Method for controlling a self-regulating robot and non-transitory computer-readable medium storing instructions therefor

Abstract

Through the mobile application, the user changes the cleaning parameters, scheduling, or cleaning status of the autonomous cleaning robot. An autonomous cleaning robot includes a drive configured to move the cleaning robot across floor surfaces in an area to be cleaned, and a controller configured to receive data representing an editable mission itinerary including data representing a sequence of rooms to be cleaned, navigate the cleaning robot to clean the rooms according to the sequence, track operational events occurring in each of the rooms, and transmit data about the time spent navigating each room included in the sequence.

Description

Technical Field

[0001] This specification generally relates to a scheduling and control system for an autonomous cleaning robot. One exemplary system described herein is a task schedule for scheduling and controlling a mobile cleaning robot.

Background Art

[0002] A cleaning robot includes a mobile robot that autonomously performs cleaning operations within an environment, such as a home. Many types of cleaning robots are autonomous to some extent and in different ways. The cleaning robot is equipped with a control device configured to autonomously navigate the cleaning robot with respect to the environment so that it can pick up debris when moving.

Summary of the Invention

Means for Solving the Problems

[0003] An autonomous cleaning robot can be controlled directly by a user (e.g., by pressing a button on the robot) or remotely (e.g., via a mobile application). The mobile application can monitor the state of the autonomous cleaning robot when the robot is performing a cleaning task and can be used to make changes to the cleaning task when it is being executed. The mobile application may include a task schedule that displays the status and schedule of the cleaning task. The mobile application may also include a map so that the user can visualize the position of the robot, which rooms have been cleaned, and which rooms are scheduled to be cleaned during the cleaning task.

[0004] The user can change the cleaning parameters, scheduling, or cleaning status of the autonomous cleaning robot through the mobile application. When the autonomous cleaning robot performs a cleaning task, the operating events and status of the robot may be displayed, allowing the user to continuously monitor the cleaning task and, if desired, change the cleaning task.

[0005] Described herein are examples of robots configured to traverse a floor surface and perform various operations including, but not limited to, cleaning. In one aspect, an autonomous cleaning robot includes a drive unit configured to move the cleaning robot across the floor surface in an area to be cleaned, and a control device. The control device receives data representing an editable task schedule that includes data representing a sequence of rooms to be cleaned, navigates the cleaning robot to clean the rooms according to the sequence, tracks the operating events occurring in each of the rooms to be cleaned, and is configured to transmit data about the time spent navigating each of the navigated rooms included in the sequence.

[0006] In some implementations, the control device is configured to track the time for each room included in the sequence to complete cleaning and, when the cleaning of each room is complete, transmit that time for display.

[0007] In some implementations, the data representing the sequence of rooms to be cleaned includes instructions for at least a first room to be cleaned and a second room to be cleaned, and the control device is configured to clean the first room to be cleaned, transmit data about the time spent cleaning the first room, clean the second room to be cleaned, and transmit data about the time spent cleaning the second room.

[0008] In some implementations, the control device is configured to receive a reordered sequence of rooms to be cleaned during the cleaning operation.

[0009] In some embodiments, after receiving the sequence of rooms to be cleaned, the control device receives an instruction to cancel cleaning of the rooms within the sequence of rooms to be cleaned, and is configured to clean the rooms within the sequence except for the canceled rooms.

[0010] In some embodiments, the control device is configured to transmit data representing the tracked operation events for remote display in a graphical representation of an editable task schedule.

[0011] In some embodiments, the control device is configured to transmit data representing the tracked operation events for presentation in a graphical representation of a map.

[0012] In some embodiments, tracking the operation events includes tracking where the cleaning robot performed additional cleaning in response to dust detection.

[0013] In some embodiments, tracking the operation events includes detecting completion of room cleaning.

[0014] In some embodiments, the operation event is an event of emptying the container, and the control device is further configured to calculate the time elapsed to handle the event of emptying the container and start transmitting data indicating the elapsed time.

[0015] In some embodiments, the operation event is an event of emptying the container, and the control device is further configured to start transmitting data indicating the operation event for presentation on a graphical representation of an editable task schedule.

[0016] In some embodiments, the control device is configured to receive data indicating a set of cleaning parameters used in a room, the set of cleaning parameters including at least one of a vacuum force, an edge cleaning setting, a multi-path setting, and a wet or dry mop cleaning parameter.

[0017] In some implementations, the control device determines the charge level of the robot's battery, transmits data representing the charge level, and is configured to receive a charge command that includes the charge period required to charge the battery to complete cleaning the rooms in the sequence by the cleaning robot.

[0018] In some implementations, the control device is configured to navigate the cleaning robot to the charging station based on the charge period and transmit data indicating the elapsed charging time for display.

[0019] In another aspect, a portable computer device includes one or more input devices, a display device, and a processor. The processor is configured to initiate data transmission and reception with an autonomous cleaning robot and present a first graphical display of an editable task schedule. The editable task schedule includes the arrangement of a plurality of icons each representing a room to be cleaned by the autonomous cleaning robot to represent the sequence of rooms to be cleaned, and for each icon of the plurality of icons, a corresponding display for reflecting the time spent cleaning each respective room. At least one of the plurality of icons is operable by a user using one or more input devices to adjust the sequence of rooms to be cleaned.

[0020] In some implementations, only the icons representing the remaining rooms scheduled to be cleaned are operable by the user.

[0021] In some implementations, the processor is further configured to present a graphical display of a map indicating the rooms that have been cleaned and the rooms to be cleaned.

[0022] In some implementations, one or more events detected by the autonomous cleaning robot are presented on the graphical display of the map.

[0023] In some implementations, the events detected by the autonomous cleaning robot include the event that the robot detected excessive dust and performed additional cleaning.

[0024] In some implementations, the events detected by the autonomous cleaning robot include an event indicating that the robot has completed cleaning a room.

[0025] In some implementations, a graphical representation of the events detected by the autonomous cleaning robot is inserted into a graphical representation of an editable task schedule.

[0026] In some implementations, the processor is configured to present a first graphical representation of an editable task schedule for the autonomous cleaning robot and a second graphical representation of an editable task schedule for another autonomous cleaning robot.

[0027] In some implementations, the processor is configured to initiate transmission of data representing the sequence of rooms to be cleaned to the robot during a cleaning task.

[0028] In some implementations, the processor begins receiving from the robot data representing the elapsed time spent cleaning at least one room and is configured to present the elapsed time in a first graphical representation of an editable task schedule.

[0029] In some implementations, the processor begins receiving from the autonomous cleaning robot data indicating that the autonomous cleaning robot has completed cleaning a room and is configured to change the appearance of an icon corresponding to the cleaned room in a first graphical representation of an editable task schedule.

