 with the orientation data and depth data allows a user to assign one or more commands/instructions to a position and/or region shown in the presented image 203 (e.g., the user may touch a position shown within the presented image 203 on the display 202 to assign the command/instruction to that position).
  • the user input may be used to define a position and/or region with the presented image 203 and associate one or more commands/instructions with the defined position and/or region.
  • the mobile controller 212 may be configured to cause the display 202 to display the defined position and/or region as an augmented reality element 207 within the image.
  • the mobile controller 212 is further configured to localize the defined position and/or region within the received map (e.g., using the depth and orientation data). For example, the mobile controller 212 may be configured to generate a modified map that includes the localized position and/or region. The modified map may further include the command/instruction that is associated with the position and/or region.
  • the mobile controller 212 can cause the localized position and/or region within the received map to be transmitted to the robotic cleaner 100 (e.g., in the form of coordinates corresponding to the received map).
  • the robotic cleaner 100 can identify the position and/or region associated with the command/instruction and carry out the command/instruction at that position and/or region.
  • the command/instruction may correspond to a robotic cleaner behavior (e.g., a clean here command/instruction, an avoid command/instruction, and/or any other command/instruction).
  • FIG. 3 shows a flow chart of an example of a method 300 of controlling a robotic cleaner, such as the robotic cleaner 100 of FIG. 1, using a mobile device, such as the mobile device 102 of FIG. 1.
  • the mobile device 102 may be configured to generate an augmented reality experience such that a user of the mobile device 102 can utilize the augmented reality experience to control one or more behaviors of the robotic cleaner 100.
  • One or more steps of the method 300 may be embodied as one or more instructions stored in one or more memories (e.g., one or more non-transitory memories), wherein the one or more instructions are configured to be executed on one or more processors.
  • the robot controller 112 and/or mobile controller 120 may be configured to cause one or more steps of the method 300 to be carried out. Additionally, or alternatively, one or more steps of the method 300 may be carried out in any combination of software, firmware, and/or circuitry (e.g., an application-specific integrated circuit).
  • the method 300 may include a step 302.
  • the step 302 includes receiving, at the mobile device 102, a map of the environment from the robotic cleaner 100.
  • the method 300 may include a step 304.
  • the step 304 includes positioning the robotic cleaner 100 within a field of view of a camera of the mobile device 102.
  • the mobile device 102 e.g., the mobile controller 120
  • the mobile device 102 is configured to recognize the robotic cleaner 100 being within the field of view of the camera.
  • a user may summon the robotic cleaner 100 to a position (e.g., a room within a home) that is proximate to the user such that the user may position the robotic cleaner 100 within the field of view of the camera of the mobile device 102.
  • the user may travel to the robotic cleaner 100 (e.g., to a position where the robotic cleaner 100 is docked with a docking station) to position the robotic cleaner 100 within a field of view of the camera of the mobile device 102.
  • the method 300 may include a step 306.
  • the step 306 includes, in response to the robotic cleaner 100 being positioned within the field of view of the camera, using a LIDAR sensor of the mobile device 102 to measure a distance between the mobile device 102 and the robotic cleaner 100. Additionally, the mobile device 102 may use an orientation sensor (e.g., a compass and/or an accelerometer) to determine an orientation (e.g., a heading) of the mobile device 102 (e.g., relative to magnetic North) when the robotic cleaner 100 is within the field of view of the camera.
  • an orientation sensor e.g., a compass and/or an accelerometer
  • the step 306 may also include, in response to the mobile device 102 (e.g., the mobile controller 120) detecting the robotic cleaner 100 within the image, causing the robotic cleaner 100 to communicate a location of the robotic cleaner 100 within the map to the mobile device 102.
  • the mobile device 102 may query the robotic cleaner 100 for its current location within the map in response to detecting the robotic cleaner 100.
  • the robotic cleaner 100 may communicate its location within the map to the mobile device 102.
  • the method 300 may include a step 308.
  • the step 308 includes localizing the mobile device 102 within the map received from the robotic cleaner 100. Localizing the mobile device 102 within the map may include localizing the mobile device 102 relative to the robotic cleaner 100 and determining a location of the robotic cleaner 100 within the map. Localizing the mobile device 102 relative to the robotic cleaner 100 may include determining a position and orientation of the mobile device 102 relative to the robotic cleaner 100 (e.g., using the depth and orientation data). The location of the robotic cleaner 100 within the map may be known by the robotic cleaner 100 (e.g., stored in the map).
  • the location of the robotic cleaner 100 within the map may be determined by querying the robotic cleaner 100 (e.g., as discussed in relation to step 306).
  • the mobile device 102 may be configured to determine the position of the robotic cleaner 100 based, at least in part, on data received from the robotic cleaner 100.
  • the method 300 may include a step 310.
  • the step 310 may include tracking a position and orientation of the mobile device 102 as the mobile device 102 is moved about an environment (e.g., by a user). As such, a positional and orientational change of the mobile device 102 relative to the robotic cleaner 100 may be tracked.
  • the robotic cleaner 100 may be configured to follow the user as the user travels within the environment with the mobile device 102.
  • the mobile device 102 may transmit the position and orientation of the mobile device 102 to the robotic cleaner 100 in real-time and/or at periodic intervals to allow the robotic cleaner 100 to follow the user. If the mobile device 102 loses localization, the user may be able to more easily relocalize the mobile device 102 using the robotic cleaner 100, when robotic cleaner 100 follows the user. For example, the mobile device 102 may re-localize by carrying out steps 304, 306, and 308 without having the user return to the location of the robotic cleaner 100.
  • the robotic cleaner 100 may be summoned to a location proximate to the user (e.g., to a room that the user is in) such that steps 304, 306, and 308 can be carried out to re-localize the mobile device 102. Re-localizing by positioning the robotic cleaner 100 proximate to the user may mitigate the risk of the mobile device 102 losing localization when the user returns to traversing the environment where localization was initially lost.
  • the method 300 may include a step 312.
  • the step 312 includes displaying on the display 118 of the mobile device 102, one or more images (e.g., in the form of video) corresponding to the field of view of the camera, while the mobile device 102 is moved within the environment.
  • the mobile device 102 may be configured to cause one or more augmented reality elements to be displayed over the image on the display 118 (e.g., a menu having one or more options, a position and/or region identified by the user, and/or any other augmented reality element).
  • the mobile device 102 may be configured to carry out object recognition to identify one or more objects (e.g., an area rug, furniture, wires, and/or any other object) within the image.
  • the identified objects may be identified to the user within the image using an augmented reality element displayed on the display 118.
  • the mobile device 102 may be configured to display a region within the image, wherein the region is generated by user inputs (e.g., a user drawing the region on the display 118).
