# US 9,437,097 B2 · Systems and methods for using robots to monitor environmental conditions in an environment > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,437,097 B2 - Document ID: US9437097B2 - Status: Granted - Kind: B2 - Application number: 14/455,896 - Filed: 2014-08-09 - Published: 2014-11-27 - Granted: 2016-09-06 - Earliest claimed: 2012-02-09 - Assignees: Google Inc. - Applicants: Google Inc. - Inventors: Arshan Poursohi; Ryan Hickman - Web page: https://patentgrep.com/patent/US9437097B2 ## CPC - G08B 21/182: {Level alarms, e.g. alarms responsive to variables exceeding a threshold} - B25J 9/161: {Hardware, e.g. neural networks, fuzzy logic, interfaces, processor} - B25J 9/1671: {characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems} - G01N 33/00: Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00 - G05B 15/02: electric - G06N 3/008: based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour - G05B 2219/2642: Domotique, domestic, home control, automation, smart house - G05B 2219/39168: Multiple robots searching an object - G08B 13/00: Burglar, theft or intruder alarms - G08B 17/00: Fire alarms; Alarms responsive to explosion - G08B 21/12: responsive to undesired emission of substances, e.g. pollution alarms - G08B: SIGNALLING SYSTEMS, e.g. PERSONAL CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G01N: INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES (measuring or testing apparatus or processes other than immunoassay, involving enzymes or microorganisms C12M, C12Q) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS ## Abstract Methods and devices are disclosed for monitoring environmental conditions in one or more environments. In one embodiment, the method includes maintaining a plurality of environmental-condition thresholds, each of which corresponds to an environmental condition and is predetermined based on data corresponding to the environmental condition that is received from a plurality of robots. The method further includes receiving from a first robot first data corresponding to a first environmental condition in a first environment. The method may still further include making a first comparison of the first data and a first environmental-condition threshold corresponding to the first environmental condition and, based on the first comparison, triggering a notification. Triggering the notification may comprise transmitting to the robot instructions to transmit the notification to at least one of a call center and a remote device. ## Claims ### Claim 1 A method comprising: maintaining, by a cloud server, an environmental-condition threshold that corresponds to an environmental condition and is determined based on data corresponding to the environmental condition that is received via a network interface of the cloud server from a plurality of robots, wherein the received data is indicative of measured levels of the environmental condition in respective environments of the plurality of robots; receiving, via the network interface and from a first robot, first data corresponding to the environmental condition in a first environment of the first robot; making, by the cloud server, a first comparison of the first data and the environmental-condition threshold; and based on the first comparison, triggering a notification. ### Claim 2 (depends on 1) The method of claim 1, wherein the environmental-condition threshold comprises a running mean of the data corresponding to the environmental condition and received from the plurality of robots. ### Claim 3 (depends on 1) The method of claim 1, wherein triggering the notification comprises causing the first robot to transmit the notification. ### Claim 4 (depends on 1) The method of claim 1, further comprising transmitting the notification to at least one of an emergency call center and a remote device. ### Claim 5 (depends on 1) The method of claim 1, further comprising: receiving from a second robot second data corresponding to the environmental condition in a second environment; and making a second comparison of the second data and the environmental-condition threshold, wherein triggering the notification further comprises triggering the notification based on the first comparison and the second comparison. ### Claim 6 (depends on 1) The method of claim 1, wherein triggering the notification based on the first comparison comprises triggering the notification based on the first comparison being indicative that the environmental condition is at an unacceptable level. ### Claim 7 A cloud server, comprising: a network interface; at least one processor; and data storage comprising instructions executable by the at least one processor to: maintain an environmental-condition threshold that corresponds to an environmental condition and is determined based on data corresponding to the environmental condition that is received via the network interface from a plurality of robots, wherein the received data is indicative of measured levels of the environmental condition