[0030] In some implementations, changing the appearance of the icon includes changing the color, shape, size, or position of the icon.

[0031] In some implementations, the processor determines a region of interest from one or more images captured by a portable computing device and is configured to transmit to the robot data representing a cleaning command for the region of interest.

[0032] In some implementations, icons operable by a user can be dragged and dropped within an editable task schedule.

[0033] In some implementations, the processor is further configured to initiate transmission of data representing the revised order of the icons in the editable task schedule.

[0034] In some implementations, an icon operable by a user can be clicked and removed from the editable task schedule.

[0035] In some implementations, an icon corresponding to a cleaned room is fixed in the editable task schedule.

[0036] The advantages of the foregoing may include, but are not limited to, the advantages described below and elsewhere in this specification. The task schedule can display to the user the estimated remaining cleaning time. The task schedule can allow the user to remotely manipulate the order in which rooms are cleaned by the autonomous cleaning robot. The user can delete, reorder, or add to the cleaning schedule of the cleaning robot in the task schedule. For example, if a user has guests in their home and needs to clean the kitchen, living room, and toilet before the guests arrive, the user can reorder the cleaning schedule and / or delete rooms other than these rooms so that the cleaning of these rooms is completed on time.

[0037] Furthermore, the task schedule can allow the user to select cleaning parameters for individual rooms and can provide an interface for monitoring action events that occur during cleaning, such as detecting dust. The user interface also includes a map for displaying the cleaned rooms and the locations of the action events.

[0038] The robots and technologies described in this specification, or parts thereof, can be controlled by a computer program product stored in one or more non-transitory machine-readable storage media and including instructions executable in one or more processing devices to control (e.g., associate) the operations described herein. The robots described herein, or parts thereof, can be implemented as all or part of a device or electronic system that includes one or more processing devices and a memory for storing executable instructions for performing various operations.

[0039] One or more embodiments are specified in the accompanying drawings and the following description. Other features and advantages will be apparent from the description and drawings, and from the claims.

Brief Description of the Drawings

[0040]

Figure 1

Figure 2

Figure 3

Figure 4A

Figure 4B

Figure 4C

Figure 4D

Figure 4E

Figure 4F

Figure 4G

Figure 4H

Figure 5

Figure 6A

Figure 6B

Figure 7A

Figure 7B

DETAILED DESCRIPTION OF THE INVENTION

[0041] The self - cleaning robot can be controlled directly by the user (e.g., by pressing a button on the robot) or remotely (e.g., via a mobile application). The mobile application can be used to change the cleaning parameters, scheduling, or cleaning status of the self - cleaning robot. The mobile application may include an editable task schedule that displays the selection and order of the rooms to be cleaned, along with an estimate of the time to complete the cleaning in each room. Based on the displayed order and time estimate, the user can change the order or selection of the rooms or the cleaning parameters for cleaning each room. When the self - cleaning robot receives information from the mobile device and executes the cleaning tasks aggregated in the schedule, the operating events and status of the robot may be sent from the robot so that the user can continue to monitor the cleaning tasks and, if desired, be presented with the option to change the cleaning tasks.

[0042] Referring to FIG. 1, a self - cleaning robot 102 is positioned on a floor surface 104 within a room 106. The self - cleaning robot 102 is configured to communicate with a portable computer device 120. In some cases, the portable computer device 120 can be, for example, a smartphone, a tablet, a smartwatch, a laptop computer, etc. The portable computer device 120 includes a processor 114 that is configured to initiate data transmission and data reception with the self - cleaning robot 102 (either directly or via the Internet) and to present a graphical display of an editable task schedule. The editable task schedule is a graphical display operable by the user that shows the sequence of rooms to be cleaned. The schedule optionally includes an estimate of the associated time for cleaning each space.

[0043] The self - propelled cleaning robot 102 comprises a control device configured to receive data representing an editable task schedule, navigate the self - propelled cleaning robot 102 across the floor surface 104, and clean rooms according to the sequence of the task schedule. For example, the self - propelled cleaning robot 102 comprises a vacuum assembly 108 and utilizes suction to pick up debris 116 when the self - propelled cleaning robot 102 traverses the floor surface 104. In some implementations, the self - propelled cleaning robot 102 can be a mop cleaning robot that may comprise a cleaning pad for wiping or scrubbing the floor surface 104. In some implementations, it may be desirable to have a single interface that can be used to coordinate the activities of multiple robots, and two or more self - propelled cleaning robots can communicate with the portable computer device 120.

[0044] Referring to FIG. 2, the robot 102 comprises a body 200 that is movable across the floor surface 104 and is powered by a battery. As shown in FIG. 2, in some implementations, the body 200 comprises a front portion 202a having a substantially rectangular shape and a rear portion 202b having a substantially semi - circular shape. The front portion 202a comprises, for example, two lateral sides 204a, 204b that are substantially perpendicular to the front side 206 of the front portion 202a.

[0045] The robot 102 comprises a drive system that includes actuators 208a, 208b mounted on the body 200 and operably coupled to drive wheels 210a, 210b, and the drive wheels 210a, 210b are rotatably mounted on the body 200. The robot 102 comprises a control device 212 for operating the actuators 208a, 208b to autonomously navigate the robot 102 with respect to the floor surface 104 during the cleaning operation. In some implementations, the robot 102 comprises caster wheels 211 that support the body 200 (e.g., the rear portion 202b of the body 200) above the floor surface 104, and the drive wheels 210a, 210b support the front portion 202a of the body 200 above the floor surface 104.

[0046] The vacuum assembly 108 is carried within the main body 200 of the robot 102, for example, at the rear portion 202b of the main body 200. The control device 212 operates the vacuum assembly 108 so as to generate an air flow 110 and allow the robot 102 to take in debris 116 during the cleaning operation. The air flow 110 generated by the vacuum assembly 108 is exhausted through the vent 213 at the rear portion 202b or through a conduit connected to the cleaning head of the robot 102. The cleaning head includes, for example, one or more rollers (e.g., brushes or flexible rubber rollers) that engage the floor surface 104 and sweep debris 116 into the cleaning container 100. The air flow 110 exhausted to the cleaning head can further improve the pickup of debris from the floor surface 104 by increasing the amount of the air flow closest to the cleaning head to stir up the debris 116 on the floor surface 104.

