Indicator for a robotic machine
Contents
1. have to be rectified urgently or it may be a major fault requiring urgent attention Until the vehicle fault is diag nosed by specialist equipment or unless the vehicle breaks down the user will be unaware of the state of health of his vehicle engine and its associated systems Domestic appliances such as washing machines and dish washers have animated dials which indicate what part of the washing cycle the machine has reached It is also known to use a limited range of indicator lamps to represent a large number of fault conditions with each fault condition being represented by a different combination of illuminated lights or a combination of flashing and steady illumination of the lamps This can be very confusing for a user and often requires a user to consult a user manual to interpret the state of the machine Computers have programs which by making an unusual sound wan the user that he is adopting an illegal or inappropriate entry on the keyboard or that the computer cannot execute the requested function A wide choice of such sounds is commonly available The Sony Corporation on 11 May 1999 announced the launch of a four legged entrainment robot called AIBO The head of the robot has two eyes each eye having a red LED lamp and a green LED lamp spaced apart from one another The red lamp is illuminated to express anger and the green lamp is illuminated to express happiness The eyes flash red and men when the robot is co2. light detector 17 The processing circuitry 23 includes a microprocessor a field programmable gate array FPGA and control software 45 The indicator light 35 is connected to the user interface board 25 and is controlled by signals received from the processing circuitry 23 over communications link 40 The navigation system of the clear includes the various s 26 to 32 as shown in FIG 2 Them are four main ultrasonic transmitter receiver pairs 29 which face forwards rearwards and to opposite sides of the robotic cleaner The signals received from these receivers 29 not only provide informa tion representative of distance from a feature of the room or from an object in the room but the amplitude and width of the received signals vary according to the type of material sensed Threshold sensors 30 detect the presence of a portable threshold locator not shown placed for example at the entrance to a room or at the top of a staircase and one or more pyroelectric or passive infrared PIR detectors 31 are provided for detecting animals and fires It will be appreciated that the type of sensor ultrasonic infrared is not important to the invention and that other types of sensor can be used in addition to these or instead of these The mood indicator light 35 is controlled by the processor circuitry 23 through the user interface board 26 The pro cessor circuitry 23 determines from the sensors 26 to 32 and the motor current sensors the interac
3. mood When only one of the light sources is energised the indicator appears as that colour For example when the red source is energised the indicator appears red When multiple light sources are energised at the same time the outputs of the sources are combined and the indicator has the color of the combination For example when the red and green sources are illuminated the indicator appears yellow orange Small variations in the state of the machine can be easily conveyed by shifting the colour of the indicator e g from green to green blue Preferably the light sources comprise red green and blue primary colour light sources as this combination of light sources is capable of generating the full range of visible colours There can be multiple light sources of each colour This increases the light output and by interleaving the sources with other differently coloured sources an improved blend ing effect is achieved Each of the light sources can be provided as a separate device a plurality of such devices being mounted on a support or a single multi source device can be provided The multi source device can include some form of diffused lens or this can be provided separately While the embodiment describes the use of the indicator light on a robotic vacuum cleaner the indicator can be used on other forms of robotic machine Another aspect of the present invention provides a method of operating a robotic machine BRIEF DES
4. sensors for near distance or the ultrasonic sensors for far distance Then again if the drive motors are trying to rotate the cleaner it will expect to see a change in the side wall sensors as the side wall should disappear from range The Monitor Task will send a sign to the Mood Light Server if its check indicates the distance sensor signals are 10 15 20 25 30 35 50 55 60 65 6 not changing despite the drive motors being energized i e the cleaner is stuck It will also power down the cleaner after a predetermined period if the cleaner does not move or if some other malfunction is detected and it will signal a visible pulsed mode to the red light source R In this embodiment the mood light can have 1 a blue colour when the cleaner is happy and for example travelling along a wall in a straight line which requires minimal sensor activity FIG 7A 2 a green blue colour which will be produced when turning a corner or navigating around an obstacle resenting a more demanding scenario and hence inched sensor activity including changes in drive current to the noon FIG 7B 3 a yellow green i e more yellow than green colour if the heat sensors sense a warm object ahead in the path of the cleaner 4 a red colour if the heat sensor senses a hot body ahead for example a fire or if there is very significant sensor activity when the cleaner is sensing several objects and there are rapid cha
