AU729949B2 - A print delivery system and a mobile printer - Google Patents

Description

S F Ref: 483006

AUSTRALIA

PATENTS ACT 1990 COMPLETE SPECIFICATION FOR A STANDARD PATENT

ORIGINAL

4,*

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S

S. S S Name and Address of Applicant: Actual Inventor(s): Address for Service: Invention Title: ASSOCIATED PROVISIONAL [311 Application No(s) PP7729 Canon Kabushiki Kaisha 30-2, Shimomaruko 3-chome Ohta-ku Tokyo 146

JAPAN

Ian Gibson Spruson Ferguson, Patent Attorneys Level 33 St Martins Tower, 31 Market Street Sydney, New South Hales, 2000, Australia A Print Delivery System and a Mobile Printer APPLICATION DETAILS [33] Country

AU

[32] Application Date 16 December 1998 The following statement is a full description of this invention, including the best method of performing it known to me/us:- 5815 A PRINT DELIVERY SYSTEM AND A MOBILE PRINTER Field of Invention The present invention relates to a print delivery system and a mobile print delivery apparatus. In particular, the invention relates to a print delivery system and a mobile print delivery apparatus for use in an office environment.

Background of Invention The US Patent No. 5,525,031 discloses a collection, separation and distribution system for printed sheets outputted from a shared centralized printer to which plural remote users electronically send respective print jobs from a plurality of separate user sites remote from said centralized printer location. The system has a mobile vehicular mailboxing module which is docked with the printer to collect the print jobs stacked in pi lural user-assigned mailbox bins by an internal sheet feeding and distribution system.

The mobile mailbox is then undocked and automatically sequentially driven to separate remote user sites and distributes the respective print jobs to the respective users at those sites for which the moving mailboxing module contains designated print jobs in one or more bins. The mobile mailbox has an optical sensor and follows an ultraviolet strip or other guide path for delivering the print jobs. Alternatively, the mobile vehicular mailboxing module may carry the printer around with it, i.e. the printer and mailbox move 20 integrally.

The mailboxing module of US Patent 5,525,031 is very large and has a restricted domain over which it can roam. For instance, the mailboxing module can only follow the guide paths for delivery of the print jobs, thus restricting it's movement and giving rise to delays in delivery. Moreover, the mailboxing module has difficulty in reaching small areas in an office environment due to its size thus restricting the potential area it can cover. Also, the mailboxing module of US Patent 5,525,031 must always return to its base station in order to accept print jobs. This also gives rise to much delay in the distribution of the print jobs. For example, the mailboxing module may have just commenced a delivery run when the central base station receives another print job. In this case, the person who requested the print job will have to wait a long time before receiving the requested print job. In addition, the navigation system of the distribution system suffers CFP01529AU OfficeboyOl 483006 o:\of ficeboy\of fi ceboy011\48 3006 PWM from a complex installation process. The installation process requires that fixed guide paths be installed within the office environment for the mobile mailbox to follow.

Summary of the Invention It is an object of the present invention to ameliorate one or more disadvantages of the prior art.

According to a first aspect of the invention, there is provided a print delivery system comprising: one or more mobile print delivery apparatus, each capable of travelling in an office environment, and each comprising: a mobile platform capable of travelling in the office environment; a print engine for printing sheets in response to print jobs sent from multiple remote users; a wireless for receiving said print jobs from said multiple remote users; navigation means for sensoring the location of the print delivery apparatus in said office environment; and processing means comprising means for controlling the said i printing of said print job; means for determining the location of the remote user which sent said print job; and means for instructing said mobile platform to move to said remote user; and said print delivery system further comprises; means for a said remote user to specify a print job, and one or more job dispatch control means for processing said print jobs and allocating said print jobs to said mobile print delivery apparatus.