[0047] In some cases, the cleaning robot 102 is a self - contained robot that autonomously moves across the floor surface 104 to take in debris. The cleaning robot 102 carries, for example, a battery to power the vacuum assembly 108. In the example depicted in FIGS. 1 and 2, the cleaning head of the robot 102 includes a first roller 212a and a second roller 212b. The rollers 212a, 212b include, for example, brushes or flaps that engage the floor surface 104 to collect debris 116 on the floor surface 104. The rollers 212a, 212b rotate in opposite directions relative to each other, for example, one roller rotates counter - clockwise and the other rotates clockwise, to cooperate in moving the debris 116 towards the plenum 112. The plenum 112 further guides the air flow 110 containing the debris 116 into the cleaning container 100. As described herein, the debris 116 accumulates within the cleaning container 100 during the progression of the air flow 110 towards the vacuum assembly 108 through the cleaning container 100.

[0048] In some implementations, to sweep debris 116 towards rollers 212a, 212b, robot 102 includes a brush 214 that rotates about a non-horizontal axis, such as an axis that forms an angle between 75 degrees and 90 degrees with the floor surface 104. The brush 214 extends beyond the outer perimeter of the body 200 so that it can engage debris 116 on portions of the floor surface 104 that the rollers 212a, 212b typically cannot reach. Specifically, the brush 214 can engage debris 116 near the walls of the environment and can brush the debris 116 towards the rollers 212a, 212b to facilitate the intake of the debris 116 by the robot 102.

[0049] The user can directly control the robot by pressing a button on the robot or can remotely control the robot via a mobile application on a mobile device. Through the mobile application, the user can modify when and where the robot sweeps. In response to a signal from the mobile device, the autonomous cleaning robot 102 navigates to the home to perform the cleaning action, during which it monitors its own state and transmits status data to the mobile device.

[0050] FIG. 3 is a flowchart depicting a process of exchanging information among an autonomous mobile robot, a cloud computer system, and a mobile device. The cleaning task can be started by pressing a button on the robot 708 or can be scheduled for a future time or date. The user can select a set of rooms to be cleaned during the cleaning task or can instruct the robot to clean all rooms. The user can also select a set of cleaning parameters to be used in each room during the cleaning task.

[0051] During a cleaning task, the autonomous cleaning robot 708 tracks its state (710), including its location, any motion events that occur during cleaning, and the time spent cleaning. The autonomous cleaning robot 708 transmits state data (e.g., one or more of location data, motion event data, time data) to the cloud computer system 706 (712), and the cloud computer system 706 calculates a time estimate for the area being cleaned by a processor 742 (714). For example, the time estimate can be calculated for cleaning room 106 by averaging the actual cleaning times for that room collected during multiple (e.g., two or more) previous cleaning tasks for the room. The cloud computer system 706 transmits the time estimate data, along with the robot state data, to the mobile device 704 (716). The mobile device 704 presents the robot state data and the time estimate data on a display device by a processor 744 (718). The robot state data and the time estimate data may be presented on the display device of the mobile device as any of several graphical displays, an editable task schedule, and / or a mapping interface (presentations such as those shown in FIGS. 4A-4H, 5, and 6A-6B).

[0052] User 702 can view (720) the robot status data and time estimate data on the display device, input new cleaning parameters (722), or manipulate the order or identification of the rooms to be cleaned. User 702 can, for example, delete a room from the cleaning schedule of robot 708. In another instruction, user 702 can, for example, select an edge cleaning mode or a thorough cleaning mode for a room to be cleaned. The display device of mobile device 704 is updated (724) when the user enters a change to the cleaning parameters or the cleaning schedule. For example, if the user changes the cleaning parameters from single-pass cleaning to double-pass cleaning, the system will update the estimated time in order to provide an estimate based on the new parameters. In this example of single-pass cleaning and double-pass cleaning, the estimate will be approximately doubled. In another example, the user removes a room from the cleaning schedule and the overall time estimate is shortened by approximately the time required to clean the removed room. Based on the input from user 702, cloud computer system 706 calculates (726) a time estimate for the area to be cleaned, and that time estimate is then sent (728) back to mobile device 704 (e.g., by wireless transmission, by applying a protocol, by broadcasting the wireless transmission) and displayed. Also, data regarding the calculated (726) time estimate is sent (746) to the control device 730 of the robot. Based on the input from user 702 received by control device 730 of robot 708, control device 730 generates a command signal (732). The command signal causes robot 708 to execute an action that can be a cleaning action (734). When the cleaning action is executed, the control device tracks the status of the robot, including the location of the robot, any action events that occur during the cleaning, and the time spent cleaning (710). In some examples, live updates regarding the status of the robot can additionally be provided to the mobile device or a home electronic system (e.g., an interactive speaker system) via push communication.

[0053] When the behavior is executed (734), the control device 730 checks (736) to determine whether the received command signal includes a command to complete the cleaning task. If the command signal includes a command to complete the cleaning task, the robot is commanded to return to its dock, and upon returning, it can send information to cause the cloud computer system 706 to generate a task summary (738), and the task summary is sent to the mobile device 704 and displayed by the mobile device 704 (740). The task summary may include a schedule and / or a map. The schedule can display the rooms cleaned, the time spent cleaning each room, the motion events tracked in each room, etc. The map can display the rooms cleaned, the motion events tracked in each room, the type of cleaning performed in each room (e.g., sweeping or mopping), etc.

[0054] The operations for process 700 and other processes described herein may be executed in an assigned manner. For example, the cloud computer system 706, the mobile robot 708, and the mobile device 704 can cooperate with each other to execute one or more of the operations. Operations described as being executed by one of the cloud computer system 706, the mobile robot 708, and the mobile device 704 are, in some implementations, at least partially executed by two or all of the cloud computer system 706, the mobile robot 708, and the mobile device 704.

[0055] FIG. 4A to FIG. 4H are screenshots of an embodiment of a user interface for controlling an autonomous cleaning robot including an editable schedule. Referring to FIG. 4A, the user interface 300a includes a status indicator 302 and a cleaning mode indicator 304. The status indicator 302 indicates the current state of the autonomous cleaning robot 102. The cleaning mode indicator 304 can indicate the overall cleaning mode used during the cleaning task. The cleaning mode can be, for example, a standard cleaning mode, a thorough cleaning mode, a shortened cleaning mode, etc. The user interface 300a also includes a cleaning button 306 that the user can select to start a cleaning task for the autonomous cleaning robot 102.