5. the alley firstly through 90 to the right as it detects the second wall the mood light will change to green yellow and then through another 90 to the right as it detects the sofa the mood light will continue green yellow but revert to blue green as it travels back up the alley If in the meantime the entrance to the alley has become blocked so the cleaner has no way out then within a few seconds the mood light will change from green to green yellow as it attempts to manoeuvre with increased sensor activity and finally it will turn red to indicate that it is not happy Within another few seconds if the block to the alley has not been removed the cleaner will shut down its cleaning action and the mood light will change from continuous red to flashing red The embodiment described depends upon a source of light by which to navigate using the light sensors 17 If for example the light is suddenly extinguished the cleaner will become highly confused and will go into its red light mode followed by red flashing light mode This might happen if for example a cushion fell on top of the cleaner or a child abused the cleaner by sitting upon it If the cleaner has shut down prematurely before complet ing the cleaning of the room when the cleaner is next attended by the user it will not have finished clearing and will not have returned to its staring position according to the program Accordingly the machine can either be started and the path ren
6. the robotic machine can interact with its environment and an indicator light comprising two or more differently colored light sources which are sepa rately energizable and a device for combining the light output of the light sources to give an effect of a single colored light using the controller to control the machine to carry out a task using the sensors using the indicator to indicate a state of interaction between the machine and the environment and changing the color of the indicator light according to the state of interaction between the machine and the envi ronment US 6 774 596 B1 9 26 A robotic floor cleaning device comprising a robotic machine comprising a plurality of sensors configured to interact with a floor to be cleaned a controller for control ling the machine to carry out floor cleaning using the sensors and an indicator light to indicate a state of interac tion between the machine and the floor to be cleaned wherein the controller is configured to change a color of the light according to the state of interaction and wherein the indicator light comprises two or more differently colored light sources which are separately 10 energizable and a device for combining light output by the light sources to give an effect of a single colored light 27 A robotic floor cleaning device according to claim 26 wherein the light sources are energizable at the same time 28 A robotic floor cleaning device according
7. to claim 27 wherein the light sources are red green and blue
8. 5 FIG 5 MOOD UGHT go Ieas WALL FOLLOW p US 66 os TASK DECISION NW 64 Ey NETWORK n r WANDER TASK __ SENSOR 62 66 74 MOTOR MONITOR 72 FIG 6 U S Patent Aug 10 2004 Sheet 5 of 5 US 6 774 596 B1 INDICATOR 35 ROBOT STATE FIG ZA FIG 7B FIG 7C FIG 7D US 6 774 596 B1 1 INDICATOR FOR A ROBOTIC MACHINE FIELD OF THE INVENTION no I 5 This invention relates to a robotic machine and to a method of operating a robotic machine It can be applied to a robotic floor clearing device such as a robotic vacuum cleaner or some other robotic machine BACKGROUND OF THE INVENTION It is known to provide a robotic vacuum cleaner pro grammed to clean the floor of a room The programming may consist of feeding a detailed map of the room and training the cleaner to reciprocate to and fro from one side to the other side of the room Alternatively it may comprise leading the cleaner around the room in a training cycle so that the cleaner repeats the cycle from information stored in memory International Patent Application No PCT GB99 04072 describes an autonomous vacuum cleaner which performs a spira like pattern to traverse the floor surface of a room Some machines have warning lights to alert the user when a fault has occurred For example a vehicle engine man agement system will have a warning light which illuminates when a fault occurs This way be a minor fault which does not