in environments of the plurality of robots; receive from a first robot first data corresponding to the environmental condition in a first environment of the first robot; make a first comparison of the first data and the environmental-condition threshold; and based on the first comparison, trigger a notification. ### Claim 8 (depends on 7) The cloud server of claim 7, wherein the environmental-condition threshold comprises a running mean of the data corresponding to the environmental condition and received from the plurality of robots. ### Claim 9 (depends on 7) The cloud server of claim 7, wherein triggering the notification comprises causing the first robot to transmit the notification. ### Claim 10 (depends on 7) The cloud server of claim 7, further comprising instructions executable by the at least one processor to transmit the notification to at least one of an emergency call center and a remote device. ### Claim 11 (depends on 7) The cloud server of claim 7, further comprising instructions executable by the at least one processor to: receive from a second robot second data corresponding to the environmental condition in a second environment; and make a second comparison of the second data and the environmental-condition threshold, wherein triggering the notification further comprises triggering the notification based on the first comparison and the second comparison. ### Claim 12 A method comprising: receiving, via a network interface of a robot and from a cloud server, an indication of an environmental-condition threshold that corresponds to an environmental condition and is determined based on data corresponding to the environmental condition that is received by the cloud server from a plurality of robots, wherein the received data is indicative of measured levels of the environmental condition in environments of the plurality of robots; obtaining, by the robot, first data corresponding to the environmental condition in a first environment of the robot; making, by the robot, a first comparison of the first data and the environmental-condition threshold; and based on the first comparison, triggering a notification. ### Claim 13 (depends on 12) The method of claim 12, further comprising transmitting to the cloud server a request for the environmental-condition threshold. ### Claim 14 (depends on 12) The method of claim 12, wherein obtaining the first data corresponding to the environmental condition in the first environment of the robot comprises collecting first data corresponding to the environmental condition in the first environment using at least one on-board sensor of the robot. ### Claim 15 (depends on 14) The method of claim 14, wherein the at least one on-board sensor is selected from the group consisting of: a gyroscope, an accelerometer, a compass, a Global Positioning System (GPS) receiver, a light sensor, an infrared sensor, an optical sensor, a biosensor, a radio sensor, a Radio Frequency identification (RFID) system, a wireless sensor, a camera, a light sensor, a motion sensor, a range sensor, a microphone or other audio sensor, a speaker, a radar, a capacitive sensor, a touch sensor, a smoke sensor, a carbon monoxide sensor, a natural gas sensor, a pyro sensor, a heat sensor, a water sensor, and a biometric sensor. ### Claim 16 (depends on 12) The method of claim 12, wherein obtaining the first data corresponding to the environmental condition in the first environment of the robot comprises obtaining first data corresponding to the environmental in the first environment using at least one remote sensor interface coupled to at least one remote sensor. ### Claim 17 (depends on 16) The method of claim 16, wherein the at least one remote sensor is selected form the group consisting of: a light sensor, an infrared sensor, an optical sensor, a biosensor, a radio sensor, a Radio Frequency identification (RFID) system, a wireless sensor, a camera, a light sensor, a motion sensor, a range sensor, a microphone or other audio sensor, a speaker, a radar, a capacitive sensor, a touch sensor, a smoke sensor, a carbon monoxide sensor, a natural gas sensor, a pyro sensor, a heat sensor, a water sensor, a biometric sensor, an appliance, a washing machine, a dryer, a refrigerator, an oven, a stove, a toaster, a coffee maker, a furnace, an air conditioning unit, a heating unit, a television, a computer, a fire alarm, and a security system. ### Claim 18 (depends on 16) The method of claim 16, further comprising verifying the first data using at least one on-board sensor of the robotic device prior to transmitting the notification. ### Claim 19 (depends on 12) The method of claim 12, further comprising transmitting the notification to at least one of an emergency call center and a remote device. ### Claim 20 (depends on 12) The method of claim 12, wherein triggering the notification based on the first comparison comprises triggering the notification based on the first comparison being indicative that the environmental condition is at an unacceptable level.