[0056] Referring to FIG. 4B, the user interface 300b displays a status indicator 302, a pause button 308, and an editable task schedule 310 during the cleaning task. During the cleaning task, the status indicator 302 includes the current location of the autonomous cleaning robot 102, the elapsed time, and the remaining estimated time in the cleaning task. The robot sends information about the current cleaning time and location. This information is used to generate the information included in the status indicator. The elapsed time and the remaining time are displayed in the status indicator. The elapsed time and the remaining time in the status indicator are associated with the complete cleaning task (e.g., how long the robot has cleaned in total for the task and how long is expected to clean all the remaining areas in the schedule). The pause button 308 allows the user to pause the cleaning session. The editable task schedule 310 includes room icons 312, room labels 314, estimated room cleaning times 315, and elapsed cleaning times 316. When the autonomous cleaning robot 102 cleans a room, the user interface 300b displays the elapsed cleaning time 316 for that room adjacent to the room label 314. The estimated room cleaning time 315 is displayed in the editable task schedule 310 to guide the user about the approximate time to clean the corresponding room. The time estimate 315 can be based on, for example, data received from the robot from previous cleaning tasks, input of the approximate area of the space to be cleaned, test runs for all rooms for the purpose of calculating the time estimate, etc. Based on these time estimates 315, the user can find it desirable to reorder the rooms or remove them from the cleaning schedule represented by the editable task schedule 310.

[0057] When cleaning is completed in one space and cleaning is started in another space, the robot sends information about the time and the new location to the cloud computer system, and the cloud computer system sends the information to the mobile device to update the displayed schedule. For example, the data can cause the mobile device to update the schedule to highlight the current space and provide the total time spent cleaning the previous space, replacing the estimate provided earlier.

[0058] Icon 312 is operable by a user (e.g., by drag and drop) using an input device such as the touch screen of a portable computer device 120 on which the user interface 300b is displayed. In this way, the user can easily reorder or remove rooms from the cleaning schedule while the autonomous cleaning robot 102 is cleaning. When the user reorders or removes a room or space from the schedule, information is sent to the robot to adjust the robot's schedule to remove or reorder the cleaning operation. In some implementations, icon 312 can be made selectable by the user, allowing the user to select one or more cleaning parameters for the corresponding room. Cleaning parameters can include, for example, vacuum force level, single vs. multiple path settings, edge cleaning settings, wet vs. dry cleaning settings, and the like. When the user selects a new cleaning parameter or changes an existing cleaning parameter, information is sent to the robot to adjust the robot's cleaning parameters to add or change the cleaning parameters for at least a portion of the cleaning task.

[0059] Referring to FIG. 4C, the user interface 300c shows an editable task schedule 310 in which an icon 312b representing the dining room has been deleted by the user. For example, the user can select an "X" icon to remove the room. Upon selection, the mobile device sends information to the cloud computer system, and the cloud computer system calculates a new total time until completion. The cloud computer system sends the updated time to the mobile device to cause it to present the new schedule on the display device. The cloud computer system also sends information to adjust the cleaning route of the robot so that it skips the dining room, and the robot receives the information. The estimated remaining time displayed in the status indicator 302 is updated to reflect the deletion of the estimated cleaning time for the dining room. For example, removing the dining room icon 312b from the editable task schedule 310 shortens the overall cleaning estimate by 45 minutes. The user can delete the room icon 312 from the editable task schedule 310 to shorten the overall cleaning time or to focus on the cleaning task in a particular room. This may be desirable if the user has a deadline for cleaning, for example, when guests are coming or when they want to complete the cleaning task with only one charge of the battery of the cleaning robot 102.

[0060] Referring to FIG. 4D, the user interface 300d shows an editable task schedule 310 in which icons 312c and 312d corresponding to the closet and the toilet respectively have been reordered compared to the order shown in FIG. 4C. When such information is sent from the mobile device and received by the robot, the control device 212 of the autonomous cleaning robot 102 will instruct the autonomous cleaning robot 102 to clean the toilet before cleaning the closet.

[0061] Referring to FIG. 4E, the user interface 300e shows an icon 312e corresponding to an operation event that is here a container discharge event (e.g., when the robot enters the dock and the discharge unit removes dust and debris in the robot's dust container to the collection volume or bag of the discharge unit). The icon 312e guides the user that the operation event occurred while the autonomous cleaning robot 102 was in the room corresponding to the icon immediately above the operation event icon 312e. In this example, the robot has determined that the dust container is full or nearly at its full maximum capacity. Next, the robot traverses the floor to find the docking station or discharge unit. Once the unit is positioned, the dust container is discharged (emptied), and the robot sends a signal to the cloud computer system. The cloud computer system sends information to cause the mobile device to display an indication. After the discharge, the robot returns to clean the next room or space in the schedule. The operation event label 314e and the elapsed time 316e are also included in the editable task schedule 310, guiding the user with a description of the operation event and the associated time to resolve the operation event. In the example of container discharge, the time information sent from the robot for display can be either the time spent to complete the container discharge or the time to drive the robot to the discharge station, discharge the container, and drive the robot back to the cleaning location. In some examples, the robot is controlled to complete the room it has been cleaning before discharging the container. The operation event icon 312e may be displayed in a different shape, color, outline, etc. from the room icons 312a - 312d. Also, the icon representing the completed room, which is here the symbol 312a corresponding to the living room, may be displayed in a different shape, color, outline, etc. from the remaining rooms to be cleaned. In some implementations, an error may be included in the task schedule 310. The icon, error label, and elapsed time may be shown to describe the error.

[0062] Referring to FIG. 4F, the user interface 300f (in some examples, can be reached by scrolling down from the interface 300e shown in FIG. 4E) also includes a graphical display of a map 318 of the floor plane of the area to be cleaned. The floor plane is divided into rooms 319. The cleaned rooms 319 may be displayed in a different color, contour, charging pattern, etc. from the remaining rooms to be cleaned. The map 318 also includes a robot icon 320 representing the location of the autonomous cleaning robot 102. The robot icon 320 is moved within the map 318 as the autonomous cleaning robot 102 moves through the rooms being cleaned. When the robot moves through the rooms or spaces in the schedule, information regarding the position and cleaning status of the robot is sent to the cloud computer system. The cloud computer system sends information to cause the robot icon 320 to be displayed on the map 318 at the location corresponding to the location of the robot on the mobile device. The cloud computer system also sends information to cause the rooms 319 to be displayed on the mobile device based on the cleaning status of the robot (e.g., if the cleaning status of the robot indicates that the cleaning of a room is completed, the room may be colored differently from the rooms in progress or the remaining rooms to be cleaned).