9. CRIPTION OF THE DRAWINGS Embodiments of the invention will now be described with reference to the accompanying drawings in which FIG 1 is a perspective view of a robotic cleaning device according to an embodiment of the invention FIG 2 is a schematic diagram of a power management and navigation system of the device of FIG 1 FIGS 3A and 3B schematically show two few of indicator light used in the cleaning device of FIG 1 FIG 4 shows Fe well known colour triangle FIG 5 shows the functional blocks which control the indicator light FIG 6 schematically shows the software tasks performed by the controller of the cleaning device and FIGS 7A 7D show a range of states for the cleaner and the corresponding condition of the indicator light DETAILED DESCRIPTION OF THE INVENTION Referring to FIG 1 of the drawings ther is shown a robotic floor cleaning device in the form of a vacuum US 6 774 596 B1 3 cleaner comprising a main body 10 two drive wheels 11 a brush bar housing 12 two rechargeable battery packs 13 a cyclonic separator 15 light detectors 17 various sensors 26 to 32 and a user interface 16 which includes switches 14 The cyclonic separator is described more fully in EP A 0 042 723 Other forms of separator such as a bag can be used in place of the cyclonic separator 15 Mounted on the upper face of the cleaner 10 is an indicator light 35 which shows by its colour the state of interaction between the mac
10. The machine has a plurality of sensors including infrared sensors ultrasonic sensors and light sensors through which the machine can navigate its way around a room without hitting objects or walls in its path The machine has an indicator light which changes color depending upon the state of interaction of the various sensors with the environment indicating the mood of the cleaner The indicator may include three primary color light sources which are com bined within a reflective frusto conical chamber and a translucent lens dome in order to combine the primary colors into a single colored light as viewed by a user This makes the machine more user friendly 28 Claims 5 Drawing Sheets US 6 774 596 B1 Sheet 1 of 5 Aug 10 2004 U S Patent FIG 1 US 6 774 596 B1 Sheet 2 of 5 Aug 10 2004 U S Patent oe Ce O I LEOZ 6d 92 T Old YOSNAS MNI Nig SHOSNAS uid SuOSN3S YI SYOSNAS SN SYOSNIS TIOHSSYHL KIN YOLVOIGNI yi SSHOLIMS 435N YA 4019331309 1K91 JOVAMSLNI wasn GZ eh SNISS3908d 1N3W3SVNVA 3AAOd 9 Ad311V8 sativa cl SHOLO NOLLOVEL AX LNY YOLOW YVEHSNYa AXONS JILIVIOA NON YMLOS 10831N09 JY U S Patent Aug 10 2004 Sheet 3 of 5 US 6 774 596 B1 356 508 50 50D FIG 3B Q 50C GREEN CYAN yerrow FIGA BLUE RED MAGENTA U S Patent Aug 10 2004 Sheet 4 of 5 US 6 774 596 B1 COMMS LINK 23 3
11. a United States Patent Bisset US006774596B1 10 Patent No 45 Date of Patent US 6 774 596 BI Aug 10 2004 54 75 73 21 22 86 87 30 May 28 1999 51 52 58 INDICATOR FOR A ROBOTIC MACHINE Inventor David Lindsey Bisset Wiltshire GB Assignee Dyson Limited Wiltshire GB Notice Subject to any disclaimer the term of this patent is extended or adjusted under 35 U S C 154 b by 0 days 09 959 874 May 22 2000 PCT GB00 01971 Appl No PCT Filed PCT No 371 c 1 2 4 Date Nov 9 2001 PCT Pub No WO00 73867 PCT Pub Date Dec 7 2000 Foreign Application Priority Data GB enera entered 9912472 Aa B25J 9 18 D S CL ia 318 568 11 318 568 12 318 568 2 318 565 Field of Search 318 568 11 568 12 318 658 2 565 568 1 700 245 248 56 References Cited U S PATENT DOCUMENTS 6 042 256 A 3 2000 Gothard 362 558 6 157 143 A 12 2000 Bigio et al 315 307 6 296 367 B1 10 2001 Parsons et al 362 183 6 442 450 B1 8 2002 Inoue etal 700 245 6 488 390 B1 12 2002 Lebens etal 362 231 cited by examiner Primary Examiner Karen Masih 74 Attorney Agent or Firm Morrison amp Foerster LLP 57 ABSTRACT A robotic machine such as a robotic vacuum cleaner is controlled to carry out a task of cleaning a room
12. ch The mood indicator light 35 does not operate in these modes As described the colour of the mood indicator light 35 indicates to the user the state of the interaction between the robot and its environment If the machine becomes blocked in so that it cannot move or if it has come to a stair edge and finds that it cannot safely back away from the edge then the mood light will after some seconds flash red on and off This represents one extreme mood in which the machine is very unhappy After a short period of time e g 10 minutes in this mood the machine will shut down and meanwhile the flashing red light invites user intervention At the other extreme when the machine is running accord ing to the program the mood light will show a continuous green colour As the machine proceeds in cleaning the floor it will approach a wall or object to be navigated and the sensors will detect this The cleaner will turn to the right or to the left in order to continue cleaning and during this US 6 774 596 B1 7 activity the increased sensor activity will change the mood light to a green yellow colour to indicate the change in activity When the turn is complete the mood light will revert to green colour as previously If the cleaner enters a blind alley say between a sofa and a wall with a second wall closing the end having been following the first wall the cleaner mood light will show green initially As the cleaner turns at the end of
