Restricting movement of a mobile robot

Patent metadata

Field	Value
Publication number	US-12558786-B2
Application number	US-202217937598-A
Country	US
Kind code	B2
Filing date	Oct 3, 2022
Priority date	Apr 9, 2015
Publication date	Feb 24, 2026
Grant date	Feb 24, 2026

Abstract

A robot includes a body that is movable relative to a surface one or more measurement devices within the body to output information based on an orientation of the body at an initial location on the surface, and a controller within the body to determine an orientation of the body based on the information and to restrict movement of the body to an area by preventing movement of the body beyond a barrier that is based on the orientation of the body and the initial location.

First claim

What is claimed is:

1 . An autonomous cleaning robot comprising:
a drive system configured to move the autonomous cleaning robot across a floor surface of an environment; a cleaning system positioned on a bottom portion of the autonomous cleaning robot, the cleaning system configured to clean the floor surface; and a controller configured to execute instructions to perform operations comprising:
creating one or more temporary virtual barriers that divide the floor surface into a plurality of regions;
operating the autonomous cleaning robot in accordance with a first behavioral mode with respect to a first region of the plurality of regions without the autonomous cleaning robot exiting the first region;
upon satisfaction of a condition, operating the autonomous cleaning robot to (i) cross at least one temporary virtual barrier of the one or more temporary virtual barriers to move from the first region into a second region of the plurality of regions and then (ii) switch from the first behavioral mode to a second behavioral mode after crossing the at least one temporary virtual barrier, wherein the first behavioral mode comprises a first cleaning mode and the second behavioral mode comprises a second cleaning mode that differs from the first cleaning mode; and
operating the autonomous cleaning robot in accordance with the second behavioral mode with respect to the second region of the plurality of regions.

2 . The autonomous cleaning robot of claim 1 ,
wherein the autonomous cleaning robot comprises a wireless transceiver configured to communicate with a mobile computing device; and wherein the operations comprise receiving, at the wireless transceiver and from the mobile computing device, data indicative of one or more user instructions.

3 . The autonomous cleaning robot of claim 2 , wherein creating the one or more temporary virtual barriers comprises creating the one or more temporary virtual barriers based on the data indicative of the one or more user instructions.

4 . The autonomous cleaning robot of claim 2 , wherein the operations comprise associating the first behavioral mode with the first region and associating the second behavioral mode with the second region based on the data indicative of the one or more user instructions.

5 . The autonomous cleaning robot of claim 1 , wherein the operations comprise associating a first label with the first region or a first structure within the first region and associating a second label with the second region or a second structure within the second region; and
associating the first behavioral mode with the first region based on the first label and associating the second behavioral mode with the second region based on the second label.

6 . The autonomous cleaning robot of claim 5 , wherein the first label or the second label is indicative of a type of room.

7 . The autonomous cleaning robot of claim 5 , wherein the first label or the second label is indicative of a fragility of the first structure or the second structure.

8 . The autonomous cleaning robot of claim 5 , wherein the first label or the second label is indicative of a difficulty to clean the first region or the second region.

9 . The autonomous cleaning robot of claim 5 ,
wherein the autonomous cleaning robot comprises a wireless transceiver configured to communicate with a mobile computing device; wherein the operations comprise receiving, at the wireless transceiver and from the mobile computing device, data indicative of one or more user instructions; and wherein associating the first label with the first region or the first structure within the first region is based on the data indicative of the one or more user instructions and associating the second label with the second region or the second structure within the second region is based on the data indicative of the one or more user instructions.

10 . The autonomous cleaning robot of claim 5 ,
wherein the operations comprise detecting one or more features within the environment; and wherein associating the first label with the first region or the first structure within the first region is based on the one or more detected features and associating the second label with the second region or the second structure within the second region is based on the one or more detected features.

11 . The autonomous cleaning robot of claim 1 , wherein the first cleaning mode or the second cleaning mode is a deep cleaning mode.

12 . The autonomous cleaning robot of claim 1 , wherein the first behavioral mode comprises keeping the autonomous cleaning robot out of the second region or wherein the second behavioral mode comprises keeping the autonomous cleaning robot out of the first region.

13 . The autonomous cleaning robot of claim 1 , wherein at least one of the one or more temporary virtual barriers is non-linear.

14 . The autonomous cleaning robot of claim 1 , wherein the one or more temporary virtual barriers define an enclosed shape.

15 . The autonomous cleaning robot of claim 1 , wherein the condition comprises covering a threshold percentage of the first region or covering the first region a threshold number of times, wherein the threshold percentage is greater than 100% and the threshold number is greater than 1.

16 . A mobile computing device comprising:
a wireless transceiver configured to communicate with an autonomous cleaning robot movable about a floor surface of an environment; a user input device operable by a user to provide one or more user instructions, the one or more user instructions comprising instructions to initiate creating one or more temporary virtual barriers that divide the floor surface into a plurality of regions; and one or more processors configured to execute operations comprising:
receiving the one or more user instructions; and
transmitting, from the wireless transceiver of the mobile computing device to the autonomous cleaning robot, data indicative of the one or more user instructions such that, during an autonomous operation of the autonomous cleaning robot, the autonomous cleaning robot (i) is operated in accordance with a first behavioral mode with respect to a first region of the plurality of regions without exiting the first region; (ii) upon satisfaction of a condition, is operated to (a) cross at least one temporary virtual barrier of the one or more temporary virtual barriers to move from the first region into a second region of the plurality of regions and then (b) switch from the first behavioral mode to a second behavioral mode after crossing the at least one temporary virtual barrier, wherein the first behavioral mode comprises a first cleaning mode and the second behavioral mode comprises a second cleaning mode that differs from the first cleaning mode; and (iii) is operated in accordance with the second behavioral mode with respect to the second region of the plurality of regions.

17 . The mobile computing device of claim 16 , wherein the one or more user instructions comprise instructions to associate the first behavioral mode with the first region and associate the second behavioral mode with the second region.

18 . The mobile computing device of claim 16 , wherein the first region or a first structure within the first region is associated with a first label, and wherein the second region or a second structure within the second region is associated with a second label.

19 . The mobile computing device of claim 18 , wherein the first label or the second label is indicative of at leas

Assignees

• Irobot Corp

Inventors

• Williams Marcus
• Lu Ping-Hong
• Johnson Joseph M
• Santini Fabrizio

Classifications

• Y10S901/01

  Mobile robot · CPC title

• B25J9/1697

  Vision controlled systems · CPC title

• B25J9/1694

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title

• B25J5/00

  Manipulators mounted on wheels or on carriages (B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 {; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00}) · CPC title

• G05D1/0234

  using optical markers or beacons (optical beacons per se G01S1/70) · CPC title