  • One or more of the identified regions and/or objects may be associated with a command/instruction.
  • the command/instruction associated with the identified regions and/or objects may be displayed to the user as an augmented reality element on the display 118.
  • the method 300 may include a step 314.
  • the step 314 includes receiving, from a user, an input.
  • the input may be received by the user touching the display 118.
  • the display 118 may display one or more images (e.g., in the form of video) corresponding to a portion of the environment within the field of view of the camera of the mobile device 102 and the user may touch one or more locations within the image.
  • the user may touch three or more locations and the mobile controller 120 may be configured to generate a polygon that encloses a region based, at least in part, on the locations identified by the user’s touch.
  • Each location on the display 118 touched by the user may correspond to one or more pixels of the image, wherein each pixel is associated with depth and orientation data.
  • the generated polygon may be displayed on the display 118 as an augmented reality element.
  • the mobile controller 120 may be configured to display the touched point on the display 118 and/or to show a line segment that extends between two successive touch points.
  • the user may be provided with feedback in realtime.
  • the region enclosed by the polygon may have a command/instruction associated therewith.
  • the command/instruction may include an avoid region command/instruction, a clean region command/instruction, and/or any other command/instruction.
  • the user may associate the region with a surface type (e.g., carpet or hard floor), wherein the robotic cleaner 100 carries out a command/instruction corresponding to the surface type (e.g., avoid carpet surface types when wet cleaning).
  • the user may associate a command/instruction with the surface type and/or the command/instruction associated with the surface type may be predetermined (e.g., during manufacture of the robotic cleaner 100).
  • the display 118 may display one or more images (e.g., in the form of video) corresponding to a portion of the environment within the field of view of the camera of the mobile device 102 and the user may touch one or more locations within the image.
  • the user may touch locations on the image corresponding to objects identified by the mobile device 102 (e.g., using object recognition).
  • object recognition may include an area rug, furniture, wires, and/or any other object.
  • the identified objects may be associated with an augmented reality element (e.g., providing confirmation to a user that an object was identified).
  • the mobile device 102 may be configured to associate a command/instruction with the identified object.
  • the command/instruction may include an avoid command/instruction when the robotic cleaner 100 is engaging in a wet cleaning mode.
  • the mobile device 102 may be configured to associate an avoid command/instruction with the region surrounding the one or more wires, wherein the avoid command/instruction is adhered to by the robotic cleaner 100 regardless of cleaning mode.
  • the display 118 may be caused to display a clean at current user location augmented reality element (e.g., an icon) to the user over the one or more images corresponding to the field of view of the camera of the mobile device 102.
  • the robotic cleaner 100 may be caused to travel to a location proximate to where the user touched the clean at current user location augmented reality element and clean a region enclosing the location where and/or the room within which the clean at current user location augmented reality element was touched.
  • the robotic cleaner 100 can be configured to determine a current location of the user based on the localized position of the mobile device 102 within the map.
  • the method 300 may include a step 316.
  • the step 316 includes localizing the object and/or the enclosed region within the received map based, at least in part, the orientation data and the depth data.
  • the mobile controller 120 can be configured to calculate a distance (e.g., a horizontal distance) between the mobile device 102 and each point defining polygon enclosing the region (e.g., using the depth and orientation data associated with the pixels corresponding to a location of the image touched by the user on the display 118). Based, at least in part, on the calculated distance and the orientation data a position of each point of the polygon enclosing the region may be determined within the map. In other words, the three-dimensional data defining the location of the boundary of the enclosed region is converted into two-dimensional data.
  • the mobile controller 120 can be configured to localize the identified objects within the map received from the robotic cleaner 100 using the depth and orientation data.
  • a command/instruction can be associated with the identified object and/or the defined region.
  • the mobile controller 120 may be configured to generated a modified map that includes the identified object, the defined region, and/or the associated command/instruction.
  • the mobile controller 120 can be configured to cause the modified map to be transmitted to the robotic cleaner 100.
  • FIG. 4 shows a flow chart of an example of a method 400 of controlling a robotic cleaner, such as the robotic cleaner 100 of FIG. 1, using a mobile device, such as the mobile device 102 of FIG. 1.
  • One or more steps of the method 400 may be embodied as one or more instructions stored in one or more memories (e.g., one or more non-transitory memories), wherein the one or more instructions are configured to be executed on one or more processors.
  • the robot controller 112 and/or mobile controller 120 may be configured to cause one or more steps of the method 400 to be carried out.
  • one or more steps of the method 400 may be carried out in any combination of software, firmware, and/or circuitry (e.g., an application- specific integrated circuit).
  • the method 400 may include a step 402.
  • the step 402 includes positioning the robotic cleaner 100 within a field of view of a camera of the mobile device 102.
  • the mobile device 102 is configured to recognize the robotic cleaner 100 being within the field of view of the camera.
  • the method 400 may include a step 404.
  • the step 404 includes, in response to the robotic cleaner 100 being positioned within the field of view of the camera, using a LIDAR sensor of the mobile device 102 to measure a distance between the mobile device 102 and the robotic cleaner 100. Additionally, the mobile device 102 may use an orientation sensor (e.g., a compass and/or an accelerometer) to determine an orientation (e.g., a heading) of the mobile device 102 (e.g., relative to magnetic North) when the robotic cleaner 100 is within the field of view of the camera.
  • an orientation sensor e.g., a compass and/or an accelerometer
  • the method 400 may include a step 406.
  • the step 406 includes determining a position and orientation of the mobile device 102 relative to the position and orientation of the robotic cleaner 100 (e.g., using the orientation and depth data).
  • the method 400 may include a step 408.
  • the step 408 includes tracking a position and orientation of the mobile device 102 as the mobile device 102 is moved about an environment (e.g., by a user). As such, a positional and orientational change of the mobile device 102 relative to the robotic cleaner 100 may be tracked.
  • the method may include a step 410.
  • the step 410 includes causing the robotic cleaner 100 to follow the user as the user travels within the environment with the mobile device 102.
  • the mobile device 102 may transmit the change in position and orientation of the mobile device 102 relative to the robotic cleaner 100 to the robotic cleaner 100 in real-time and/or at periodic intervals to allow the robotic cleaner 100 to follow the user.
  • the method may include a step 410.
  • the step 410 includes issuing a command/instruction to the robotic cleaner 100.
  • the issued command/instruction is associated with the location of the robotic cleaner 100 within the environment.
  • the command/instruction may include causing the robotic cleaner 100 to identify the current location as a room within a home (e.g., the robotic cleaner 100 may identify the walls defining the room using the one or more robot sensors 114 and/or using data transmitted from the mobile device 102 that is generated using the one or more mobile sensors 124).