[0063] The map also includes a dock icon 322 corresponding to the location of the charging dock for the autonomous cleaning robot 102. The map 318 includes a pencil icon 323 that, when selected, allows the user to write on a portion of the map 318. In some implementations, the user can write on the map 318 to divide an area in the map 318 into separate rooms. For example, the user can write along a dotted line 330 to divide room 319c into two separate rooms. When a room is divided, the user may be prompted to select an icon and / or name for the divided room. The user may be prompted to select cleaning parameters to be used when cleaning the divided room. In some implementations, the user may select a boundary between rooms in the map 318 to merge the rooms into one room. For example, the user can select a boundary 332 between rooms 319a and 319b to merge rooms 319a and 319b into one room. When rooms are merged, the user may be prompted to select an icon and / or name for the merged room. The user may be prompted to select cleaning parameters to be used when cleaning the merged room.

[0064] In some implementations, the user can write on the map to indicate that the shown area requires additional cleaning. The mobile device sends information about the area requiring additional cleaning (e.g., the location of the area, the cleaning parameters to be followed) to a cloud computer system, and the cloud computer system sends the information to the robot. The control device generates a command signal for cleaning the area based on the transmission from the cloud computer system, and the robot cleans the area according to the specified cleaning parameters. In some implementations, the additional cleaning may be added to the cleaning schedule and may be performed after the robot has completed other scheduled cleaning tasks. Scheduling the additional cleaning can be performed by the cloud computer system, by the control device, or by the user using the mobile device. In some implementations, the map 318 can include instructions for different floor types or for the location of thresholds within the area to be cleaned. Referring to FIGS. 4G and 4H, the user interfaces 300g and 300h include a graphical display of the map 318 that shows the cleaned rooms 324 and the uncleaned rooms 326 to summarize the completed cleaning tasks. The map 318 also shows a robot icon 320 representing the location of the autonomous cleaning robot 102. The user interface 300h also shows a cleaning summary 328 that includes the time for the overall cleaning task, measurements for the cleaned area (e.g., number of rooms, area, area measurements, etc.), and a tally of dust detection events. The tally of dust detection events may include information related to where the robot detected excessive dust. For example, the tally of dust detection events may be displayed as a marker on the map interface at each dust detection event corresponding to a marker positioned in the room (or location within the room) on the map where excessive dust was detected. In another example, the tally of dust detection events may be displayed as an icon in the post-completion task schedule at each dust detection event corresponding to an icon associated with the room icon in the post-completion task schedule. The task schedule 310b is also included in the cleaning summary 328 and provides the order of the cleaned rooms and the time spent cleaning each room.In some implementations, after this completion, the task schedule 310b is not editable because the cleaning task has been completed. In some implementations, the task schedule 310b is editable such that a user can modify the order or selection of rooms to be cleaned and save the order to be used in subsequent cleaning tasks.

[0065] Referring to FIG. 5, the user interface 300i can include a first editable task schedule 410a and a second editable task schedule 410b, with each editable task schedule corresponding to a different autonomous cleaning robot. For example, the editable task schedule 410a represents cleaning tasks for a mopping robot, and the editable task schedule 401b represents cleaning tasks for a sweeping robot. The editable task schedules 410a and 410b also include an estimated time 415 for cleaning each room. The estimated time can be calculated by averaging the actual cleaning times for that room collected during multiple (e.g., two or more) previous cleaning tasks for the room. The estimated time can be updated as the robot progresses through the cleaning task or when the cleaning parameters or sequence of the room being cleaned are adjusted.

[0066] The icon 412 may be operated by a user to change the sequence of cleaning rooms in a task by rearranging or deleting the icon. When the user reorders or removes a room or space from the schedule, information is sent to the robot to adjust the robot's schedule to remove or reorder the cleaning operation. In the selection of one of the icons 412, the mobile device sends information to the cloud computer system, and the cloud computer system calculates the new total time until completion. The cloud computer system sends the updated time to cause the mobile device to present the new schedule on the display device. The cloud computer system also sends information to cause the robot to adjust its cleaning route, and the robot receives the information.

[0067] The icon 412 can be made selectable by the user, allowing the user to select one or more cleaning parameters for the room. The cleaning parameters can include, for example, vacuum level, single vs. multiple path settings, edge cleaning settings, wet vs. dry cleaning settings, and the like. When the user selects a new cleaning parameter or changes an existing one, information is sent to the robot to adjust the cleaning parameters of at least a portion of the cleaning task in order to add or change the cleaning parameters. In one selection of the icon 412, the mobile device sends the information to a cloud computer system, and the cloud computer system calculates the new total time until completion. The cloud computer system also calculates the new estimated completion time for each room in the task schedule and sends the new estimate to the mobile device for presentation on the display device.

[0068] Schedules 410a and 410b may be configured such that each room to be cleaned by the mopping robot, which is a room in schedule 410a, is cleaned by the sweeping robot before the mopping robot cleans the room. In some implementations, the processor 114 is configured to order the rooms in schedules 410a and 410b such that each room is cleaned by the sweeping robot before being cleaned by the mopping robot. For example, the estimated time to complete sweeping the kitchen by the sweeping robot must be before the estimated time the mopping robot begins mopping the kitchen. In some implementations, the cleaning patterns of the sweeping robot and the mopping robot may be coordinated such that the sweeping robot and the mopping robot can clean the same room simultaneously, but the mopping robot only mops the portions of the room that have been previously swept by the sweeping robot. In some implementations, the processor 114 is configured to include only rooms with hard floor surfaces (e.g., tile, hardwood, laminate, etc.) in schedule 410a for the mopping robot. The pause buttons 408a and 408b can be used to pause the cleaning tasks for each of the mopping robot and the sweeping robot. When either pause button 408a or 408b is selected, a signal is sent to the corresponding cleaning robot to interrupt the cleaning.

[0069] In some implementations, the schedules 410a and 410b may correspond to two robots (e.g., two vacuuming robots) configured to perform similar cleaning tasks. In such a situation, the schedules 410a and 410b may be generated based on the rooms selected to be cleaned. For example, the schedule 410a for the first robot can include icons corresponding to rooms on the upper floors of the house, while the schedule 410b for the second robot can include icons corresponding to rooms on the lower floors of the house. In another implementation, the schedules 410a and 410b may be generated to minimize the estimated cleaning time of the rooms selected to be cleaned. For example, if the two robots performing the cleaning have docks located on opposite sides of the house, the schedule can be selected to include in each robot's schedule the rooms located near that robot's dock.

[0070] In some implementations, a user may configure and save a specially created cleaning task plan for multiple robots. For example, the user may save a "high traffic" cleaning task plan that selects to have the kitchen and living room cleaned by one robot and the master bedroom and entrance hall cleaned by a second robot. When this "high traffic" cleaning plan is selected, the task schedules for the first and second robots are generated based on the rooms selected for each in the cleaning plan.

