METHOD OF CONTROLLING A ROBOT IN RELATION TO A SERVICE SCHEDULE

Abstract

A method of controlling a robot having a service schedule includes a number of tasks, where the robot does not complete a task. The robot will output information relating to the task it was not completed in accordance with its parameters and may output information relating to a reason why it was not completed. A task may not be completed if the robot is prevented from performing the task or when the robot did not perform the task within set parameters. The robot will then perform other tasks in the service schedule and output information as to which task(s) was/were note completed in accordance with its/their parameters.

Claims

1. A method of controlling a robot, the method comprising: a) feeding a service schedule to a self-propelled robot, the service schedule identifying a plurality of tasks for the robot to perform, b) the robot performing one or more of the plurality of tasks, c) the robot not completing a first task of the plurality of tasks; the robot generating corresponding information, d) the robot, after step c), performing another of the tasks and e) identifying and outputting, based on the corresponding information, information relating to the first task, wherein the service schedule comprises, for the first task, one or more parameters according to which the robot should perform the first task; wherein step c) comprises the robot not having performed the first task in accordance with the one or more parameters; and wherein the corresponding information comprises information as to which parameter(s), the first task was not performed in accordance with.

2. The method according to claim 1, further comprising the step of the robot reverting to, and completing the first task, wherein the corresponding information relates to an expenditure of one or more of the group consisting of time, power and a consumable, which the robot requires to revert to and complete the first task.

3. The method according to claim 1, wherein the robot is configured to sense and avoid obstacles; wherein step c) comprises the robot sensing an obstacle preventing the robot from performing the first task; and wherein the corresponding information comprises information related to the obstacle.

4. The method according to claim 1, wherein the first task is a step of treating a first surface area, wherein the corresponding information relates to a position and an area, of the first surface area, which is not cleansed.

5. The method according to claim 1, wherein the first task comprises transporting predetermined goods from a pick-up position to a delivery position, and wherein the corresponding information relates to the goods, the delivery position and/or the pick-up position.

6. The method according to claim 1, wherein the one or more parameters is/are selected from the group consisting of: an activity to be performed, a position or area where the task is to be performed, a point in time at which the first task must be finalized, a point in time at which the first task may be initiated at the earliest, a period of time within which the first task must be performed, and a minimum quality with which the first task must be performed.

7. The method according to claim 1, wherein step d) comprises the robot receiving instructions to perform an additional task and the robot performing the additional task; and wherein the corresponding information relates to an expenditure of one or more of the group consisting of time, power and a consumable, which the robot needs to perform the additional task and all remaining tasks of the service schedule.

8. A system comprising a self-propelled robot and a controller, wherein: a) the robot is configured to receive a service schedule identifying a plurality of tasks for the robot to perform, b) the robot is configured to perform one or more of the plurality of tasks, c) the robot is configured to not complete a first task of the plurality of tasks and to generate corresponding information, d) the robot being configured to, after having not completed the first task, perform another of the tasks and e) the controller is configured to receive the corresponding information and to output information relating to the first task, wherein the robot comprises a sensor for determining a parameter of a performance of a task; wherein the service schedule comprises, for the first task, a quantity of the parameter according to which the robot should perform the first task; wherein the robot does not complete the first task if the parameter, determined by the sensor while the first task is performed, is not according to the quantity; and wherein the controller is configured to output the corresponding information comprising information as to the parameter, the first task was not performed in accordance with.

9. The system according to claim 8, wherein the robot is configured to revert to, and complete the first task, wherein the controller is configured to generate corresponding information relating to an expenditure of one or more of the group consisting of time, power and a consumable, which the robot requires to revert to and complete the first task.

10. The system according to claim 8, wherein the robot comprises one or more sensors for sensing and avoiding obstacles; wherein the robot is configured to not complete the first task when the sensor(s) sense(s) an obstacle preventing the robot from performing the first task; and wherein the controller is configured to output the corresponding information comprising information related to the obstacle.