  • the command/instruction may include causing the robotic cleaner 100 to clean a room within which the robotic cleaner 100 is currently disposed and/or to add the room within which the robotic cleaner 100 is currently disposed to a list of rooms to be cleaned.
  • the robotic cleaner 100 may have a previously generated map of the entire environment (e.g., a floor of a home) in which two or more rooms are identified.
  • FIG. 5 shows a flow chart of an example of a method 500 of controlling a robotic cleaner, such as the robotic cleaner 100 of FIG. 1, using a mobile device, such as the mobile device 102 of FIG. 1.
  • the mobile device 102 may be configured to communicate with the robotic cleaner 100, wherein the mobile device 102 may, in response to a user input, issue a command/instruction that causes the robotic cleaner 100 to avoid a region (e.g., a room) and/or operate in a reduced noise mode when traveling through a region where the user is located.
  • the region where the user is located may be determined based, at least in part, on a location of the mobile device 102.
  • One or more steps of the method 500 may be embodied as one or more instructions stored in one or more memories (e.g., one or more non-transitory memories), wherein the one or more instructions are configured to be executed on one or more processors.
  • the robot controller 112 and/or mobile controller 120 may be configured to cause one or more steps of the method 500 to be carried out.
  • one or more steps of the method 500 may be carried out in any combination of software, firmware, and/or circuitry (e.g., an application-specific integrated circuit).
  • the method 500 may include a step 502.
  • the step 502 includes determining, with the robotic cleaner 100, a location of a user and/or the mobile device 102.
  • the location of the mobile device 102 may be determined based, at least in part, on one or more of a user input (e.g., the user specifies a room within the house that the user is occupying), a localization of the mobile device 102 within a map using the one or more mobile sensors 124 of the mobile device 102, and/or a strength of a signal generated by the mobile device 102 (e.g., a signal generated by the one or more mobile transmitters/receivers 122).
  • a user input e.g., the user specifies a room within the house that the user is occupying
  • a localization of the mobile device 102 within a map using the one or more mobile sensors 124 of the mobile device 102 e.g., a signal generated by the one or more mobile transmitters/receivers 122).
  • the mobile device 102 may be configured to transmit a location of the mobile device 102 and/or the user within an environment (e.g., a home) to the robotic cleaner 100.
  • the robotic cleaner 100 may measure a signal strength of a signal (e.g., a WiFi signal, a Bluetooth signal, and/or the like) generated by the one or more mobile transmitters/receivers 122 of the mobile device 102 to determine a proximity of the robotic cleaner 100 to the mobile device 102.
  • a signal e.g., a WiFi signal, a Bluetooth signal, and/or the like
  • the method 500 may include a step 504.
  • the step 504 includes avoiding a region that encloses a user and/or the mobile device 102 and/or operating in a reduced noise mode when traveling through a region that encloses the user and/or the mobile device 102.
  • the region may be determined based, at least in part, on the determined location of the user and/or the mobile device 102. In some instances, the region may correspond to a fixed distance extending around the user and/or the mobile device 102 and/or correspond to a room within which the user and/or the mobile device 102 is in.
  • the reduced noise mode may cause the robotic cleaner 100 to transition to a lower powered cleaning mode (e.g., by reducing a suction force generated by the suction motor, reducing a rotation speed of a rotating agitator, and/or the like).
  • An example of a robotic cleaning system may include a robotic cleaner configured to generate a map of an environment and a mobile device configured to communicatively couple to the robotic cleaner, the robotic cleaner configured to communicate the map to the mobile device.
  • the mobile device may include a camera configured to generate an image of the environment, the image comprising a plurality of pixels, a display configured to display the image and to receive a user input while displaying the image, the user input being associated with one or more of the plurality of pixels, a depth sensor configured to generate depth data that is associated with each pixel of the image, an orientation sensor configured to generate orientation data that is associated with each pixel of the image, and a mobile controller configured to localize the mobile device within the map received from the robotic cleaner using the depth data and the orientation data.
  • a camera configured to generate an image of the environment, the image comprising a plurality of pixels
  • a display configured to display the image and to receive a user input while displaying the image, the user input being associated with one or more of the plurality of pixels
  • a depth sensor configured to generate depth data that is associated with each pixel of the image
  • an orientation sensor configured to generate orientation data that is associated with each pixel of the image
  • a mobile controller configured to localize the mobile device within the map received from
  • the user input may be used to define a region within the displayed image.
  • the mobile controller may be configured to localize the defined region within the map received from the robotic cleaner using the depth data and the orientation data associated with the one or more pixels that are associated with the user input.
  • a command/instruction may be associated with the defined region.
  • the mobile controller may be configured to generate a modified map, the modified map including the defined region and the command/instruction associated with the defined region.
  • the modified map may be communicated to the robotic cleaner.
  • the defined region may be displayed within the image as an augmented reality element.
  • the mobile controller may be configured to detect when the robotic cleaner is within the image.
  • the robotic cleaner in response to the mobile controller detecting the robotic cleaner within the image, the robotic cleaner may be configured to communicate a location of the robotic cleaner within the map of the environment to the mobile device.
  • the mobile controller may be configured to use the depth data and the orientation data to localize the mobile device relative to the robotic cleaner.
  • the mobile controller may be configured to localize the mobile device within the map received from the robotic cleaner based on the localization of the mobile device relative to the robotic cleaner.
  • the mobile controller may be configured to recognize an object within the image.
  • the mobile controller may localize the recognized object within the map received from the robotic cleaner using the depth data and the orientation data.
  • the display may be configured to display an augmented reality element associated with the recognized object.
  • a command/instruction may be associated with the recognized object.
  • the mobile controller may be configured to generate a modified map, the modified map including the recognized object and the command/instruction associated with the recognized object.
  • the modified map may be communicated to the robotic cleaner.
  • the camera may be configured to generate a plurality of images and the display is configured to display the plurality of images as a video and receive the user input while displaying the video.
  • the display may receive at least three user inputs, the at least three user inputs being used define a polygonal region, the polygonal region being displayed within the video as an augmented reality element.
  • the depth sensor may include a light detection and ranging (LIDAR) sensor and the orientation sensor may include a compass.
  • LIDAR light detection and ranging

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Abstract

A robotic cleaning system may include a robotic cleaner configured to generate a map of an environment and a mobile device configured to communicatively couple to the robotic cleaner, the robotic cleaner configured to communicate the map to the mobile device. The mobile device may include a camera configured to generate an image of the environment, the image comprising a plurality of pixels, a display configured to display the image and to receive a user input while displaying the image, the user input being associated with one or more of the plurality of pixels, a depth sensor configured to generate depth data that is associated with each pixel of the image, an orientation sensor configured to generate orientation data that is associated with each pixel of the image, and a mobile controller configured to localize the mobile device within the map using the depth data and the orientation data.

