Abstract:
A method for instructing operation of a mobile automated robotic device through scannable targets printed with codes corresponding to programmatic instructions. Targets are strategically placed by users or administrators in a workspace in locations visible to the device through scanning. Devices are equipped with one or more scanners that continuously scan available surfaces for targets, executing the programmatic instructions corresponding to codes of identified targets.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
       [0001]    This application claims the benefit of provisional patent application Ser. No. 61/978,972, filed Apr. 13, 2014 by the present inventor. 
     
    
     FIELD OF THE INVENTION 
       [0002]    This invention relates to mobile automated robotic devices that are designed to perform tasks such as vacuuming, mopping, or cutting grass, within a specific area. 
       BACKGROUND OF INVENTION 
       [0003]    The following is a tabulation of some prior art that presently appears relevant: 
       U.S. Patent Documents 
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                 Knepper 
               
               
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                 B2 
                 Apr. 23, 2013 
                 Letsky 
               
               
                 8,659,256 
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                 Feb. 25, 2014 
                 Irobot Corporation 
               
               
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                 A 
                 Oct. 4, 1994 
                 Goldstar Co. Ltd. 
               
               
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                 A 
                 Jul. 16, 1996 
                 Siemens 
               
               
                   
                   
                   
                 Aktiengesellschaft 
               
               
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                 White Consolidated 
               
               
                   
                   
                   
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       U.S. Patent Application Publications 
       [0005]      
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                 Publication Nr 
                 Kind Code 
                 Publ. Date 
                 Applicant 
               
               
                   
               
             
             
               
                   
               
             
          
           
               
                 20030120379 
                 A1 
                 Jun. 26, 2003 
                 Storage 
               
               
                   
                   
                   
                 Technology 
               
               
                   
                   
                   
                 Corporation 
               
               
                 20080221729 
                 A1 
                 Sep. 11, 2008 
                 Erwann Lavarec 
               
               
                   
               
             
          
         
       
     
         [0006]    Various systems have been proposed to confine and control automated robotic devices within subsections of workspaces. It can be advantageous to confine a robotic vacuum, for example, in a portion of a workspace so that it can adequately clean that space before moving on to another area. 
         [0007]    A need exists for an inexpensive method to confine an automated robotic device within a subsection of a workspace that does not require additional power-consuming hardware, intensive setup or installation, or physical barriers. 
         [0008]    A need exists for an unobtrusive method to control an automated robotic device&#39;s functions or behavior based on the device&#39;s location. 
       SUMMARY 
       [0009]    It is a goal of the present invention to provide a method to automatically provide navigation and operation instructions to an automated robotic device that is inexpensive, does not require additional power-consuming hardware or significant work from a user to install or set up, and does not rely on physical barriers. 
         [0010]    It is a goal of the present invention to increase user customizability of an automated robotic device. 
         [0011]    It is a goal of the present invention to provide a method to confine an automated robotic device within a subsection of a workspace that is inexpensive, does not require additional power-consuming hardware or significant work from a user to install or set up, and does not rely on physical barriers. 
         [0012]    The current invention achieves the aforementioned goals through a system of scannable targets strategically placed in a workspace and scanners on an automated robotic device to detect the targets and transmit data thereon to a processing subsystem. The device adjusts its behavior according to instructions encoded on the targets. Targets may take the form of stickers, having a transparent and adhesive backing. Targets are placed horizontally on surfaces that the device travels over or vertically on walls or objects that the device encounters. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0013]      FIG. 1A  shows an overhead view of the underside of a robotic floor-cleaning device equipped with the described system. 
           [0014]      FIG. 1B  shows a perspective of a robotic floor-cleaning device equipped with the described system. 
           [0015]      FIG. 2  demonstrates a robotic device using a downward oriented scanner to scan and interpret a target placed on the floor. 
           [0016]      FIG. 3  demonstrates a robotic device using its vertically oriented scanner to read a target placed vertically. 
           [0017]      FIG. 4  shows an example of a target encoded with a code. 
       