[0071] Referring to FIGS. 6A and 6B, user interfaces 300j and 300k present a map 518 that includes robot icons 520a and 520b corresponding to the locations of the mopping robot and the sweeping robot, respectively (both based on information received from the robot). Map 518 displays a cleaned area 524 and an uncleaned area 526 based on data received from the cleaning robot during the cleaning task. Map 518 also displays a swept and mopped area 530 where both the sweeping robot and the mopping robot have cleaned the floor surface. Different colors or shading patterns may be used to indicate different types of cleaning (e.g., sweeping and mopping). For example, in FIG. 6A, the solid shading of the cleaned areas 524 and 530 represents the swept areas, and the diagonal shading of area 530 represents the mopped areas. Symbol 531 is included in map 518 to indicate where the cleaning robot performed additional cleaning because excessive dust was detected in that area during the cleaning task. When the robot is cleaning and detects dust, the robot performs additional cleaning and sends information about the additional cleaning to the cloud computer system. The cloud computer system sends that information to the mobile device, and the mobile device presents the location of the additional cleaning on the display device of the mobile device. The mobile device can present the location as a symbol on the map or as an icon in the task schedule. At the end of the cleaning task, user interface 300k can display a cleaning summary that includes a graphical display 536 showing the total elapsed time 532 for completing the cleaning task, the number of dust events detected 534 (e.g., where the robot performed additional cleaning because excessive dust was detected in that area during the cleaning task), and the time spent cleaning and the time spent charging the autonomous cleaning robot 102. In some examples, an animation including a play / pause toggle may be included to show a quick animation of the cleaning progress and the locations and timings of the action events that occurred during the task.In some implementations, by selecting an icon in the task schedule, the mapping interface can be displayed to show the progress of the robot to the position in the task represented by the icon.

[0072] In some implementations, an optimized charging and resumption function may be included. The optimized charging function compares the estimated time remaining in the cleaning run with the estimated remaining charge of the autonomous cleaning robot's battery. In some implementations, the type of cleaning performed in each room (e.g., edge cleaning, high-power vacuum, etc.) may be evaluated to estimate how much cleaning can be completed with the remaining battery of the autonomous cleaning robot. The optimized charging function can instruct the robot to stop cleaning and charge for a set time period before the end of the cleaning task. For example, the autonomous cleaning robot may have 45 minutes of cleaning remaining, but only 20 minutes of battery charge. To complete the cleaning task in the minimum total elapsed time, the optimized charging function instructs the robot to stop cleaning and charge for a set time period that fills the battery to be sufficient to clean over the remaining 45 minutes of the cleaning task, but not to full charge. For example, it may take only 15 minutes to charge the battery for the extra 25 minutes of cleaning, but it may take 1 hour to charge the battery to full charge. In this way, the optimized charging can enable the autonomous cleaning robot to complete the cleaning task 45 minutes earlier than if it were charged to a full-charge battery.

[0073] Referring to FIGS. 7A and 7B, FIG. 7A is a perspective view of room 106 with debris 116 on floor surface 104. A user using a portable computer device such as mobile phone 600 shown in FIG. 7B can take a photo of debris 116 on floor surface 104. Circle 602 is displayed on the screen of mobile phone 600. The user can position circle 602 so as to surround debris 116. In some implementations, circle 602 may be stationary on the screen and the user moves mobile phone 600 so that debris 116 is positioned within the circle. In some implementations, the user can draw a boundary around debris 116 (e.g., by using a touch screen).

[0074] The photo taken by the user is analyzed by a processor of mobile device 600 or a cloud computer system using an image recognition protocol (the image is sent by the mobile device to the cloud computer system for analysis). The image recognition protocol compares the photo taken by the user of debris 116 on floor surface 104 with a reference image. The reference image can be an image taken by a camera positioned by the robot. Based on features of the room in the photo, such as the boundary between wall 604 and floor surface 104, or the location of vent 606, the processor can locate debris 116 within the room. The processor can mark the location of debris 116 for additional cleaning during the next cleaning task. The processor can send information about the marked area for additional cleaning (e.g., the location of the area, the type of additional cleaning to be performed) to the robot via the cloud computer system. The additional cleaning can include multiple paths across the area, edge cleaning, or local cleaning. During the cleaning task, the additional cleaning may be displayed in an editable task schedule as detailed in FIGS. 4A-4F. Additionally or alternatively, the additional cleaning may be presented in a graphical display of the map as shown in FIGS. 6A-6B. The additional cleaning requested via the photo taken by the user may be marked with a symbol different from symbol 531 used to indicate when additional cleaning was performed based on excessive dust detected during a cleaning run.

[0075] The mobile devices described in this specification may include smartphones, mobile phones, personal digital assistants, laptop computers, tablets, smartwatches, or other portable computer devices capable of transmitting and receiving signals related to robotic cleaning tasks. The mobile devices described in this specification are configured to present information related to robotic cleaning tasks and receive inputs from users on a display device.

[0076] The cloud computer system described in this specification is a computer system external to the mobile devices and robots that provides the computer processing resources required within the scheduling and control system. The cloud computer system is configured to receive and transmit signals between the mobile device and the control device of the robot, and is configured to process data received from either the mobile device or the control device of the robot.

[0077] Operations related to implementing all or part of the object detection techniques described in this specification may be performed by one or more programmable processors executing one or more computer programs to implement the functions described in this specification. For example, the mobile device, the cloud computer system, and the control device of the robot may all include processors programmed with computer programs for performing functions such as transmitting signals, calculating time estimates, or interpreting signals. The computer program can be written in any form of programming language, including compiled languages or interpreted languages, and can be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computer environment.

[0078] The control device and the mobile device described in this specification can include one or more processors. Processors suitable for the execution of a computer program include, by way of example, any one or more processors within a general-purpose microprocessor, a dedicated microprocessor, and any kind of digital computer. Generally, a processor will receive instructions and data from a read-only memory area, a random access memory area, or both. Elements of a computer comprise one or more processors for executing instructions and one or more storage area devices for storing instructions and data. Generally, a computer also comprises, or is operably coupled to, one or more machine-readable storage media, such as a large-scale PCB for storing data, such as a magnetic disk, a magneto-optical disk, or an optical disk, from which it receives data, to which it transmits data, or both. Machine-readable storage media suitable for embodying computer program instructions and data include all forms of non-volatile storage area, including by way of example semiconductor storage area devices such as EPROM, EEPROM, and flash storage area devices, magnetic disks such as internal hard disks or removable disks, magneto-optical disks, CD-ROM disks, and DVD-ROM disks.