Description

ROBOTIC CLEANER
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] The present application claims the benefit of U.S. Provisional Application Serial No. 63/232,997, filed on August 13, 2021, entitled Robotic Cleaner, which is fully incorporated herein by reference.
TECHNICAL FIELD
[0002] The present disclosure is generally directed to a robotic cleaner and more specifically to a robotic cleaner configured to cooperate with a mobile device such as a mobile phone or tablet.
BACKGROUND INFORMATION
[0003] Autonomous cleaning devices (e.g., robotic cleaners) are configured to autonomously traverse (or navigate) a surface while at least partially cleaning the surface. One example of an autonomous cleaning device is a robotic vacuum cleaner. A robotic vacuum cleaner may include a suction motor, a dust cup fluidly coupled to the suction motor, and one or more driven wheels configured to urge the robotic vacuum cleaner across a surface to be cleaned. In operation, the robotic vacuum cleaner traverses the surface to be cleaned while collecting at least a portion of any debris present on the surface to be cleaned.
BRIEF DESCRIPTION OF THE DRAWINGS
[0004] These and other features and advantages will be better understood by reading the following detailed description, taken together with the drawings, wherein:
[0005] FIG. 1 is a schematic example of a robotic cleaner and a mobile device, consistent with embodiments of the present disclosure.
[0006] FIG. 2 is a schematic example of a mobile device, consistent with embodiments of the present disclosure.
[0007] FIG. 3 is a flow chart of an example method, consistent with embodiments of the present disclosure.
[0008] FIG. 4 is a flow chart of an example method, consistent with embodiments of the present disclosure.
[0009] FIG. 5 is a flow chart of an example method, consistent with embodiments of the present disclosure.
DETAILED DESCRIPTION
[0010] The present disclosure is generally directed to a robotic cleaner configured to cooperate with a mobile device. For example, the robotic cleaner may be configured to generate a map of an environment and to communicate the generated map to the mobile device. The mobile device may be configured to localize itself within the map received from the robotic cleaner. [0011] The mobile device may include a display and a camera, wherein the display displays one or more images (e.g., in the form of video) corresponding to a field of view of the camera. The mobile device may be configured to generate one or more augmented reality elements to be displayed over the one or more images. In some instances, the augmented reality elements may be generated in response to one or more user inputs and correspond to a position and/or region within the environment that is shown in the one or more images. Use of an augmented reality element to identify a position and/or region within an environment may be easier and/or more accurate when compared to using a graphical representation (e.g., in the form of a two dimensional map). The identified position and/or region may be localized within the map received from the robotic cleaner (e.g., converted into coordinates within the received map). [0012] For example, a plurality of user inputs may be used identify vertices of a polygon that encloses a region of the environment shown within the one or more images. The resulting polygon may be shown in the one or more images as an augmented reality element. In this example, the enclosed region may be localized within the received map and associated with a command/instruction (e.g., a clean here command/instruction, an avoid command/instruction, a surface type command/instruction, and/or any other command/instruction). The enclosed region may be associated with the command/instruction in response to a user input that interacts with the augmented reality element representing the polygon.
[0013] FIG. 1 shows a schematic example of a robotic cleaner 100 configured to cooperate with a mobile device 102 (e.g., a mobile phone, a tablet computer, a laptop computer, and/or any other type of mobile device). As shown, the robotic cleaner 100 includes one or more driven wheels 104 (shown in hidden lines), a suction motor 106 (shown in hidden lines) fluidly coupled to a suction inlet 108 (shown in hidden lines) and a dust cup 110 (shown in hidden lines), and a robot controller 112 (shown in hidden lines) communicatively coupled to one or more robot sensors 114 (shown in hidden lines) and/or one or more robot transmitters/receivers 116 (shown in hidden lines). In operation, the robot controller 112 is configured to cause the robotic cleaner 100 to autonomously navigate an environment (e.g., a home and/or a room within a home). While navigating the environment, the robotic cleaner 100 may be configured to generate a map of the environment (e.g., using the one or more robot sensors 114).
[0014] For example, the robot controller 112 may be configured to receive environmental and/or positional (e.g., orientation) information from at least one of the one or more robot sensors 114. The environmental information may correspond to obstacles (e.g., walls, furniture, and/or any other obstacle) within the environment. The robot controller 112 can use received environmental and/or positional information to generate one or more maps of the environment. Using the generated one or more maps, the robot controller 112 may be configured to generate one or more path plans along which the robotic cleaner 100 may travel when traversing the environment. In some instances, the robot controller 112 can use the one or more maps in conjunction with received environmental and/or positional information for purposes of localization. Localizing the robotic cleaner 100 within the map may allow the robotic cleaner 100 to navigate to specific locations (e.g., a dirty location identified by a user) and/or avoid specific locations (e.g., a region that a user does not want the robotic cleaner 100 to traverse).
[0015] The mobile device 102 is configured to communicatively couple to the robotic cleaner 100. As shown, the mobile device 102 includes a display 118, a mobile controller 120 (shown in hidden lines), one or more mobile transmitters/receivers 122 (shown in hidden lines), and one or more mobile sensors 124 (shown in hidden lines). At least one of the one or more mobile transmitters/receivers 122 are configured to communicatively couple (directly or indirectly) with at least one of the one or more robot transmitters/receivers 116. For example, the mobile device 102 may be configured to transmit one or more instructions/commands to the robotic cleaner 100. By way of further example, the robotic cleaner 100 may be configured to transmit data (e.g., the environmental and/or positional information) to the mobile device 102. By way of further example, the robotic cleaner 100 and the mobile device 102 may be configured for bi-directional communication. In this example, the mobile device 102 may be configured to transmit one or more instructions/commands that are based, at least in part, on user input and receive environmental and/or positional information (e.g., in the form of a map) from the robotic cleaner 100.