13. dered navigable by the user and the cleaner will continue and complete the area as yet not cleaned during the previous attempt Alternatively the cleaner can be reposi tioned at its original staring point the path having been rendered navigable by the user and the whole room cleaned again Referring back to the colour triangle in FIG 4 the mood light will show green by energizing the green LED It will show green yellow by energizing green and to a lesser extent the red LED Any colour can be can as it well known in the art by addition of the three prime colours of the LEDs as shown in the colour triangle What is claimed is 1 A robotic machine comprising a plurality of sensors by which the robotic machine can interact with its environment a controller for controlling the machine to carry out a task using the sensors and an indicator light to indicate a state of interaction between the machine and the environment wherein the controller is configured to change a color of the light according to the state of interaction and wherein the indicator light comprises two or more differently colored light sources which are separately energizable and a device for combining light output by the light sources to give an effect of a single colored light 2 A machine according to claim 1 wherein the light sources are energizable at the same time 3 A machine according to claim 2 wherein the light sources are red green and blue 4 A mac
14. everal independent tasks or activities of the cleaner in the software two examples appropriate to this embodiment being Wander and Wall Follow The various sensors 26 to 32 provide sensor values via a server mecha nism to the software and each software task interrogates the server to establish the sensor values At the lowest level the sensor software drivers handle low level interaction with the hardware to obtain the information provided by the sensors 26 to 32 There is a single driver which can communicate with all the hardware sensors of a single type and two examples are shown in FIG 6 namely all the ultrasonic sensors arm handled by driver US and all the infrared sensors are handed by driver IR The Sensor Server 62 handles requests from the Tasks and obtains data from the drivers and presents it back in a more appropriate form Each Task makes a decision as to what it believes is the appropriate behaviour The Mood Light Server receives the R G B suggestions from the Tasks and a single representative R G B value is calculated and used as the indication on the mood light 35 US 6 774 596 B1 5 The Mood Light Server has knowledge about the relative importance of the Task suggestions and can determine the appropriate R G B value based an this knowledge Looking first at the Wall Follow Task in this embodiment the Task will expect in order to establish Wall Follow behaviour to find a wall on the left hand side of the cleane
15. hine s sensors and its environ ment and thus indicates the mood of the machine Conveniently the indicator light 35 is mounted concentri cally within the light detectors 17 The light detector 17 detects light received from a plurality of compass points around the vacuum cleaner as described in our pending International Patent Application No PCT GB 99 04092 There are various ways in which the cleaner can be programmed In a preferred method the cleaner performs a spiral like coverage of a room The cleaner is programmed so that it firstly completes a traverse around the edge of a room or around a feature or object in the room and then moves inwards or outwards by approximately the width of the cleaner and then completes a second traverse alongside the first It then again moves in or out by a width for a third traverse alongside the second and so on until the room has been cleaned It thus follows a generally spiral like path except for obstacles such as furniture which lie in its path and which it avoids by using its sensors to detect them and drive around them Referring now to FIG 2 of the drawings there are shown the rechargeable battery packs 13 a battery and motor management system 18 a motor 19 for driving a suction fan motors 20 and 21 for driving the left and right hand wheels 11 a motor 22 for driving the brush bar processing circuitry 23 of the navigation and control system a user interface board 26 and the
16. hine according to claim 1 2 or 3 comprising a plurality of light sources of each color 5 A machine according to claim 1 2 or 3 wherein the power of each light source is separately controllable 6 Amachine according to claim 5 wherein the power of each light is controllable by a pulse width modulator in response to a control signal indicative of the required power 10 15 20 25 35 40 45 50 55 60 65 8 7 A machine according to claim 1 2 or 3 wherein the combining device comprises a light diffuser 8 A machine according to claim 7 wherein the light diffuser is a translucent lens 9 A machine according to claim 8 wherein the light sources are grouped beneath a tapering chamber 10 A machine according to claim 9 wherein the chamber tapers inwardly from the light sources 11 A machine according to claim 9 wherein the chamber has a reflective coating 12 A machine according to claim 1 2 or 3 wherein a software architecture is used to input the state of the machine to a processing mechanism which determines the energiza tion of the light sources 13 Amachine according to claim 4 wherein the power of each light source is separately controllable 14 Amachine according to claim 4 wherein the power of each light is controllable by a pulse width modulator in response to a control signal indicative of the required power 15 A machine according to claim 4 wherein the com bining means compr