11. The system according to claim 8, wherein the robot is configured to receive instructions to perform an additional task and to perform the additional task and all remaining tasks of the service schedule; and wherein the controller is configured to provide the corresponding information relating to an expenditure of one or more of the group consisting of time, power and a consumable, which the robot needs to perform the additional task and all remaining tasks of the service schedule.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0100] In the following, preferred embodiments are described with reference to the drawing, wherein:

[0101] FIG. 1 illustrates a hotel in which a robot is working,

[0102] FIG. 2 illustrates a cleaning robot.

DETAILED DESCRIPTION

[0103] In FIG. 1, an example embodiment of a robot in its working space. In this example, the working space is a hotel 10 in which the robot 12 operates, such as for cleaning, disinfecting, quality checking, delivering supplies or amenities and the like. The hotel has a reception desk 142 in a reception area 14 as well as a number of rooms 22, an aisle 26 and a grand ballroom 24.

[0104] The robot 12 may have fixed tasks such as floor cleaning in the reception area 14 and the aisle 26 as well as, or alternatively, disinfecting walls, handrails, tabletops, chairs and the like. The robot 12 may also or alternatively be called for to move supplies, such as fresh towels, from a central storage to local storages close to the rooms 22 or directly to the rooms. In addition, or alternatively, the robot may be called for to do specific tasks, such as bringing amenities, such as snacks, from the reception 142 or a bar/restaurant to an occupant of a room 22.

[0105] In FIG. 2, a robot 12 is seen having a controller 126, sensors 122 for detecting e.g., obstructions and other elements for navigating, a cleaning element 124 for, in this situation, cleaning floors, a sensor 128 for detecting the cleanliness of the cleaned floor and, optionally or additionally, an arm 129 comprising an irradiating element for irradiating surfaces, such as table tops, with radiation killing bacteria and viruses.

[0106] Clearly, this situation of a hotel may be expanded or transferred to any other setting, such as an airport, a storage facility, a shop, a house, a building, a town, a city, a field or the like. Depending on the setting, the tasks of the robot may change. Clearly, different robots may have different capabilities, different sensors, actuators, interface elements and the like. A delivery in a hotel may be towels, where in an airport it may be tax free goods for a store. In a storage facility or shop, it may be products or parcels, where in a town or city it may be any type of products, such as groceries, fast food, take-away or the like. In a field, a delivery may be fertilizer or weeding agents.

[0107] The cleaning schedule of the robot may comprise fixed tasks at fixed points in time or with fixed intervals, such as the sweeping or washing of the floor in the reception area three times each day and in the aisle twice a day, where each room must be vacuumed once each day. Rooms are often vacated in the middle of the day, so that this is the preferred period of time for vacuuming the rooms. On the other hand, the aisle may be the busiest in the morning and late afternoon, so that it may be desired to not clean there in these time intervals.

[0108] The reception is the busiest in the morning for checking out and in the afternoon for the arrival of new guests. The reception may be very busy at specific, other points in time, such as when the grand ballroom is rented for an event, such as a wedding. Outside of such events, the grand ballroom may be vacated for days, so that the cleaning thereof may be more sporadic, such as before and after an event but perhaps not that time critical.

[0109] A cleaning operation often will be decided on or ordered as an operation with a particular goal, such as vacuuming of the complete floor of an aisle. It is desirable that the robot logs its operations so that compliance with the operation or task may be proved. However, the robot may not be able to complete the task.

[0110] Different reasons exist for not completing a task. The robot may be directly prevented from completing the task. Alternatively, the robot may not be able to complete the task, such as if the robot is running out of power or a consumable required to perform the task. Also, the task may have to be performed within certain parameters, such as within a predetermined time interval, so that the task, even when all required activities are performed, is not completed within the required parameters.

[0111] A robot may be prevented from performing a task for a number of reasons. If the robot is cleaning a floor, luggage, goods or persons may be in the way, so that the robot will have to move around the luggage etc. and clean portions of the floor which are available to it. Then, the robot is prevented from cleaning a portion of the floor. Alternatively, obstacles may exist which prevent the robot from reaching the area in which the task is to be performed.

[0112] The robot will then output information to this effect. This information may comprise sensor data, such as an image, illustrating or proving the obstacle(s) preventing the robot from performing the task. The robot may also output information relating to the particular task showing that there was a good reason for not cleaning that portion. The robot will then perform other tasks of its service schedule.