[0016] The mobile controller 120 may be configured to localize the mobile device 102 within an environment using at least one of the one or more mobile sensors 124. In some instances, the mobile device 102 may receive a map of the environment from the robotic cleaner 100 and localize itself within the environment using the received map. For example, the mobile controller 120 may receive environmental information from at least one of the one or more mobile sensors 124 and determine a location of the mobile device 102 within the received map. In this example, the mobile controller 120 may be configured to track movement of the mobile device 102 within the environment in real-time. In some instances, positional changes of the mobile device 102 may be tracked relative to a point (e.g., a position of the robotic cleaner 100). The one or more mobile sensors 124 may, in some instances, be used to modify the received map (e.g., to increase an accuracy of the received map). For example, the one or more mobile sensors 124 may be used to identify obstacle(s), obstacle type(s) (e.g., furniture, walls, and/or any other obstacle type), and/or surface type(s) (e.g., carpet or hard floor) and add this information to the received map, generating a modified map. The modified map may be transmitted to the robotic cleaner 100. In this example, a user may send a command/instruction to clean proximate to a specific piece of furniture that was identified using the mobile sensors 124. The command/instruction may be included with the modified map (e.g., such that the command/instruction is carried out each time the robotic cleaner 100 is proximate the specific piece of furniture) and/or separate from the modified map (e.g., such that the robotic cleaner 100 carries out the command/instruction in response to receipt of the command/instruction and/or incorporates the command/instruction into the map).
[0017] The one or more mobile sensors 124 may include, for example, one or more of a camera (e.g., a monocular or stereo camera), a depth sensor (e.g., a light detection and ranging (LIDAR) sensor) configured to generate depth data, an orientation sensor (e.g., compass and/or accelerometer) configured to generate orientation data, and/or any other type of sensor. In one example, the one or more mobile sensors 124 may include a camera and a LIDAR sensor.
[0018] FIG. 2 shows a schematic example of a mobile device 200, which may be an example of the mobile device 102 of FIG. 2. The mobile device 200 is generally shown in the form of a smartphone. As shown, the mobile device 200 includes a display 202, a camera 204 (shown in hidden lines) opposite the display 202 and configured to generate one or more images of the environment, a depth (e.g., LIDAR) sensor 206 (shown in hidden lines) opposite the display 202 and configured to generate depth data, a wireless mobile transmitter/receiver 208 (shown in hidden lines), an orientation sensor 210 (shown in hidden lines) configured to generate orientation data, and a mobile controller 212 (shown in hidden lines).
[0019] The display 202 is configured to display the one or more captured images and to receive one or more user inputs (e.g., touch inputs) while displaying the one or more images. The display 202 may be, for example, a capacitive or resistive touch screen display. The one or more images captured by the camera 204 each include a plurality of pixels, wherein each of the plurality of pixels may be associated with depth data and/or orientation data. When the user touches the display 202, while the one or more captured images are displayed, the user input may be associated with one or more pixels of the one or more images. When a plurality of images are successively displayed (e.g., in the form of a video), the user input may be associated with one or more pixels in each of the images. [0020] The mobile controller 212 is configured to be communicatively coupled to the display 202, the camera 204, the LIDAR sensor 206, the wireless mobile transmitter/receiver 208, and the orientation sensor 210. For example, the mobile controller 212 may be configured to receive environmental data from the camera 204 (e.g., one or more images) and the LIDAR sensor 206 (e.g., depth data corresponding to the received one or more images) and orientation data from the orientation sensor 210 (e.g., a direction the camera 204 is facing when an image is captured). In this example, the mobile controller 212 may be further configured to receive a map generated by the robotic cleaner 100 using the wireless mobile transmitter/receiver 208. The mobile controller 212 may be configured to localize the mobile device 200 within the received map using the depth data received from the LIDAR sensor 206 and/or the orientation data received from the orientation sensor 210.
[0021] The mobile controller 212 may be configured to cause an image captured by the camera 204 to be presented on the display 202 (e.g., presented image 203). The presented image 203 may be associated with orientation data from the orientation sensor 210 and depth data from the LIDAR sensor 206. For example, the presented image 203 may include a plurality of pixels 205, wherein each pixel 205 is associated with depth data and orientation data. Association of the presented image 203 with the orientation data and depth data allows a user to assign one or more commands/instructions to a position and/or region shown in the presented image 203 (e.g., the user may touch a position shown within the presented image 203 on the display 202 to assign the command/instruction to that position). In other words, the user input may be used to define a position and/or region with the presented image 203 and associate one or more commands/instructions with the defined position and/or region. In some instances, the mobile controller 212 may be configured to cause the display 202 to display the defined position and/or region as an augmented reality element 207 within the image.
[0022] The mobile controller 212 is further configured to localize the defined position and/or region within the received map (e.g., using the depth and orientation data). For example, the mobile controller 212 may be configured to generate a modified map that includes the localized position and/or region. The modified map may further include the command/instruction that is associated with the position and/or region.
[0023] By way of further example, the mobile controller 212 can cause the localized position and/or region within the received map to be transmitted to the robotic cleaner 100 (e.g., in the form of coordinates corresponding to the received map). As such, the robotic cleaner 100 can identify the position and/or region associated with the command/instruction and carry out the command/instruction at that position and/or region. The command/instruction may correspond to a robotic cleaner behavior (e.g., a clean here command/instruction, an avoid command/instruction, and/or any other command/instruction).
[0024] FIG. 3 shows a flow chart of an example of a method 300 of controlling a robotic cleaner, such as the robotic cleaner 100 of FIG. 1, using a mobile device, such as the mobile device 102 of FIG. 1. For example, the mobile device 102 may be configured to generate an augmented reality experience such that a user of the mobile device 102 can utilize the augmented reality experience to control one or more behaviors of the robotic cleaner 100. One or more steps of the method 300 may be embodied as one or more instructions stored in one or more memories (e.g., one or more non-transitory memories), wherein the one or more instructions are configured to be executed on one or more processors. For example, the robot controller 112 and/or mobile controller 120 may be configured to cause one or more steps of the method 300 to be carried out. Additionally, or alternatively, one or more steps of the method 300 may be carried out in any combination of software, firmware, and/or circuitry (e.g., an application- specific integrated circuit).
[0025] As shown, the method 300 may include a step 302. The step 302 includes receiving, at the mobile device 102, a map of the environment from the robotic cleaner 100.
[0026] As also shown, the method 300 may include a step 304. The step 304 includes positioning the robotic cleaner 100 within a field of view of a camera of the mobile device 102. The mobile device 102 (e.g., the mobile controller 120) is configured to recognize the robotic cleaner 100 being within the field of view of the camera. In some instances, a user may summon the robotic cleaner 100 to a position (e.g., a room within a home) that is proximate to the user such that the user may position the robotic cleaner 100 within the field of view of the camera of the mobile device 102. Additionally, or alternatively, the user may travel to the robotic cleaner 100 (e.g., to a position where the robotic cleaner 100 is docked with a docking station) to position the robotic cleaner 100 within a field of view of the camera of the mobile device 102.