According to a second aspect of the invention, there is provided a mobile print delivery apparatus for travelling in an office environment, the apparatus comprising: a mobile platform capable of travelling in the office environment; a print engine for printing sheets in response to print jobs sent from multiple remote users; a wireless for receiving said print jobs from said multiple remote users; navigation means for sensoring .i the location of the print delivery apparatus in said office environment; and processing means comprising means for controlling the said printing of a said print job; means for determining the location of the remote user which sent said print job; means for instructing said mobile platform to move to said remote user; and means for allocating said print jobs to other mobile print delivery apparatus.

Brief Description of the Drawings Embodiments of the invention are described with reference to the drawings, in which: Fig. 1 is a block diagram of a mobile print delivery apparatus; CFP01529AU OfficeboyOl 483006 o:\of ficeboy\off iceboy0 1\483006 PWM Fig. 2 is a block diagram of a print delivery system; and Fig. 3 is a block diagram of another mobile print delivery apparatus.

Detailed Description Where reference is made in any one or more of the accompanying drawings to steps and/or features, which have the same reference numerals, those steps and/or features have for the purposes of this description the same function(s) and/or operation(s), unless the contrary intention appears.

Fig. 1 shows a block diagram of a mobile print delivery apparatus 1. The mobile print delivery apparatus 1 comprises as its base platform a mobile robot platform 3. There are many different designs and implementations of such mobile robot platforms 3 and anyone skilled in the art would be able to develop a suitable platform. Preferably, the •mobile robot platform 3 contains all the necessary equipment to enable controlled i movement within an office environment comprising wheels to move and steer, motors to drive said wheels, a battery to supply power together with the electronic systems necessary to control the platform. The battery also supplies power to the other components of the mobile print delivery apparatus 1. In the preferred embodiment, the mobile robot platform 3 is no wider that an adult person, thus enabling the platform 3 to travel anywhere in the office environment that could also to be traversed by a person.

Also in the preferred embodiment, the battery capacity should be sufficient to supply 20 power to all of the components for a day.

The mobile robot platform 3 typically requires a control system 6. Such robot Scontrol systems 6 are usually implemented using an embedded microprocessor executing °an embedded program to control the motors and other actuators within the mobile robot platform 3 to carry out the tasks requested by the central control computer 8. Examples of such tasks might be move at a certain speed in a certain direction or rotate by a certain amount.

The mobile print delivery apparatus 1 also has a navigation sub system 4. This navigation sub system 4 is responsible for ensuring that the mobile print delivery apparatus 1 can automatically navigate throughout the office environment. The navigation sub system 4 during an installation phase generates a map of the environment in which the mobile robot system is operating. The generated map contains various classes of information comprising: CFP01 529AU Oficeboyl 483006 o:\officeboy\officeboyO 1\483006 PWM the geographical layout of the environment such as the location of walls, doorways, corridors and other obstacles.

the location of key resources necessary for the system to perform its function.

Preferably, this comprises the location of the battery recharge station, the location of printing supplies etc.

the usual location of each individual wishing to use or interact with the mobile robot, such as office or desk location. This comprises the location of users wishing to use the facilities of the robot printer. That is, the locations to deliver print jobs.

There are many methods described in the prior art for gathering, storing and processing this information. The central control computer 8 of the mobile print delivery apparatus 1 would, amongst other things, execute a program that would cause it to gather as much as possible of this information autonomously. That is, it would gather this information without being programmed or otherwise told. This autonomous information "gathering adds utility to the mobile print delivery apparatus 1 as it minimizes the time and effort required to install the mobile print delivery apparatus 1 in an office environment. It has been shown that geographical layout information can be gathered autonomously. One such method utilizes range and position sensing information to generate a geographical map of the environment, and the preferred mobile print delivery apparatus 1 comprises range sensors 11 and position sensors 2 to facilitate this map building technique. Other ooooo2 information such as the location of users is more difficult to determine autonomously, in which case such information may be specified at some stage. This map is stored in a map database in memory of the central control computer 8.