[0113] The robot may then deliver a report describing the area cleaned, the area not cleaned and the reasons therefor. In one example, the service provider may not loose a bonus, if the reason for not completing a task is not due to the service provider.

[0114] If the robot did not complete the task due to one or more parameters of the task not being met, corresponding information may be stored relating to such parameters, such as the parameter with which the task was performed.

[0115] A parameter may be a period of time within which a task is to be performed. As described above, cleaning may be desired performed within predetermined time periods or outside of certain time periods. It may be desired that a task is finalized at a certain point in time or is not initiated before a certain point in time.

[0116] Thus, if the robot performs the task but outside of the allowed time period, the task may be seen as not completed.

[0117] The report may be combined with an agreed-on set of tasks for the robot, so that discrepancies may be seen. The agreed-on set of tasks may form a Service Level Agreement specifying the individual tasks and any parameters thereof. A bonus for performing the tasks—or each task—may be defined, as may a penalty for not performing a task or not performing the task within the required parameter(s). When a task is defined by a parameter, the bonus or penalty may be defined on the basis of this parameter. If the parameter is time, such as a latest point in time of completing an action of a task, a delay of performing an action may incur a higher penalty if the delay is larger.

[0118] Then, if the robot has been prevented physically from cleaning a portion, for example, of a floor, the robot may revert to that area at a later point in time in order to attempt again to clean it. It may be possible to clean the area within the allocated time, for example, so that the task is no longer not-completed. Alternatively, it may be possible to perform the task with a tolerable delay so that, for example, a penalty becomes lower or acceptable. If the area is still occupied, corresponding information may be generated.

[0119] Other parameters may relate to a consumption, speed, quality or other parameter of the robot while performing the task. A consumption, such as of power or other consumables, such as cleansing agents, may be monitored. If the consumption exceeds a maximum limit for the task, the task may be assumed not completed.

[0120] Another parameter may be a position, so that if the task is not performed at a desired position, the task may be seen as not completed.

[0121] Yet another parameter may be a quality of an operation defined by the task. The task may be a cleansing action, such as by the means 124, where the quality has to do with how clean the surface or element is after the cleansing. If the surface or element is still too dirty, the task may be seen as not completed. A cleansing task may be a sweeping, mopping, washing and/or vacuuming of a floor or other surface and/or a disinfecting of a surface. Thus, the robot may comprise one or more sensors 128 for determining this parameter or multiple parameters of the operation of the cleansing means 124. This documentation may be used for determining whether the task has been completed or not.

[0122] Similarly, if the task is a disinfection of a surface, the intensity or quality of the disinfection may be monitored and compared to set parameters. The intensity may be that of disinfecting radiation or the amount of dispensed disinfecting fluid and/or the speed of movement of the robot vis-à-vis the surface.

[0123] Another parameter may relate to the operation of the robot. In one situation, where the task is a scrubbing of a floor, a parameter may be set for a force exerted on the floor by the scrubdeck. A too low force may not clean the surface sufficiently, and a too large force may wear the floor unnecessarily. Thus, this force may be determined using a sensor and logged. If the parameter setting is not observed during the performing of the task, the task may be seen as not completed.

[0124] The robot preferably is self-propelled in a manner so that it may perform the tasks without human intervention. Additionally, it may be desired that the robot is so intelligent that it may not only perform the tasks required but may deviate from tasks or even re-arrange their order. The robot may comprise sensors 122 allowing the robot to move autonomously such as by detecting obstacles and/or being able to navigate in a space, such as on the basis of a map of the space, as is known.

[0125] The robot, or the controller 126, may be configured to communicate with an external controller 13, from where a list of one or more tasks, which may be called a service schedule, may be received together with, if desired, particular parameters for one or more tasks as described above.

[0126] The robot may then perform the tasks in any order, such as an order determined by the controller 13 or one determined by the controller 126. The robot or controller may log its performance and the progress with individual tasks, such as sensor data or parameters determined during the performing of individual tasks.

[0127] The robot may then determine if a task is completed or not. Alternatively, the data may be fed to the controller 13 which may perform that determination. If the robot determines that a task cannot be completed, such as if the robot is blocked or otherwise prevented from performing or completing a task, the robot may feed such information, such as the information it bases this determination on, to the controller 13.

