# US 11,439,058 B2 · System and method for controlling and monitoring operation of an autonomous robot

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- Number: US 11,439,058 B2
- Document ID: US11439058B2
- Status: Granted
- Kind: B2
- Application number: 16/660,204
- Filed: 2019-10-22
- Published: 2020-02-13
- Granted: 2022-09-13
- Earliest claimed: 2009-06-18
- Assignees: Futuregen Technologies Inc.
- Applicants: Michael Todd Letsky
- Inventors: Michael Todd Letsky
- Web page: https://patentgrep.com/patent/US11439058B2

## CPC

- A01D 34/008: {for automated or remotely controlled operation}
- G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00)
- G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)}
- G05D 1/2246: {displaying a map of the environment}
- G05D 1/2297: {positional data taught by the user, e.g. paths (G05D1/2295 takes precedence)}
- G05D 1/248: generated by satellites, e.g. GPS
- A01D 2101/00: Lawn-mowers
- A47L 2201/04: Automatic control of the travelling movement; Automatic obstacle detection
- A47L 2201/06: Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
- G05D 1/0225: {involving docking at a fixed facility, e.g. base station or loading bay (parking aids B62D15/027)}
- G05D 1/0242: {using non-visible light signals, e.g. IR or UV signals}
- G05D 1/0259: {using magnetic or electromagnetic means}
- G05D 1/027: {comprising intertial navigation means, e.g. azimuth detector (inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165)}
- G05D 1/0272: {comprising means for registering the travel distance, e.g. revolutions of wheels (measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00)}
- G05D 1/0278: {using satellite positioning signals, e.g. GPS}
- G05D 1/028: {using a RF signal}
- G05D 2105/15: for harvesting, sowing or mowing in agriculture or forestry
- G05D 2107/23: {Gardens or lawns}
- G05D 2109/10: Land vehicles
- G05D 2111/50: Internal signals, i.e. from sensors located in the vehicle, e.g. from compasses or angular sensors
- A01D: HARVESTING; MOWING
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- A47L: DOMESTIC WASHING OR CLEANING (brushes A46B; cleaning quantities of bottles or of other hollow articles of one kind B08B9/00; laundry D06F); SUCTION CLEANERS IN GENERAL (cleaning in general B08)

## Abstract

A system and method for monitoring and controlling operation of an autonomous robot. In one aspect, the autonomous robot is a lawnmower and the system comprises: an autonomous robot lawnmower comprising a housing, a transceiver, and a central processing unit; an external device in operable communication with the autonomous robot lawnmower, the external device having a transceiver for sending signals to the autonomous robot lawnmower and a display; and wherein in response to user input, the external device is configured to modify settings related to operation of the autonomous robot lawnmower.

## Claims

### Claim 1

A system for controlling operation of an autonomous robot comprising:
an autonomous robot comprising a housing, a plurality of drive wheels, an on board control system, a transceiver, and a central processing unit; the control system measuring a distance traveled and a direction of travel of the autonomous robot, a memory device, and a central processing unit; and
an external device in operable communication with the autonomous robot, the external device having a transceiver for sending signals to the autonomous robot, wherein in response to user input, the external device is configured to control movement of the autonomous robot; and
the central processing unit is configured to track two or more locations of the autonomous robot based on the measured distance traveled and the measured direction of travel as determined by the control system during user controlled movement of the autonomous robot around the perimeter of an area of confinement using the external device; wherein the perimeter of the area of confinement is not marked by a physical barrier, and recording the tracked locations of the autonomous robot as a map within the memory device.

### Claim 2 (depends on 1)

The system of claim 1 wherein the external device is a smart phone, a tablet, or a personal computer.

### Claim 3 (depends on 1)

The system of claim 1 wherein the autonomous robot further comprises a battery operably coupled to the central processing unit, and further comprising a docking station for charging the battery of the autonomous robot, and wherein upon a power level of the battery of the autonomous robot being below a predetermined lower threshold, the autonomous robot automatically maneuvering to the docking station for charging.

### Claim 4 (depends on 1)

The system of claim 1 wherein the autonomous robot further comprises a power source and a charging sensor operably coupled to the central processing unit for detecting a power level of the power source, and wherein, during operation of the autonomous robot to complete a work session, the central processing unit is configured to direct the autonomous robot to a charging station for recharging upon detecting that the power level is below a predetermined threshold.

### Claim 5 (depends on 4)

The system of claim 4, wherein upon the power source being recharged, the central processing unit is configured to direct the autonomous robot to continue the work session from a location at which it was operating just prior to being directed to the charging station.