Once the mobile print delivery apparatus 1 has gathered sufficient information to build a map, the navigation sub system 4 then utilizes this information to carry out its task of delivering print jobs. This involves determining the destination of the print job which is the location of the owner of the print job, and then planning a path from the current location to the destination location. There are several known techniques for planning such paths.

The range sensors 1 and position sensors 2 are used by the navigation sub system 4 to: generate the geographical map information CFP01529AU Officeboyl 483006 o:\officeboy\officeboy01\483006 PWM avoid colliding with objects that do appear in the map database. This might comprise movable objects such as chairs, people etc determine the current location The central control computer 8 executes several different programs in a multithreaded manner, possibly under the control of a real time operating system. The mobile print delivery apparatus 1 may utilize several microprocessors to implement this function.

The tasks carried out by the said programs comprise, but are not limited to: Task queuing and prioritization. This involves maintaining a queue of outstanding task requests and determining what task to perform next. The task queuing has the ability to rearrange the job queue depending upon the apparatus' present location and the destination of the print jobs. Thus the closest print delivery destination can be delivered first.

i Resource management. This involves keeping track of how much power is left in oooo the battery, how much paper and ink is left in the printer and other resource monitoring.

Upon determining that a given resource is low, the central control computer then will travel to the known location where it will be possible to re-stock the said given low resource. In the case of low battery power, the mobile print delivery apparatus 1 will travel to the location of the battery recharge station and connect itself to the battery recharge power supply. There are several examples described in the prior art for methods of implementing such functionality. In the case of other resources, it may be more difficult for the mobile print delivery apparatus 1 to autonomously restock, in which case the preferred method is for the mobile print delivery apparatus to indicate the current status in some manner to a person responsible for maintaining the mobile print delivery apparatus 1. This indication could be carried out in several ways comprising sending an electronic mail or displaying an audio or visual cue of some sort.

Navigation. As described above, another task for the central control computer is to execute the iavigation program.

User Interface. The utility and ease of use of the mobile print delivery apparatus 1 is partly dependent on the quality and sophistication of the user interface. The central control computer 8 controls the user interface. Preferably, the user interface consists of two separate aspects: the local interface or how the mobile print delivery apparatus 1 interacts directly with the user; and the remote interface or how the mobile print delivery CFP01 529AU OfficeboyOl 483006 o:\officeboy\officeboy01 \483006 PWM apparatus 1 interacts with users who are not located in the vicinity of the apparatus 1. The local interface may utilize various audio, visual and tactile input and output devices 9 to achieve the goal of making it easy for any office worker to utilize the mobile print delivery apparatus 1. This may comprise utilizing a speaker device for speech synthesis so that the system can "talk"; a microphone device to facilitate voice recognition so that the system can understand spoken commands and spoken responses; a video camera to allow video based scene analysis and object recognition (such as recognizing if a person is sitting at their desk); a video screen for displaying images or messages; a keyboard to allow textual messages and responses to be keyed in; or other computer related user interface devices such as a mouse or a touch screen. The remote user interface is the means by which users can interact with the system when the system is not nearby. This remote user interface allows users to submit print jobs, query the system status (such as find out where it is located etc) and other tasks. This interface may be via a graphical user interface of some kind accessible via the users own computer a web page) and 15 transmitted to the system in a manner similar to other computer equipment in the office via a bi-directional wireless network connection 5. Alternatively, this interface may be via electronic mail. This interface may also comprise a video stream provided by the said video camera allowing remote users to "see" what the system is seeing.

Error recovery. In practical situations there will be occasions when unexpected °O8OO errors occur, for example the system is given a print delivery task to an unknown user, or when it finds it is not possible to carry out a given task for some other reason. In such situations the central control computer 8 may attempt to recover from the error by various means comprising locating a user and seeking the additional information required to recover from the error. This may involve the system travelling to the user and then interacting via the local user interface or, if the error prevents the system from travelling then the remote user interface can be used for this task.