[0079] The techniques of robot control and scheduling described in this specification may be applicable to controlling other mobile robots, apart from a cleaning robot. For example, a lawn mowing robot or a space monitoring robot may be scheduled to perform operations in a particular part of a lawn or space as described in this specification. A user may similarly monitor and / or operate the progress of tasks of these robots through a task schedule and / or a mapping interface presented in the mobile device.

[0080] The elements of the different embodiments described herein may be combined to form other embodiments not expressly recited previously. The elements may depart from the structures described herein without adversely affecting these operations. Further, various separate elements may be combined into one or more individual elements to perform the functions described herein.

[0081] [Claim 1] An autonomous cleaning robot, a drive unit configured to move the cleaning robot across a floor surface in an area to be cleaned, receive data representing an editable task schedule including data representing a sequence of rooms to be cleaned, navigate the cleaning robot to clean the rooms according to the sequence, track operation events occurring in each of the rooms to be cleaned, and transmit data about the time spent to navigate each of the rooms to be navigated included in the sequence a control device configured as such An autonomous cleaning robot comprising the above. [Claim 2] The control device of the autonomous cleaning robot according to claim 1, configured to track the time for completing the cleaning of each room included in the sequence and transmit the time for display when the cleaning of each room is completed. [Claim 3] The data representing a sequence of rooms to be cleaned includes at least instructions for a first room to be cleaned and a second room to be cleaned. The control device is configured to clean the first room to be cleaned, transmit data about the time spent cleaning the first room, clean the second room to be cleaned, and transmit data about the time spent cleaning the second room. The autonomous cleaning robot according to claim 2. [Claim 4] The control device of the autonomous cleaning robot according to claim 1, wherein the control device is configured to receive a reordered sequence of rooms to be cleaned during the cleaning operation. [Claim 5] The control device of the autonomous cleaning robot according to claim 1, wherein after receiving the sequence of rooms to be cleaned, the control device receives an instruction to cancel cleaning of the rooms in the sequence of rooms to be cleaned, and is configured to clean the rooms in the sequence except for the cancelled rooms. [Claim 6] The control device of the autonomous cleaning robot according to claim 2, wherein the control device is configured to transmit data representing the tracked operation events for remote display in a graphical display of an editable task schedule. [Claim 7] The control device of the autonomous cleaning robot according to claim 2, wherein the control device is configured to transmit data representing the tracked operation events for presentation in a graphical display of a map. [Claim 8] Tracking operation events of the autonomous cleaning robot according to claim 1 includes tracking where the cleaning robot performs additional cleaning in response to detection of dust. [Claim 9] Tracking operation events of the autonomous cleaning robot according to claim 1 includes detecting completion of cleaning of a room. [Claim 10] The operation event is an event of emptying the container, and the control device of the autonomous cleaning robot according to claim 1 is further configured to calculate the time elapsed to handle the event of emptying the container and start transmitting data indicating the elapsed time. [Claim 11] The operation event is an event of emptying the container, and the control device of the autonomous cleaning robot according to claim 1 is further configured to start transmitting data indicating the operation event for presentation on a graphical display of an editable task schedule. [Claim 12] The control device is configured to receive data indicating a set of cleaning parameters used in a room, and the set of cleaning parameters includes at least one of a vacuum force, an edge cleaning setting, a multi-path setting, and a wet or dry mop cleaning parameter, for the autonomous cleaning robot according to claim 1. [Claim 13] The control device is configured to determine a charge level of a battery of the robot, transmit data representing the charge level, and receive a charge command including a charge period required to charge the battery to complete cleaning the room in the sequence, for the autonomous cleaning robot according to claim 1. [Claim 14] The control device is configured to navigate the cleaning robot to a charging station based on the charge period and transmit data indicating the elapsed charging time for display, for the autonomous cleaning robot according to claim 13. [Claim 15] One or more input devices, A display device, Start data transmission and data reception with an autonomous cleaning robot, For representing a sequence of rooms to be cleaned, an arrangement of a plurality of icons each representing a room to be cleaned by the autonomous cleaning robot, and For each of the plurality of icons, a corresponding display for reflecting the time spent cleaning each respective room A processor configured to present a first graphical display of an editable task schedule including and At least one of the plurality of icons is operable by a user using the one or more input devices to adjust the sequence of rooms to be cleaned, a portable computer device. [Claim 16] The portable computer device according to claim 15, wherein only the icons representing the remaining rooms to be cleaned are operable by the user. [Claim 17] The portable computer device according to claim 15, wherein the processor is further configured to present a graphical display of a map indicating the rooms that have been cleaned and the rooms to be cleaned. [Claim 18] The portable computer device according to claim 17, wherein one or more events detected by the autonomous cleaning robot are presented on the graphical display of the map. [Claim 19] The portable computer device according to claim 18, wherein the events detected by the autonomous cleaning robot include an event in which the robot detected excessive dust and performed additional cleaning. [Claim 20] The portable computer device according to claim 18, wherein the events detected by the autonomous cleaning robot include an event in which the robot indicates the completion of cleaning of a room. [Claim 21] The portable computer device according to claim 18, wherein a graphical display of the event detected by the autonomous cleaning robot is inserted in the graphical display of the editable task schedule. [Claim 22] The portable computer device according to claim 15, wherein the processor is configured to present a first graphical display of an editable task schedule for the autonomous cleaning robot and a second graphical display of an editable task schedule for another autonomous cleaning robot. [Claim 23] The portable computer device according to claim 15, wherein the processor is configured to start transmitting data representing the sequence of rooms to be cleaned to the robot during a cleaning task. [Claim 24] The portable computer device according to claim 15, wherein the processor starts receiving from the robot data representing the elapsed time spent cleaning at least one room, and is configured to present the elapsed time in the first graphical display of the editable task schedule. [Claim 25] The processor starts receiving from the autonomous cleaning robot data indicating that the autonomous cleaning robot has completed cleaning a room, and is configured to change the appearance of the icon corresponding to the cleaned room in the first graphical display of the editable task schedule, the portable computer device according to claim 15. [Claim 26] Changing the appearance of the icon includes changing the color, shape, size, or position of the icon, the portable computer device according to claim 25. [Claim 27] The processor determines a region of interest from one or more images captured by the portable computer device, and is configured to transmit to the robot data representing a cleaning instruction for the region of interest, the portable computer device according to claim 15. [Claim 28] The icon operable by the user can be dragged and dropped within the editable task schedule, the portable computer device according to claim 15. [Claim 29] The processor is further configured to start transmitting data representing the revised order of the icons in the editable task schedule, the portable computer device according to claim 28. [Claim 30] The icon operable by the user can be clicked and removed from the editable task schedule, the portable computer device according to claim 15. [Claim 31] The icon corresponding to the cleaned room is fixed in the editable task schedule, the portable computer device according to claim 15. [Description of the Reference Numerals]