    
    
     DETAILED DESCRIPTION 
       [0018]    While the invention will be described in terms of an autonomous robot designed for cleaning floors, it is to be understood that the control system and methods described herein can be implemented into any type of autonomous machine that must perform a desired activity within a desired area of confinement or can use certain per point instructions, including without limitation, cleaning machines, polishing machines, repair machines, and demolition machines. 
         [0019]    An automated robotic vacuum equipped with the proposed system is shown in  FIG. 1A  and  FIG. 1B .  FIG. 1A  shows an overhead view of the underside of the vacuum  100 . In this example, a set of scanners  101  are installed on the sides and underside of the vacuum to scan surfaces for recognized targets. Targets are preprinted with codes that correspond to codes saved in a memory unit of the device. The number and placement of scanners may vary.  FIG. 1B  shows a perspective view of the vacuum  100  and its side-mounted scanners  101 . Vertically-mounted scanners can scan surfaces in vertical planes, such as walls or furniture. Horizontally-mounted scanners can scan surfaces in horizontal planes, such as the flooring beneath the vacuum. Upon detecting a target with any one of the scanners, an image of the code thereon is captured and sent to a processing subsystem of the vacuum for processing. 
         [0020]    Upon receiving an image of a code, a processing subsystem identifies the instructions corresponding to the code and causes the vacuum to execute the instructions. Instructions may include programmatic instructions to enable, disable, or change processes carried out the vacuum, such as instructions to increase speed, stop rotation of vacuum bristles, or activate a mopping accessory, and or instructions to direct or stop movement of vacuum. The instructions associated with each code could be fixed or configurable. Instructions could be used to change the robot&#39;s function beyond the location of the target. For example, one code could be used to indicate to a combination vacuuming and mopping robotic device to stop mopping and utilize the vacuum function only beyond the point where the code is encountered. 
         [0021]      FIG. 4  depicts an example of a target  400 . The target is printed with a code  401 . The codes on the targets could take any format. In this example, dotted codes are shown, but bar codes, or any other type of code that can be scanned by the automated robotic vacuum could be utilized. A reference point  402  is included on each target so that it can be scanned from any direction and reoriented so that the processing subsystem may correctly read the code regardless of the robot&#39;s orientation to the target. 
         [0022]    In some embodiments, the codes are printed with ink that is only visible when illuminated by ultraviolet light so that they are invisible to the naked eye and do not interfere with the aesthetics of the environment. In such cases, scanners are equipped with ultraviolet lights to illuminate the targets and capture the codes. 
         [0023]    In the preferred embodiment, the target takes the form of a sticker with a transparent adhesive backing so that it does not interfere with the aesthetics of the environment. 
         [0024]      FIG. 2  depicts the robotic device  200  using its scanner  201  to scan the code on the target  202 . In this example, the scanner located on the underside of the robotic device scans the plane on which the device is traveling. 
         [0025]    As shown in  FIG. 3 , a vertically oriented scanner  301  can scan vertical surfaces, such as walls or other obstacles with vertical planes. The side-mounted scanner  301  on the vacuum  300  detects and scans the code on the target  302 . 
         [0026]    In one embodiment, a target may be encoded with instructions for the robotic device to not pass the target until it has reached a preset number of encounters with that target, at which point the robot passes the target and resets the counter to zero. This could be useful to contain a vacuum in one part of a house for a period of time, and then contain the vacuum in different section of the house thereafter. 
         [0027]    In the preferred embodiment, the system can be used in conjunction with an external control unit that emits data signals and data signal receiver on the vacuum. Signals could be infrared waves, radio waves, wifi, Bluetooth, or any other type of wireless signals. The external control unit could take the form of a remote control, a web-based application on a computer, PDA, or smartphone, or any other type of external data signal emitter. In this embodiment, the user would be enabled to configure the instructions associated with each code and thus customize the vacuum&#39;s behavior. The user could thus effectively activate or deactivate targets as, desired, permanently until the user makes another change, or temporarily for a user-defined amount of time. Additionally, the user would be enabled to turn on or off the various scanners of the vacuum through the external control unit. For example, if a user wants the vacuum to only heed instructions from floor-mounted targets, he or she could turn off the vertically-mounted scanners. This practice would also serve to conserve energy. 
         [0028]    In one embodiment, a docking station of the robotic device could also be used as a communication gateway between the external control unit and the automated robotic vacuum. In this embodiment, the docking station would be equipped with signal receivers to receive data sent from the external control unit and signal emitters to relay the information to the device. 
         [0029]    In some embodiments, the docking station or external control unit could also be used to indicate to the robotic device the number of targets in the system and the type of targets. 
         [0030]    In the preferred embodiment, if the processing subsystem receives an unreadable image of a code, the robotic device is configured to drive closer to the target and retry to scan the code. 
         [0031]    While the invention has been described with respect to specific examples including presently preferred modes of carrying out the invention, numerous variations and permutations of the described system are possible. It is to be understood that other embodiments may be utilized and structural and functional modifications may be made without departing from the scope of the present invention. Thus, the spirit and scope of the invention should be construed broadly as set forth in the appended claims.