The printing device 7 is preferably a low power portable device. There are various printing technologies described in the prior art, which are suitable, an example being "inkjet" style printers. Such printers can be constructed in a manner small and light enough to fit within the physical constraints of the mobile print delivery apparatus 1, and have a sufficiently low power consumption to enable them to utilize battery power.

CFP01529AU Officeboyl 483006 o:\officeboy\officeboyOl \483006 PWM In another embodiment of the mobile print delivery apparatus 1, a document scanner 10 is also attached to the central control computer 8. The combination of the said document scanner 10, the central control computer 8 and the printing device 7 facilitates the provision of the functionality of a photocopier, of which there are several described in the prior art.

Fig. 2 shows a print delivery system 14 using one or more of the mobile print delivery apparatus 1 together with a central job dispatch device 15. Each of the mobile print delivery apparatus 1 may have different characteristics such as different printing capabilities or different options and additions.

In some office environments there may be areas through which a mobile print delivery apparatus 1 cannot easily navigate or travel. For example closed doors, stairways, multiple floors, or multiple buildings all may represent barriers to such mobile print i delivery apparatus 1 thereby limiting their utility. This print delivery system 14 overcomes this problem by deploying one or more of the mobile print delivery apparatus 1 in each of these "isolated" regions of the office environment. The print delivery system 14 may also utilize more than one mobile print delivery apparatus 1 in regions where printing requirements are heavy.

Preferably, the mobile print delivery apparatus 1 are coordinated by a central job dispatching means 15 as shown in Figure 2. In the preferred embodiment, the central job .oaooi 20 dispatching means 15 is a computer also connected to the office computer network executing a program implementing the print job dispatch process. The central job dispatch computer is in turn connected to each of the mobile print delivery apparatus via a wireless .:local area network connection 5. Alternatively, the print job dispatch process can be cooperatively undertaken by the individual mobile print delivery apparatus 1 themselves. In still another embodiment, the print job dispatch process can be undertaken by one of the mobile print delivery apparatus 1.

A user requests a print job task in the same manner as described with reference to the mobile print delivery apparatus 1, viz. using the remote user interface available via the users computer. The central job dispatch means 15 then allocates the print job task to the most suitable mobile print delivery apparatus 1. This selection process will take into account in which region of the office the user and each of the mobile print delivery apparatus 1 is located, the printing requirements of the user and the printing CFP01529AU Officeboy01 483006 o:\officeboy\officeboy01 \483006 PWM -8characteristics of each of the platforms together with the current status of each of the print delivery apparatus location, resource levels, availability etc). Specifically, the central job dispatch control means allocates the print jobs depending on the location of the remote user requesting the print job and the present locations of the mobile print delivery apparatus and when they are next available. The central job dispatch means obtains this information by polling each mobile print delivery apparatus 1, when it receives a print request from a remote user.

The use of multiple mobile print delivery apparatus 1 in each region of the office facilitates the provision of a higher quality of service than if only one were to be used.

Firstly, each mobile print delivery apparatus 1 can be equipped with a printer with different characteristics such as different resolution, print stock, inks etc. Secondly, it allows multiple print job delivery tasks to be carried out at once increasing the capacity S"of the overall system. Thirdly, a higher level of reliability can be achieved when one mobile print delivery apparatus 1 is out of service for some reason, the other platforms S" 15 can continue to carry out the print job delivery role.

The print delivery system 14 undertakes a map building task similar to that described above for the mobile print delivery apparatus 1. However, in this case the map building process only need be carried out once for each isolated region and then this map information can be then loaded onto the central dispatch control computer Subsequently deployed mobile print delivery apparatus 1 can take a copy of the office environment map from the central dispatch computer .Fig. 3 shows a generalized office automation and delivery device 30. As can be seen S" from figure 3, this automation and delivery device 30 is very similar to the mobile print delivery apparatus 1. The automation and delivery device 30 utilizes the same central control computer 8, navigation sub system 4, range sensors 11, position sensors 2, mobile robot platform control sub system 6, mobile robot platform 3, printer device 7, user interface devices 9 and wireless network connection 5 in a manner similar to that described above. The office automation and delivery device 30 also comprises video output means 32, audio output means 33, a video-input means 27 and audio input means 34. These are used to implement a bi-directional audiovisual terminal. The office automation and delivery device 30 may also be equipped with a document scanner 26.