[0128] The controller 13 or the controller 126 may in some circumstances re-arrange any remaining tasks in order to have as many tasks performed as possible. For each task, one or more parameters may be defined, according to which the tasks are to be performed. Such parameters may be time or consumption of a consumable, so that the sequence of the remaining tasks may be defined according to the time at which each task may be initiated, must be finalized, or the like. Some tasks may be acceptably performed later than others, for example, so that a rearranging may be desirable. Also, one of the controllers may direct the robot to perform a task which was earlier not completed.

[0129] Tasks may be rather different from each other. One task may be a cleansing action and another task may be a charging of the robot. Thus, if more energy has been spent than expected, the charging task may be moved forward in time to allow the robot to charge sufficiently so that the remainder of the tasks may be performed. A task may also be an emptying of a waste container, restocking of cleansing fluid or the like.

[0130] In a particular example, the robot may further comprise operator engaging means 127 for a human operator to engage and control the robot. The robot may comprise a surface for an operator to stand or sit on and handles for the operator to hold and for use to guide the robot. Thus, an operator may engage such means and thereby overrule the operation of the robot. This will also prevent the robot from performing the task at hand or the next task. The operation may then control the robot to perform e.g., an urgent task and may then release the robot for the robot to revert to the remaining tasks. The robot will then output information as to the operator's overriding as information relating to the task which the robot was prevented from performing. Clearly, alternatively, the robot may be remote controllable, whereby the overriding may again be determined and logged.

[0131] Various embodiments of systems, devices, and methods have been described herein. These embodiments are given only by way of example and are not intended to limit the scope of the claimed inventions. It should be appreciated, moreover, that the various features of the embodiments that have been described may be combined in various ways to produce numerous additional embodiments. Moreover, while various materials, dimensions, shapes, configurations and locations, etc. have been described for use with disclosed embodiments, others besides those disclosed may be utilized without exceeding the scope of the claimed inventions.

[0132] Persons of ordinary skill in the relevant arts will recognize that the subject matter hereof may comprise fewer features than illustrated in any individual embodiment described above. The embodiments described herein are not meant to be an exhaustive presentation of the ways in which the various features of the subject matter hereof may be combined. Accordingly, the embodiments are not mutually exclusive combinations of features; rather, the various embodiments can comprise a combination of different individual features selected from different individual embodiments, as understood by persons of ordinary skill in the art. Moreover, elements described with respect to one embodiment can be implemented in other embodiments even when not described in such embodiments unless otherwise noted.

[0133] Although a dependent claim may refer in the claims to a specific combination with one or more other claims, other embodiments can also include a combination of the dependent claim with the subject matter of each other dependent claim or a combination of one or more features with other dependent or independent claims. Such combinations are proposed herein unless it is stated that a specific combination is not intended.

[0134] Any incorporation by reference of documents above is limited such that no subject matter is incorporated that is contrary to the explicit disclosure herein. Any incorporation by reference of documents above is further limited such that no claims included in the documents are incorporated by reference herein. Any incorporation by reference of documents above is yet further limited such that any definitions provided in the documents are not incorporated by reference herein unless expressly included herein.

[0135] For purposes of interpreting the claims, it is expressly intended that the provisions of 35 U.S.C. § 112(f) are not to be invoked unless the specific terms “means for” or “step for” are recited in a claim.

[0136] In one or more examples, the described techniques may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored as one or more instructions or code on a computer-readable medium and executed by a hardware-based processing unit. Computer-readable media may include non-transitory computer-readable media, which corresponds to a tangible medium such as data storage media (e.g., RAM, ROM, EEPROM, flash memory, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer).

[0137] Instructions may be executed by one or more processors, such as one or more digital signal processors (DSPs), general purpose microprocessors, application specific integrated circuits (ASICs), field programmable logic arrays (FPGAs), or other equivalent integrated or discrete logic circuitry. Accordingly, the term “processor” as used herein may refer to any of the foregoing structure or any other physical structure suitable for implementation of the described techniques. Also, the techniques could be fully implemented in one or more circuits or logic elements.