### Claim 6

A system for monitoring operation of an autonomous robot comprising:
a server;
an external device having a display and a transceiver for receiving data from the server;
an autonomous robot comprising a housing, a control system comprising a location tracking unit, a transceiver for transmitting signals to the server, and a central processing unit;
the central processing unit configured to track two or more locations of the autonomous robot during user controlled movement around the perimeter of an area of confinement using the external device as a function of the measured distance travelled and a measured direction of travel; wherein the perimeter of the area of confinement is not marked by a physical barrier and recording the tracked locations of the autonomous robot as a map within a memory device.

### Claim 7 (depends on 6)

The system of claim 6, wherein the central processing unit transmits, via the transceiver of the autonomous robot, data indicative of a location of the autonomous robot within the area of confinement to the server based on output generated by the location tracking unit, wherein the data is transmitted while the autonomous robot is performing a task within the area of confinement;
the server configured to transmit the data indicative of the location of the autonomous robot within the area of confinement to the external device;
wherein upon receipt of the data indicative of the location of the autonomous robot within the area of confinement by the external device, a visual representation of a status of a work session of the autonomous robot at a point in time T1 and a graphical representation of the boundary and a portion of an area within the boundary in which an activity has been performed by the autonomous robot during a work session is displayed on the display of the external device.

### Claim 8 (depends on 7)

The system of claim 7, wherein the status of the work session comprises: (1) an indication of a current location of the autonomous robot within the area of confinement at the point in time T1 during the work session; (2) an indication of first portions of the area of confinement on which the task has been completed by the autonomous robot at the point in time T1 during the work session; and (3) an indication of second portions of the area of confinement on which the task has not yet been completed by the autonomous robot at the point in time T1 during the work session.

### Claim 9 (depends on 8)

The system of claim 8, wherein the indication of the first portions of the area of confinement on which the task has been completed at the point in time T1 during the work session and the indication of the second portions of the area of confinement on which the task has not yet been completed at the point in time T1 during the work session are displayed in a contrasting manner on the display of the external device.

### Claim 10 (depends on 6)

The system of claim 6, wherein the server maintains a real-time log of the work session and wherein the data indicative of the location of the autonomous robot within the area of confinement is transmitted from the server to the external device at predetermined time intervals during the work session.

### Claim 11

An autonomous robot comprising:
a housing; a plurality of drive wheels mounted on the housing; an on board control system, a transceiver, and a central processing unit; a memory device; and a central processing unit; and
the central processing unit being configured to: (1) track location of the autonomous robot based on output generated by the location tracking unit during movement of the autonomous robot as a function of a measured distance travelled and a measured direction travelled; (2) record a first location point of the autonomous robot within the memory device; and (3) automatically record a plurality of additional discrete location points of the autonomous robot with in the memory device while the autonomous robot maneuvers along a perimeter of an area of confinement, the first location point in the plurality of additional discrete location points defining at least a portion of a perimeter of the area of confinement within the memory device.

### Claim 12

A system for controlling operation of an autonomous robot comprising:
an autonomous robot comprising a housing, a transceiver, and a central processing unit;
a memory storing a user defined area of confinement, the autonomous robot operating within a boundary, the boundary defining the area of confinement;
an external device in operable communication with the autonomous robot, the external device having a transceiver for sending signals to the autonomous robot and a display;
wherein in response to user input, the external device is configured to modify settings related to operation of the autonomous robot and send the settings to the autonomous robot as the signals;
wherein the modifications in the settings related to operation of the autonomous robot modify the area of confinement for the autonomous robot.

### Claim 13 (depends on 12)

The system of claim 12, wherein the external device is one of a smart phone, a tablet, and a personal computer.

### Claim 14 (depends on 12)

The system of claim 12, wherein the autonomous robot further comprises a battery operably coupled to the central processing unit, and further comprising a docking station for charging the battery of the autonomous robot, and wherein upon a power level of the battery of the autonomous robot being below a predetermined lower threshold, the autonomous robot automatically maneuvering to the docking station for charging.

### Claim 15 (depends on 12)

The system of claim 12, wherein the autonomous robot further comprises a power source and a charging sensor operably coupled to the central processing unit for detecting a power level of the power source, and wherein, during operation of the autonomous robot to complete a work session, the central processing unit is configured to direct the autonomous robot to a charging station for recharging upon detecting that the power level is below a predetermined threshold.

### Claim 16 (depends on 15)

The system of claim 15, wherein upon the power source being recharged, the central processing unit is configured to direct the autonomous robot to continue the work session from a location at which it was operating just prior to being directed to the charging station.

### Claim 17 (depends on 12)

The system of claim 12, further comprising a server operably coupled to the central processing unit, the server configured to transmit a weather forecast to the central processing unit, the central processing unit configured to determine whether to initiate operation of the autonomous robot based on the weather forecast.

### Claim 18 (depends on 12)

The system of claim 12, wherein in response to user input, the external device is configured to control movement of the autonomous robot.