[0027] As also shown, the method 300 may include a step 306. The step 306 includes, in response to the robotic cleaner 100 being positioned within the field of view of the camera, using a LIDAR sensor of the mobile device 102 to measure a distance between the mobile device 102 and the robotic cleaner 100. Additionally, the mobile device 102 may use an orientation sensor (e.g., a compass and/or an accelerometer) to determine an orientation (e.g., a heading) of the mobile device 102 (e.g., relative to magnetic North) when the robotic cleaner 100 is within the field of view of the camera. [0028] The step 306 may also include, in response to the mobile device 102 (e.g., the mobile controller 120) detecting the robotic cleaner 100 within the image, causing the robotic cleaner 100 to communicate a location of the robotic cleaner 100 within the map to the mobile device 102. For example, the mobile device 102 may query the robotic cleaner 100 for its current location within the map in response to detecting the robotic cleaner 100. In response to the robotic cleaner 100 receiving the query, the robotic cleaner 100 may communicate its location within the map to the mobile device 102.
[0029] As also shown, the method 300 may include a step 308. The step 308 includes localizing the mobile device 102 within the map received from the robotic cleaner 100. Localizing the mobile device 102 within the map may include localizing the mobile device 102 relative to the robotic cleaner 100 and determining a location of the robotic cleaner 100 within the map. Localizing the mobile device 102 relative to the robotic cleaner 100 may include determining a position and orientation of the mobile device 102 relative to the robotic cleaner 100 (e.g., using the depth and orientation data). The location of the robotic cleaner 100 within the map may be known by the robotic cleaner 100 (e.g., stored in the map). For example, the location of the robotic cleaner 100 within the map may be determined by querying the robotic cleaner 100 (e.g., as discussed in relation to step 306). As such, the mobile device 102 may be configured to determine the position of the robotic cleaner 100 based, at least in part, on data received from the robotic cleaner 100.
[0030] As also shown, the method 300 may include a step 310. The step 310 may include tracking a position and orientation of the mobile device 102 as the mobile device 102 is moved about an environment (e.g., by a user). As such, a positional and orientational change of the mobile device 102 relative to the robotic cleaner 100 may be tracked.
[0031] In some instances, the robotic cleaner 100 may be configured to follow the user as the user travels within the environment with the mobile device 102. For example, the mobile device 102 may transmit the position and orientation of the mobile device 102 to the robotic cleaner 100 in real-time and/or at periodic intervals to allow the robotic cleaner 100 to follow the user. If the mobile device 102 loses localization, the user may be able to more easily relocalize the mobile device 102 using the robotic cleaner 100, when robotic cleaner 100 follows the user. For example, the mobile device 102 may re-localize by carrying out steps 304, 306, and 308 without having the user return to the location of the robotic cleaner 100. Additionally, or alternatively, when the mobile device 102 loses localization, the robotic cleaner 100 may be summoned to a location proximate to the user (e.g., to a room that the user is in) such that steps 304, 306, and 308 can be carried out to re-localize the mobile device 102. Re-localizing by positioning the robotic cleaner 100 proximate to the user may mitigate the risk of the mobile device 102 losing localization when the user returns to traversing the environment where localization was initially lost.
[0032] As also shown, the method 300 may include a step 312. The step 312 includes displaying on the display 118 of the mobile device 102, one or more images (e.g., in the form of video) corresponding to the field of view of the camera, while the mobile device 102 is moved within the environment. In some instances, the mobile device 102 may be configured to cause one or more augmented reality elements to be displayed over the image on the display 118 (e.g., a menu having one or more options, a position and/or region identified by the user, and/or any other augmented reality element). For example, the mobile device 102 (e.g., mobile controller 120) may be configured to carry out object recognition to identify one or more objects (e.g., an area rug, furniture, wires, and/or any other object) within the image. The identified objects may be identified to the user within the image using an augmented reality element displayed on the display 118. By way of further example, the mobile device 102 may be configured to display a region within the image, wherein the region is generated by user inputs (e.g., a user drawing the region on the display 118). One or more of the identified regions and/or objects may be associated with a command/instruction. The command/instruction associated with the identified regions and/or objects may be displayed to the user as an augmented reality element on the display 118.
[0033] As also shown, the method 300 may include a step 314. The step 314 includes receiving, from a user, an input. The input may be received by the user touching the display 118.
[0034] For example, the display 118 may display one or more images (e.g., in the form of video) corresponding to a portion of the environment within the field of view of the camera of the mobile device 102 and the user may touch one or more locations within the image. In this example, the user may touch three or more locations and the mobile controller 120 may be configured to generate a polygon that encloses a region based, at least in part, on the locations identified by the user’s touch. Each location on the display 118 touched by the user may correspond to one or more pixels of the image, wherein each pixel is associated with depth and orientation data. The generated polygon may be displayed on the display 118 as an augmented reality element. In some instances, the mobile controller 120 may be configured to display the touched point on the display 118 and/or to show a line segment that extends between two successive touch points. In these instances, the user may be provided with feedback in realtime. The region enclosed by the polygon may have a command/instruction associated therewith. For example, the command/instruction may include an avoid region command/instruction, a clean region command/instruction, and/or any other command/instruction. By way of further example, the user may associate the region with a surface type (e.g., carpet or hard floor), wherein the robotic cleaner 100 carries out a command/instruction corresponding to the surface type (e.g., avoid carpet surface types when wet cleaning). The user may associate a command/instruction with the surface type and/or the command/instruction associated with the surface type may be predetermined (e.g., during manufacture of the robotic cleaner 100).
[0035] By way of further example, the display 118 may display one or more images (e.g., in the form of video) corresponding to a portion of the environment within the field of view of the camera of the mobile device 102 and the user may touch one or more locations within the image. In this example, the user may touch locations on the image corresponding to objects identified by the mobile device 102 (e.g., using object recognition). The objects identified using object recognition may include an area rug, furniture, wires, and/or any other object. The identified objects may be associated with an augmented reality element (e.g., providing confirmation to a user that an object was identified).
[0036] In response to the user touching the identified object within the image (e.g., touching an augmented reality element shown within the image), the mobile device 102 may be configured to associate a command/instruction with the identified object. For example, when the identified object corresponds to an area rug, the command/instruction may include an avoid command/instruction when the robotic cleaner 100 is engaging in a wet cleaning mode. By way of further example, when the identified object corresponds to one or more wires, the mobile device 102 may be configured to associate an avoid command/instruction with the region surrounding the one or more wires, wherein the avoid command/instruction is adhered to by the robotic cleaner 100 regardless of cleaning mode.