17. ises a light diffuser 16 A machine according to claim 15 wherein the light diffuser is a translucent lens 17 A machine according to claim 5 wherein the com bining means comprises a light diffuser 18 A machine according to claim 17 wherein the light diffuser is a translucent lens 19 A machine according to claim 10 wherein the cham ber has a reflective coating 20 A machine according to claim 4 wherein a software architecture is used to input the state of the machine to a processing mechanism which determines the energization of the light sources 21 A machine according to claim 5 wherein a software architecture is used to input the state of the machine to a processing mechanism which determines the energization of the light sources 22 A machine according to claim 6 wherein a software architecture is used to input the state of the machine to a processing mechanism which determines the energization of the light sources 23 A machine according to claim 9 wherein a software architecture is used to input the state of the machine to a processing mechanism which determines the energization of the light sources 24 A machine according to claim 12 wherein a software architecture is used to input the state of the machine to a processing mechanism which determines the energization of the light sources 25 Amethod of operating a robotic machine comprising providing a controller a plurality of sensors by means of which
18. it is competent to act in controlling the cleaner and will continue to do so as long as these conditions prevail Motor drive commands are sent to the left and right hand drive motors 20 21 FIG 2 via the motor drive interface MD At the same time the Wander Task sends a yellow signal to the Mood light Server The Mood Light Server signals to the mood light 35 via the communications link to energize the LEDs based on its determination of all inputs to provide a yellow light ie substantially equal power to source R and source G and no power to source B ie R 50 G 50 and B 0 Similarly other software tasks which control the motion of the vacuum cleaner are able to provide R G and B values to the Mood Light Server thus influencing the state of the mood indicator light Each software task is continually signalling so long as it decides it is competent and the decision network passes the preferred signal or the only signal on to the motor driver interface MD In addition to the software tasks there is a monitor system Monitor which also reads the sensor signals The monitor system will check that when drive current is applied to one or both drive motors as sensed by the current sensors an appropriate change of signal occurs at the distance sensors For example if the drive motors are attempting to drive the cleaner forward then it will expect to see the distance from a wall in front of the cleaner decrease using say the infrared
19. mpact it is preferred to mount the device mounted beneath an outwardly tapering chamber 50A which includes a light diffuser 50B on its upper face Referring to the colour triangle in FIG 4 the mood indicator light has the capability of producing any visible colour by energizing the R G and B LED light sources by the correct amount according to the colour triangle It would be possible to have a simpler mood indicator light with for example just two light sources A more limited range of colours would be obtainable in the com bined output Also the light sources need not be primary colours but then the range of colours obtainable from the combined output would be further restricted Referring to FIG 5 of the drawings the processor cir cuitry 23 detects the sensor activity from sensors 27 to 32 and controls the vacuum cleaner and guides it around the room Also the communications link between circuitry 23 and the user interface 25 provides information on the amount of sensor activity The energy provided to the red green ad blue light emitting diodes R G B of the mood light 35 are controlled by pulse width modulation PWM to achieve the colour corresponding to the amalgamated sensor activity as determined by processing circuitry 23 In this embodiment the activity of the vacuum cleaner is broken down in the software into individual tasks based on what is known as a Subsumption Architecture FIG 6 shows this schematically There are s