CFP01529AU Officeboy01 483006 o:\officeboy\officeboyO1\483006 PWM -9- In addition to the print delivery tasks described above, the office automation and delivery device 30 carries out a range of office automation tasks in a way that has significant advantage over the prior art in several areas.

Firstly, it acts as a autonomous office delivery vehicle, delivering any sort of reasonable item (size, shape etc) from any known location in the office environment to any other known office environment. This is enabled simply by ensuring the construction of the mobile platform is strong enough to support a suitable load, and the provision of a tray or basket or other holding device suitable for containing the item or items currently being delivered. Extending the functionality of the remote user interface enables the user to specify delivery jobs as well as print jobs as in the print delivery apparatus.

Secondly, it acts as a mobile bi-directional audiovisual platform. A bi-directional :i audiovisual platform provides audio and video input and output functionality. Preferably, i this functionality call be provided using a speaker, a microphone, a video camera and a video display screen. There are however many systems and many variations possible. In several applications, a users computer will act as a second bi-directional audiovisual platform with the input from one connected to the output of the other and so on. This "enables several applications such as remote telepresence, where a user can send the office automation and delivery device 30 into a meeting or some other location or event where the user wishes to observe (audially and/or visually) and to participate but the user does .ooooi not wish to be at the actual location. Another application enabled by the bi-directional audiovisual sub system is a security and surveillance platform.

The example applications and uses described above are only a few for which the office automation and delivery device 30 is useful. The architecture of the office automation and delivery device 30, in particular, the use of the wireless network connection 5 and the central control computer 8 facilitate the development of further applications. Applications call be developed in a similar manner to any other computer application then down loaded and installed using the same techniques as are described in the prior art for conventional personal computers.

A general office automation and delivery system can be implemented utilizing multiple office automation and delivery devices 30 networked together with a central job dispatch control means 15 in a similar manner to that described above. The multiple CFP01529AU Officeboy01 483006 o:\of ficeboy\of fi ceboy011\48 3006 PWM office automation and delivery devices 30 operate over a wide range of office environments-- comprising those separated into one or more "isolated regions".

The foregoing only describes a small number of embodiments of the present invention, however, modifications and/or changes can be made thereto by a person skilled in the art without departing from the scope and spirit of the invention. For example, a person skilled in the art could use this description to produce a version of the present invention that could operate in other environments. The present embodiments are, therefore, to be considered in all respects to be illustrative and not restrictive.

In the context of this specification, the word "comprising" means "including principally but not necessarily solely" or "having" or "including" and not "consisting only of'. Variations of the word comprising, such as "comprise" and "comprises" have corresponding meanings.

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Claims (21)

1. A print delivery system comprising: one or more mobile print delivery apparatus, each capable of travelling in an office environment, and each comprising: a mobile platform capable of travelling in the office environment; a print engine for printing sheets in response to print jobs sent from multiple remote users; a wireless for receiving said print jobs from said multiple remote users; navigation means for sensoring the location of the print delivery apparatus in said office environment; and processing means comprising ~means for controlling the said printing of said print job; means for determining the location of the remote user which sent said print job; and means for instructing said mobile platform to move to said remote user; and said print delivery system further comprises; means for a said remote user to specify a print job, and one or more job dispatch control means for processing said print jobs and allocating said 00..0. *o0 20 print jobs to said mobile print delivery apparatus.

2. A print delivery system as claimed in claim 1, wherein said system comprises a central control means comprising one central said job dispatch control means for processing said print jobs and allocating said print jobs to said mobile print delivery apparatus.

3. A print delivery system as claimed in claim 1, wherein one said mobile print delivery apparatus comprises one said job dispatch control means for processing said print jobs and allocating said print jobs to said mobile print delivery apparatus.