[0037] By way of still further example, the display 118 may be caused to display a clean at current user location augmented reality element (e.g., an icon) to the user over the one or more images corresponding to the field of view of the camera of the mobile device 102. In response to the user touching the clean at current user location augmented reality element, the robotic cleaner 100 may be caused to travel to a location proximate to where the user touched the clean at current user location augmented reality element and clean a region enclosing the location where and/or the room within which the clean at current user location augmented reality element was touched. The robotic cleaner 100 can be configured to determine a current location of the user based on the localized position of the mobile device 102 within the map. [0038] As also shown, the method 300 may include a step 316. The step 316 includes localizing the object and/or the enclosed region within the received map based, at least in part, the orientation data and the depth data. For example, the mobile controller 120 can be configured to calculate a distance (e.g., a horizontal distance) between the mobile device 102 and each point defining polygon enclosing the region (e.g., using the depth and orientation data associated with the pixels corresponding to a location of the image touched by the user on the display 118). Based, at least in part, on the calculated distance and the orientation data a position of each point of the polygon enclosing the region may be determined within the map. In other words, the three-dimensional data defining the location of the boundary of the enclosed region is converted into two-dimensional data. By way of further example, the mobile controller 120 can be configured to localize the identified objects within the map received from the robotic cleaner 100 using the depth and orientation data.
[0039] A command/instruction can be associated with the identified object and/or the defined region. In response to a command/instruction being associated with the identified object and/or the defined region, the mobile controller 120 may be configured to generated a modified map that includes the identified object, the defined region, and/or the associated command/instruction. The mobile controller 120 can be configured to cause the modified map to be transmitted to the robotic cleaner 100.
[0040] FIG. 4 shows a flow chart of an example of a method 400 of controlling a robotic cleaner, such as the robotic cleaner 100 of FIG. 1, using a mobile device, such as the mobile device 102 of FIG. 1. One or more steps of the method 400 may be embodied as one or more instructions stored in one or more memories (e.g., one or more non-transitory memories), wherein the one or more instructions are configured to be executed on one or more processors. For example, the robot controller 112 and/or mobile controller 120 may be configured to cause one or more steps of the method 400 to be carried out. Additionally, or alternatively, one or more steps of the method 400 may be carried out in any combination of software, firmware, and/or circuitry (e.g., an application- specific integrated circuit).
[0041] As shown, the method 400 may include a step 402. The step 402 includes positioning the robotic cleaner 100 within a field of view of a camera of the mobile device 102. The mobile device 102 is configured to recognize the robotic cleaner 100 being within the field of view of the camera.
[0042] As also shown, the method 400 may include a step 404. The step 404 includes, in response to the robotic cleaner 100 being positioned within the field of view of the camera, using a LIDAR sensor of the mobile device 102 to measure a distance between the mobile device 102 and the robotic cleaner 100. Additionally, the mobile device 102 may use an orientation sensor (e.g., a compass and/or an accelerometer) to determine an orientation (e.g., a heading) of the mobile device 102 (e.g., relative to magnetic North) when the robotic cleaner 100 is within the field of view of the camera.
[0043] As also shown, the method 400 may include a step 406. The step 406 includes determining a position and orientation of the mobile device 102 relative to the position and orientation of the robotic cleaner 100 (e.g., using the orientation and depth data).
[0044] As also shown, the method 400 may include a step 408. The step 408 includes tracking a position and orientation of the mobile device 102 as the mobile device 102 is moved about an environment (e.g., by a user). As such, a positional and orientational change of the mobile device 102 relative to the robotic cleaner 100 may be tracked.
[0045] As also shown, the method may include a step 410. The step 410 includes causing the robotic cleaner 100 to follow the user as the user travels within the environment with the mobile device 102. For example, the mobile device 102 may transmit the change in position and orientation of the mobile device 102 relative to the robotic cleaner 100 to the robotic cleaner 100 in real-time and/or at periodic intervals to allow the robotic cleaner 100 to follow the user. [0046] As also shown, the method may include a step 410. The step 410 includes issuing a command/instruction to the robotic cleaner 100. The issued command/instruction is associated with the location of the robotic cleaner 100 within the environment. For example, the command/instruction may include causing the robotic cleaner 100 to identify the current location as a room within a home (e.g., the robotic cleaner 100 may identify the walls defining the room using the one or more robot sensors 114 and/or using data transmitted from the mobile device 102 that is generated using the one or more mobile sensors 124). By way of further example, the command/instruction may include causing the robotic cleaner 100 to clean a room within which the robotic cleaner 100 is currently disposed and/or to add the room within which the robotic cleaner 100 is currently disposed to a list of rooms to be cleaned. In this example, the robotic cleaner 100 may have a previously generated map of the entire environment (e.g., a floor of a home) in which two or more rooms are identified.
[0047] FIG. 5 shows a flow chart of an example of a method 500 of controlling a robotic cleaner, such as the robotic cleaner 100 of FIG. 1, using a mobile device, such as the mobile device 102 of FIG. 1. For example, the mobile device 102 may be configured to communicate with the robotic cleaner 100, wherein the mobile device 102 may, in response to a user input, issue a command/instruction that causes the robotic cleaner 100 to avoid a region (e.g., a room) and/or operate in a reduced noise mode when traveling through a region where the user is located. In some instances, the region where the user is located may be determined based, at least in part, on a location of the mobile device 102. One or more steps of the method 500 may be embodied as one or more instructions stored in one or more memories (e.g., one or more non-transitory memories), wherein the one or more instructions are configured to be executed on one or more processors. For example, the robot controller 112 and/or mobile controller 120 may be configured to cause one or more steps of the method 500 to be carried out. Additionally, or alternatively, one or more steps of the method 500 may be carried out in any combination of software, firmware, and/or circuitry (e.g., an application-specific integrated circuit).
[0048] As shown, the method 500 may include a step 502. The step 502 includes determining, with the robotic cleaner 100, a location of a user and/or the mobile device 102. The location of the mobile device 102 may be determined based, at least in part, on one or more of a user input (e.g., the user specifies a room within the house that the user is occupying), a localization of the mobile device 102 within a map using the one or more mobile sensors 124 of the mobile device 102, and/or a strength of a signal generated by the mobile device 102 (e.g., a signal generated by the one or more mobile transmitters/receivers 122). For example, the mobile device 102 may be configured to transmit a location of the mobile device 102 and/or the user within an environment (e.g., a home) to the robotic cleaner 100. By way of further example, the robotic cleaner 100 may measure a signal strength of a signal (e.g., a WiFi signal, a Bluetooth signal, and/or the like) generated by the one or more mobile transmitters/receivers 122 of the mobile device 102 to determine a proximity of the robotic cleaner 100 to the mobile device 102.
[0049] As shown, the method 500 may include a step 504. The step 504 includes avoiding a region that encloses a user and/or the mobile device 102 and/or operating in a reduced noise mode when traveling through a region that encloses the user and/or the mobile device 102. The region may be determined based, at least in part, on the determined location of the user and/or the mobile device 102. In some instances, the region may correspond to a fixed distance extending around the user and/or the mobile device 102 and/or correspond to a room within which the user and/or the mobile device 102 is in. The reduced noise mode may cause the robotic cleaner 100 to transition to a lower powered cleaning mode (e.g., by reducing a suction force generated by the suction motor, reducing a rotation speed of a rotating agitator, and/or the like).