20. nfused Some users feel uneasy about using modern appliances This is not helped by providing appliances that have a complicated and confusing away of controls and indicator SUMMARY OF THE INVENTION It is an object of the present invention to improve a user s understanding of the state of interaction occurring between a machine and its environment A first aspect of the present invention provides a robotic machine having a plurality of sensors by means of which the robotic machine can interact with its environment a con troller for controlling the machine to carry out a task using the sensors and an indicator light to indicate the state of 10 15 20 25 30 35 40 50 55 60 65 2 interaction between the machine and the environment wherein the controller is arranged to change the colour of the light according to the state of interaction and wherein the indicator light comprises two or more differently coloured light sources which am separately energisable and means for combining the light output of the light sources to give the effect of a single coloured light The light sources can be illuminated alone or in combi nation By providing a single indicator which can take a range of colours operation of the machine is made mom user friendly Rather than looking at a confusing away of indicators the user simply looks at the colour of the single indicator for an indication of the machine s state or
21. nges in drive motor currents which may be regarded as a very demanding scenario FIG 7C 5 a flashing red light if the sensor activity is very high such as abuse or jammed driving wheels or brush bar or the cleaner is stuck in one place and unable to extricate itself FIG 7D It is to be understood that these examples of colour and colour changes can be modified within the scope of the present invention and the particular colours chosen to indi cate particular scenarios and interaction with the environ ment are examples only and not specifically limiting In the extreme case when for example a brush bar becomes jammed or a drive wheel becomes jammed then the associated drive motor will draw a larger current during attempts to drive the brush bar or the drive wheel The current sensors detecting these higher motor currents and rapid changing rents are shown in FIG 6 schematically When the cleaner is searching for a wall using its IR sensors and also during a self test mode the green LEDs will be energized When the cleaner is turning a corner using its ultrasonic sensors both blue and green LEDs will be energized to create an overall green blue colour Mood indicator light 35 only operates in auto run mode i e during automatic operation The cleaner can be used in other modes not further described here but for example when using a hose to clean corner or perimeters which the cleaner on automatic run would not be able to tea
22. r nothing in front and nothing to the right If the Wall Follow Task sees this set of sensor conditions then it decides that it is competent to act in controlling the cleaner As long as those sensor conditions prevail then it will continue to act and appropriate motor drive commands are sent to the left and right hand drive motors 20 and 21 FIG 2 via the motor drive interface MD At the same tune the Wall Follow Task sends a signal to the Mood Light Server The Mood Light Server sends signals to the mood indicator light 35 via the communications link and the user interface 26 to energize the mood light Thus a data packet caries commands and data resting the appropriate power level for each light source R G and B The commands are interpreted by the FPGA in the user interface 25 to turn on the source e g R 0 B 250 G 0 through the pulse width modulator PWM and the green source connection g FIG 3 It should be pointed out that FIG 5 is very schematic for example each source would normally have its own pulse width modulator and the block PWM represents this as would be understood by those skilled in the art The Task named Wander in this embodiment will expect in order to establish Wander behaviour to find no wall on either side or in the front In this embodiment this means the cleaner cannot locate a reference point by means of which it can orientate itself If the Wander Task finds this set of sensor conditions then it decides
23. tion of the cleaner with its surroundings Referring now to FIG 3A in the preferred embodiment the mood indicator light 35 comprises six LED light sources grouped together under a dome 35A which can be formed of a translucent or transparent material such as a plastics 10 15 20 25 30 40 45 50 55 60 65 4 material The LEDs emit light in primary colours red R blue B and green G It is preferred that a pair of each LEDs are provided Each colour pair is energized separately from the other pairs The LEDs are housed beneath a frusto conical chamber 35A having a base 35C supporting the LEDs and a light diffuser 35B supported on top of a frusto conical wall 35D The light diffuser 35B can be achieved by treating the upper surface of the chamber 35A to render it translucent or by a separate diffuse part The light diffuser 35B operates in a way which combines the light output of the LEDs so that the user sees the combined effect of the LEDs rather than their individual outputs The inside wall of the frusto conical wall 35D is reflective which can be achieved by silvering the tapering wall 35D In the alternative arrangement of FIG 3B mood indicator light 50 comprises a single device 50C which includes multiple light sources red green and blue A diffused lens may be provided as part of the device 50C for combining the outputs of the individual light sources As such devices 50C arm usually quite co
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