[0082] 100 Cleaning container 102 Autonomous cleaning robot 104 Floor surface 106 Room 108 Vacuum assembly 110 Airflow 112 Prenum 114 Processor 116 Scrap 120 Portable computer device 200 Main body 202a Front part 202b Rear part 204a, 204b Side parts 206 Front side 208a, 208b Actuators 210a, 210b Driving wheels 211 Caster wheel 212 Control device 212a First roller 212b Second roller 213 Vent 214 Brush 300a, 300b, 300c, 300d, 300e, 300f, 300g, 300h, 300i, 300j, 300k User interface 302 Status indicator 304 Cleaning mode indicator 306 Cleaning button 308 Pause button 310 Editable task schedule 310b Task schedule 312 Room icon 312a Room icon 312b Dining room icon 312c Closet icon 312d Toilet icon 312e Action event icon 314 Room label 314e Action event label 315 Estimated room cleaning time 316 Elapsed cleaning time 316e Elapsed time 318 Map 319 Room 319a, 319b, 319c Rooms 320 Robot icon 322 Dock icon 323 Pencil Icon 324 Cleaned Room 326 Uncleaned Room 328 Cleaning Aggregation 330 Dotted Line 332 Boundary 408a, 408b Pause Button 410a First Editable Task Schedule 410b Second Editable Task Schedule 412 Icon 415 Predicted Time 518 Map 520a, 520b Robot Icon 524 Cleaned Area 526 Uncleaned Area 530 Swept and Mopped Area 531 Symbol 534 Number of Detected Dust Events 536 Graphical Display 600 Mobile Phone, Mobile Device 602 Circle 604 Wall 606 Vent 702 User 704 Mobile Device 706 Cloud Computer System 708 Autonomous Cleaning Robot, Mobile Robot 730 Control Device 742 Processor

Claims

1. Presenting a first room label at a first position in a room label list and a second room label at a second position in the room label list on a user interface of a mobile device, wherein the room label list represents a list of rooms to be cleaned during a single cleaning task performed by a mobile cleaning robot, and wherein a user of the mobile device can adjust the positions of the first room label and the second room label in the room label list; Sending data indicating the first room label, the second room label, and the positions of the first room label and the second room label in the room label list to the mobile cleaning robot, wherein the relative positions of the first room label and the second room label in the room label list determine the order in which the first room associated with the first room label and the second room associated with the second room label are cleaned during a single cleaning task performed by the mobile cleaning robot; Presenting a display of an operation event of the single cleaning task on the user interface; Receiving data indicating the operation event of the single cleaning task from the mobile cleaning robot; comprising; wherein the display of the operation event includes a display of the time to empty a container.

2. The method according to claim 1, wherein the mobile device and / or the mobile cleaning robot receives data indicating the time until completion of cleaning of each of the first room and the second room from an external computer system.

3. Presenting the first room label at an updated position in the room label list on the user interface of the mobile device in response to receiving a user input; The method according to claim 1, comprising sending data indicating the updated position of the first room label to the mobile cleaning robot.

4. Deleting the first room label from the display on the user interface of the mobile device in response to receiving a user input indicating cancellation of cleaning of the first room; Transmitting data indicating cancellation of cleaning of the first room to the mobile cleaning robot. The method according to claim 1, comprising:

5. The method according to claim 1, wherein the display of the operation event includes a display of a location where the mobile cleaning robot performed additional cleaning in response to detected debris.

6. The method according to claim 1, wherein the display of the operation event includes a display indicating completion of cleaning of one of the first room or the second room by the mobile cleaning robot.

7. The method according to claim 1, comprising presenting a display of the time to empty the container in the room label list.

8. Transmitting a set of cleaning parameters used in each of the first room and the second room to the mobile cleaning robot, Each set of cleaning parameters includes at least one of a vacuum force, an edge cleaning setting, a multi-path setting, and a wet or dry mop cleaning parameter. The method according to claim 1, comprising:

9. Determining a charging period for charging the battery to enable the mobile cleaning robot to complete cleaning of the rooms on the room label list based on the charge level of the battery of the mobile cleaning robot. The method according to claim 1, comprising:

10. Transmitting a charging command indicating the charging period from an external computer system to the mobile cleaning robot. The method according to claim 9, comprising:

11. Receiving data from the mobile cleaning robot indicating the charging time elapsed when the mobile cleaning robot is at the charging station. The method according to claim 9, comprising:

12. The method according to claim 11, comprising the step of presenting a display of the elapsed charging time on the user interface.

13. A non-transitory computer-readable medium storing instructions executable by a computer, the instructions being - presenting a first room label at a first position and a second room label at a second position of a room label list on a user interface of a mobile device, wherein the room label list represents a list of rooms to be cleaned during a single cleaning task performed by a mobile cleaning robot, and wherein a user of the mobile device can adjust the respective positions of the first room label and the second room label in the room label list; - transmitting data indicating the first room label, the second room label, and the respective positions of the first room label and the second room label on the room label list to a mobile cleaning robot, wherein the relative positions of the first room label and the second room label on the room label list determine an order in which a first room associated with the first room label and a second room associated with the second room label are to be cleaned during a single cleaning task performed by the mobile cleaning robot; - presenting a display of an operation event of the single cleaning task on the user interface; - receiving data indicating an operation event of the single cleaning task from the mobile cleaning robot; comprising the display of the operation event including a display of the time of an event of emptying a container, a non-transitory computer-readable medium.

14. The instructions being - presenting the first room label at an updated position on the room label list in response to receiving user input on a user interface of the mobile device; - Transmitting data indicating the updated position of the first room label to the mobile cleaning robot, the non - transitory computer - readable medium according to claim 13.

15. The instructions - In response to receiving a user input indicating cancellation of cleaning of the first room, deleting the first room label from the display on the user interface of the mobile device, - Transmitting data indicating cancellation of cleaning of the first room to the mobile cleaning robot, the non - transitory computer - readable medium according to claim 13.

16. The display of the operation event includes a display of a location where the mobile cleaning robot performed additional cleaning in response to detected debris, the non - transitory computer - readable medium according to claim 13.

17. The display of the operation event includes a display of completion of cleaning of one of the first room or the second room by the mobile cleaning robot, the non - transitory computer - readable medium according to claim 13.

18. The instructions - Based on the charge level of the battery of the mobile cleaning robot, determining a charging period for charging the battery to enable the mobile cleaning robot to complete cleaning of the rooms on the room label list, - Transmitting a charging command indicating the charging period to the mobile cleaning robot, the non - transitory computer - readable medium according to claim 13.

Images