[0050] An example of a robotic cleaning system, consistent with the present disclosure, may include a robotic cleaner configured to generate a map of an environment and a mobile device configured to communicatively couple to the robotic cleaner, the robotic cleaner configured to communicate the map to the mobile device. The mobile device may include a camera configured to generate an image of the environment, the image comprising a plurality of pixels, a display configured to display the image and to receive a user input while displaying the image, the user input being associated with one or more of the plurality of pixels, a depth sensor configured to generate depth data that is associated with each pixel of the image, an orientation sensor configured to generate orientation data that is associated with each pixel of the image, and a mobile controller configured to localize the mobile device within the map received from the robotic cleaner using the depth data and the orientation data.
[0051] In some instances, the user input may be used to define a region within the displayed image. In some instances, the mobile controller may be configured to localize the defined region within the map received from the robotic cleaner using the depth data and the orientation data associated with the one or more pixels that are associated with the user input. In some instances, a command/instruction may be associated with the defined region. In some instances, the mobile controller may be configured to generate a modified map, the modified map including the defined region and the command/instruction associated with the defined region. In some instances, the modified map may be communicated to the robotic cleaner. In some instances, the defined region may be displayed within the image as an augmented reality element. In some instances, the mobile controller may be configured to detect when the robotic cleaner is within the image. In some instances, in response to the mobile controller detecting the robotic cleaner within the image, the robotic cleaner may be configured to communicate a location of the robotic cleaner within the map of the environment to the mobile device. In some instances, the mobile controller may be configured to use the depth data and the orientation data to localize the mobile device relative to the robotic cleaner. In some instances, the mobile controller may be configured to localize the mobile device within the map received from the robotic cleaner based on the localization of the mobile device relative to the robotic cleaner. In some instances, the mobile controller may be configured to recognize an object within the image. In some instances, the mobile controller may localize the recognized object within the map received from the robotic cleaner using the depth data and the orientation data. In some instances, the display may be configured to display an augmented reality element associated with the recognized object. In some instances, in response to the user input interacting with the augmented reality element, a command/instruction may be associated with the recognized object. In some instances, the mobile controller may be configured to generate a modified map, the modified map including the recognized object and the command/instruction associated with the recognized object. In some instances, the modified map may be communicated to the robotic cleaner. In some instances, the camera may be configured to generate a plurality of images and the display is configured to display the plurality of images as a video and receive the user input while displaying the video. In some instances, the display may receive at least three user inputs, the at least three user inputs being used define a polygonal region, the polygonal region being displayed within the video as an augmented reality element. In some instances, the depth sensor may include a light detection and ranging (LIDAR) sensor and the orientation sensor may include a compass.
[0052] While the principles of the invention have been described herein, it is to be understood by those skilled in the art that this description is made only by way of example and not as a limitation as to the scope of the invention. Other embodiments are contemplated within the scope of the present invention in addition to the exemplary embodiments shown and described herein. Modifications and substitutions by one of ordinary skill in the art are considered to be within the scope of the present invention, which is not to be limited except by the following claims.

Claims

What is claimed is:
1. A robotic cleaning system comprising: a robotic cleaner configured to generate a map of an environment; and a mobile device configured to communicatively couple to the robotic cleaner, the robotic cleaner configured to communicate the map to the mobile device, wherein the mobile device includes: a camera configured to generate an image of the environment, the image comprising a plurality of pixels; a display configured to display the image and to receive a user input while displaying the image, the user input being associated with one or more of the plurality of pixels; a depth sensor configured to generate depth data that is associated with each pixel of the image; an orientation sensor configured to generate orientation data that is associated with each pixel of the image; and a mobile controller configured to localize the mobile device within the map received from the robotic cleaner using the depth data and the orientation data.
2. The robotic cleaning system of claim 1, wherein the user input is used to define a region within the displayed image.
3. The robotic cleaning system of claim 2, wherein the mobile controller is configured to localize the defined region within the map received from the robotic cleaner using the depth data and the orientation data associated with the one or more pixels that are associated with the user input.
4. The robotic cleaning system of claim 3, wherein a command/instruction is associated with the defined region.
5. The robotic cleaning system of claim 4, wherein the mobile controller is configured to generate a modified map, the modified map including the defined region and the command/instruction associated with the defined region.
6. The robotic cleaning system of claim 5, wherein the modified map is communicated to the robotic cleaner.
7. The robotic cleaning system of claim 2, wherein the defined region is displayed within the image as an augmented reality element.
8. The robotic cleaning system of claim 1, wherein the mobile controller is configured to detect when the robotic cleaner is within the image.
9. The robotic cleaning system of claim 8, wherein, in response to the mobile controller detecting the robotic cleaner within the image, the robotic cleaner is configured to communicate a location of the robotic cleaner within the map of the environment to the mobile device.
10. The robotic cleaning system of claim 9, wherein the mobile controller is configured to use the depth data and the orientation data to localize the mobile device relative to the robotic cleaner.
11. The robotic cleaning system of claim 10, wherein the mobile controller is configured to localize the mobile device within the map received from the robotic cleaner based on the localization of the mobile device relative to the robotic cleaner.
12. The robotic cleaning system of claim 1, wherein the mobile controller is configured to recognize an object within the image.
13. The robotic cleaning system of claim 12, wherein the mobile controller localizes the recognized object within the map received from the robotic cleaner using the depth data and the orientation data.
14. The robotic cleaning system of claim 13, wherein the display is configured to display an augmented reality element associated with the recognized object.
15. The robotic cleaning system of claim 14, wherein, in response to the user input interacting with the augmented reality element, a command/instruction is associated with the recognized object.
16. The robotic cleaning system of claim 15, wherein the mobile controller is configured to generate a modified map, the modified map including the recognized object and the command/instruction associated with the recognized object.
17. The robotic cleaning system of claim 16, wherein the modified map is communicated to the robotic cleaner.
18. The robotic cleaning system of claim 1, wherein the camera is configured to generate a plurality of images and the display is configured to display the plurality of images as a video and receive the user input while displaying the video.
19. The robotic cleaning system of claim 18, wherein the display receives at least three user inputs, the at least three user inputs being used define a polygonal region, the polygonal region being displayed within the video as an augmented reality element.
20. The robotic cleaning system of claim 1, wherein the depth sensor includes a light detection and ranging (LIDAR) sensor and the orientation sensor includes a compass.
17
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