4. A print delivery system as claimed in claim 1, wherein said mobile print delivery apparatus each comprise one said job dispatch control means for co-operatively CFP01529AU Officeboy0 483006 o: \of fice boy\of ficeboyO 1 \48 3006 PWM -12- processing all said print jobs and allocating said print jobs to said mobile print delivery apparatus.

A print delivery system as claimed in claim 1, wherein said one or more mobile print delivery apparatus comprise a plurality of mobile print delivery apparatus operating in different regions of the office environment.

6. A print delivery system as claimed in claim 1, wherein said central job dispatch control means allocates said print jobs dependent on the location of the remote user requesting the print job and the locations of the mobile print delivery apparatus and the next availabilities of the mobile delivery apparatus.

7. A print delivery system as claimed in claim 1, wherein each said mobile print delivery apparatus comprises a map database stored in memory and navigates throughout 4 the office environment with reference to said map. 0.,

8. A print delivery system as claimed in claim 7. wherein said map database is generated by a said mobile print delivery apparatus for each region of the office environment. S•

9. A print delivery system as claimed in claim 1, wherein each said mobile print delivery apparatus further comprises: 0 means for scanning documents to produce a digitized image thereof; and means for transferring said digitized image to said printer thereby making it a photocopier. A print delivery system as claimed in claim 1, wherein each said mobile print delivery apparatus further comprises: a video camera; and means for transmitting the output of said video camera to an office computer network.

CFP01529AU Officeboy01 483006 o:\officeboy\officeboy01 \483006 PWM -13-

11. A print delivery system as claimed in claim 1, wherein said means for specifying a print job comprises a multimedia user interface.

12. A print delivery system as claimed in claim 1, wherein each said mobile print delivery apparatus further comprises: means for detecting the proximity of the remote user; and means for interacting with said user to indicate status.

13. A mobile print delivery apparatus for travelling in an office environment, the apparatus comprising: a mobile platform capable of travelling in the office environment; a print engine for printing sheets in response to print jobs sent from multiple remote users; tooo u a wireless for receiving said print jobs from said multiple remote users; navigation means for sensoring the location of the print delivery apparatus in said office environment; and processing means comprising S. S too means for controlling the said printing of a said print job; means for determining the location of the remote user which sent said print 20 job; means for instructing said mobile platform to move to said remote user; and means for allocating said print jobs to other mobile print delivery apparatus.

14. A mobile print delivery apparatus as claimed in claim 13, wherein said mobile print delivery apparatus comprises a map database stored in memory and navigates throughout the office environment with reference to said map. A mobile print delivery apparatus as claimed in claim 12, wherein said map database is generated by the mobile print delivery apparatus for each region of the office environment.

CFP01529AU Officeboyl 483006 o:\officeboy\officeboy0 1\483006 PWM 0 1 -14-

16. A mobile print delivery apparatus as claimed in claim 13, wherein said mobile print delivery apparatus further comprises: means for scanning documents to produce a digitized image thereof; and means for transferring said digitized image to said printer thereby making it a photocopier.

17. A mobile print delivery apparatus as claimed in claim 13, wherein said mobile print delivery apparatus further comprises: a video camera; and means for transmitting the output of said video camera to an office computer network.

18. A mobile print delivery apparatus as claimed in claim 13, wherein said means for specifying a print job comprises a multimedia user interface. 15

19 A mobile print delivery apparatus as claimed in claim 13, wherein each said mobile 0 print delivery apparatus further comprises: means for detecting the proximity of the remote user; and means for interacting with said user to indicate status.

20 20. A print delivery system substantially as described herein with reference to Figs. 1 0* and 2, or Figs. 2 and 3 of the accompanying drawings. *00

21. A mobile print delivery apparatus substantially as described herein with reference to Fig. 1 or Fig. 3 of the accompanying drawings. CFP01529AU Officeboyl 483006 o:\officeboy\officeboy01\483006 PWM