Mobile robot providing environmental mapping for household environmental control
A mobile robot includes a processor connected to a memory and a wireless network circuit, for executing routines stored in the memory and commands generated by the routines and received via the wireless network circuit. The processor drives the mobile robot to a multiplicity of accessible two dimensional locations within a household, and commands an end effector, including at least one motorized actuator, to perform mechanical work in the household. A plurality of routines include a first routine which monitors a wireless local network and detects a presence of a network entity on the wireless local network, a second routine which receives a signal from a sensor detecting an action state of one of the network entities, the action state changeable between waiting and active, and a third routine which commands the end effector to change state of performing mechanical work based on the presence and on the action state.
1. A mobile robot, comprising:
a processor connected to a memory and a wireless network circuit, for executing routines stored in the memory and commands generated by the routines and received via the wireless network circuit;
driven wheels commandable by the processor to reach a multiplicity of accessible two dimensional locations within a household; and
an end effector, including at least one motorized actuator, commandable by the processor to perform mechanical work in the household, the processor executing a plurality of routines including:
a first routine which monitors a wireless local network by communicating with the wireless network circuit, and detects a presence state of one or more network entities on the wireless local network,
a second routine which receives a signal from a sensor, the sensor detecting an action state of one of the network entities, the action state changeable between waiting and active, and
a third routine which commands the end effector to change state of performing mechanical work based on the presence state and on the action state detected by the first and second routines;
wherein the mobile robot processor and wireless network circuit monitor a local wireless network of approximately 5-20 meters maximum range for a change from presence to absence of a known network entity as a departure from the household, and once determining the network entity has departed, waits for a time period to verify departure before initiating a cleaning mission within the household.
2. The mobile robot of claim 1 , wherein:
the first routine detects the presence state of a mobile device on the wireless local network, and the second routine receives a signal from a call state sensor in the mobile device, the sensor detecting the call state of the mobile device as the action state, the call state changeable between call readiness and call received.
3. The mobile robot of claim 2 , wherein the end effector is a cleaning head of the mobile robot, and the third routine commands the cleaning head of the robot to change state of cleaning based on the presence of the mobile device on the wireless local network and on the call state of the mobile device as the action state.
4. The mobile robot of claim 3 , wherein the change of state of cleaning includes commanding all noise-generating actuators of the mobile robot, including driven wheel actuators, to stop and/or idle pending call completion.
5. The mobile robot of claim 3 , wherein change of the state of cleaning includes commanding actuators to restart the cleaning head of the mobile robot following a change in the call state of the mobile device from call-in-progress to call-ended.
6. The mobile robot of claim 3 , wherein change of the state of cleaning includes commanding actuators to restart the cleaning head of the mobile robot following a change in the presence of the mobile device on the wireless local network from present to absent.
7. The mobile robot of claim 6 , wherein the mobile robot processor and wireless network circuit monitor a local wireless network of approximately 5-20 meters maximum range for a change from presence to absence of the mobile device as a departure from the household, and once determining the mobile device has departed, wait for a time period to verify departure of the mobile device from the household before restarting a cleaning mission within the household.
8. The mobile robot of claim 1 , wherein
the first routine detects the presence state of a mobile device On the wireless local network;
the second routine receives a signal from a cleaning readiness sensor in the mobile robot, the sensor detecting the cleaning readiness of the mobile robot as the action state, the cleaning readiness state changeable between cleaning readiness and cleaning active.
9. The mobile robot of claim 8 , wherein the third routine commands a cleaning head of the robot to change state of cleaning based on the presence of the mobile device on the wireless local network and on the cleaning readiness state of the mobile robot as the action state.
10. The mobile robot of claim 9 , wherein the end effector is the cleaning head of the mobile robot, wherein the cleaning readiness is a stasis state, and the motorized actuator is stationary in a stasis state.
11. The mobile robot of claim 8 , wherein the cleaning readiness includes a battery charge state of the mobile robot.
12. The mobile robot of claim 1 , wherein the mobile robot processor and wireless network circuit monitor a local wireless network of approximately 5-20 meters maximum range for a unique identity of a handheld and portable mobile device to determine that the handheld and portable mobile device is present in the household.
13. The mobile robot of claim 12 , wherein the mobile robot processor and wireless network circuit scan for a unique media access control address of a handheld and portable mobile device to determine that the handheld and portable mobile device is present in the household.
14. The mobile robot of claim 12 , wherein the mobile robot processor and wireless network circuit scan for an internet protocol address on a private internet protocol subnet, and compare media access control addresses of newly scanned internet protocol addresses to at least one previously stored unique media access control addresses corresponding to known handheld and portable mobile devices to determine that the handheld and portable mobile device has arrived at the household.
15. The mobile robot of claim 1 , wherein the mobile robot processor and wireless network circuit monitor a local wireless network of approximately 5-20 meters maximum range for a target network entity, and once determining a new target network entity has arrived on a private internet protocol subnet, ping the target network entity at a private subnet address and unique media access control address to verify the target network entity has arrived at the household.
16. The mobile robot of claim 1 , further comprising a localization circuit including a localization sensor, and once determining a target network entity has arrived on a private internet protocol subnet, the mobile robot processor records a location where a state of cleaning is changed and a cleaning mission terminated.
17. The mobile robot of claim 16 , wherein the mobile robot returns to the location where the state of cleaning was changed to resume a cleaning mission following a re-initiation of the cleaning mission.
18. A mobile robot, comprising:
a processor connected to a memory and a wireless network circuit, for executing routines stored in the memory and commands generated by the routines and received via the wireless network circuit;
driven wheels commandable by the processor to reach a multiplicity of accessible two dimensional locations within a household; and
an end effector, including at least one motorized actuator, commandable by the processor to perform mechanical work in the household, the processor executing a plurality of routines including:
a first routine which monitors a wireless local network by communicating with the wireless network circuit, and detects a presence state of one or more network entities on the wireless local network,
a second routine which receives a signal from a sensor, the sensor detecting an action state of one of the network entities, the action state changeable between waiting and active, and
a third routine which commands the end effector to change state of performing mechanical work based on the presence state and on the action state detected by the first and second routines
wherein the first routine detects the presence state of a mobile device on the wireless local network, and the second routine receives a signal from a call state sensor in the mobile device, the sensor detecting the call state of the mobile device as the action state, the call state changeable between call readiness and call received.
19. The mobile robot of claim 18 , wherein the end effector is a cleaning head of the mobile robot, and the third routine commands the cleaning head of the robot to change state of cleaning based on the presence of the mobile device on the wireless local network and on the call state of the mobile device as the action state.