Field deployable docking station for mobile robots

• US 10,054,950 B2
• Filed: 03/02/2016
• Issued: 08/21/2018
• Est. Priority Date: 03/09/2015
• Status: Active Grant

• Current Assignee: Saudi Arabian Oil Company (Government of Saudi Arabia)
• Original Assignee: Saudi Arabian Oil Company (Government of Saudi Arabia)
• Inventors: Carrasco Zanini, Pablo, Outa, Ali, Abdellatif, Fadl, Parrott, Brian, Patel, Sahejad, Trigul, Hassane, Amer, Ayman, Shehri, Ali
• Primary Examiner(s): Ngo, Brian
• Application Number:
  US15/058,311
• Publication Number:
  US 20160268823A1
• Time in Patent Office: 902 Days
• Field of Search: 320107, 320109, 320137
• CPC Class Codes: B60L 2200/40 Working vehicles
• CPC Class Codes: B60L 53/30 Constructional details of charging stations
• CPC Class Codes: B60L 53/68 Off-site monitoring or control, e.g. remote control
• CPC Class Codes: F17D 5/00 Protection or supervision of installations arrangements for protecting foundations E02D31/00; protecting pipes from damage or internal or external wear F16L57/00, against corrosion and scale F16L58/00; investigation of the fluid-tightness of structures G01M3/00
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: H02J 50/10 using inductive coupling
• CPC Class Codes: H02J 7/00 Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
• CPC Class Codes: H02J 7/342 The other DC source being a battery actively interacting with the first one, i.e. battery to battery charging with circuits for polarity protection H02J7/0034
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 90/12 Electric charging stations
• CPC Class Codes: Y02T 90/16 Information or communication technologies improving the operation of electric vehicles
• CPC Class Codes: Y02T 90/167 Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
• CPC Class Codes: Y04S 30/12 Remote or cooperative charging

Abstract

A deployable docking station for supporting at least one mobile robot is provided. The deployable docking station includes a housing and an anchor connected to the housing. The anchor can engage with a surface to maintain the position of the deployable docking station. The deployable docking station is further configured to couple and decouple with the at least one mobile robot. The deployable docking station can be configured to selectively alternate between a first and second condition. In the first condition, the deployable docking station is coupled with the at least one mobile robot and the at least one mobile robot can transport the deployable docking station to a desired location on the surface. In the second condition, the deployable docking station is de-coupled from the at least one mobile robot.

Claims

1. A deployable docking station coupleable to at least one mobile robot to provide support services and at least one resource to the at least one mobile robot when coupled thereto by a coupling, the at least one mobile robot being of the type that is capable of traversing a surface, the deployable docking station comprising:

a housing;

an anchor connected to the housing configured to selectively engage with the surface,

wherein the deployable docking station is configured to alternate, selectively, between a first condition in which the at least one mobile robot and the deployable docking station are engaged via the coupling and the anchor is disengaged from the surface, wherein in the first condition the at least one mobile robot is configured to transport the deployable docking station to a desired location along the surface, and a second condition in which the at least one mobile robot and the deployable docking station are disengaged and the anchor is engaged with the surface, wherein in the second condition the at least one mobile robot is configured to move along the surface without the deployable docking station and the deployable docking station remains stationary at the desired location along the surface; and

a sensor attached to the housing and configured to confirm engagement of the anchor with the surface and engagement of the at least one mobile robot and the deployable docking station via the coupling during the alternations between the first and second conditions, and

wherein the alternation from the first condition to the second condition is controlled such that the deployable docking station cannot disengage from the at least one mobile robot absent confirmation by the sensor of engagement of the anchor with the surface.

2. The deployable docking station of claim 1, wherein the deployable docking station further comprises a control module comprising a non-transitory storage medium and a processor operatively coupled to the storage medium, the processor being configured to execute one or more software modules stored on the storage medium, wherein the control module is connected to the housing and configured to receive and transmit data from the at least one mobile robot.

3. The deployable docking station of claim 2, wherein the control module is configured to selectively alternate the deployable docking station between the first condition and the second condition via a signal from the control module to the at least one mobile robot.

4. The deployable docking station of claim 1, further comprising:

a tether connected to the housing, wherein the at least one resource is provided by the tether.

5. The deployable docking station of claim 1, further comprising:

an on-board supply source, wherein the at least one resource is provided by the on-board supply source.

6. The deployable docking station of claim 1, wherein the at least one resource is a consumable resource.

7. The deployable docking station of claim 6, wherein the consumable resource comprises at least one of power, air, pressurized air, gas, oil, fuel, paint or water.

8. The deployable docking station of claim 1, wherein the at least one resource is a nonconsumable resource.

9. The deployable docking station of claim 8, wherein the nonconsumable resource comprises at least one of a communication resource or an environmental protection feature.

10. The deployable docking station of claim 9, wherein the communication resource is provided via a communication protocol comprising at least one of Wi-Fi, RF, Zigbee, Serial UART, SPI, or i2c.

11. The deployable docking station of claim 1, wherein the deployable docking station further comprises at least one of a Wi-Fi router, a signal repeater, or an access point.

12. The deployable docking station of claim 1, wherein the engagement between the anchor and the surface is at least one of magnetic adhesion, electromagnetic adhesion, vacuum adhesion, suction adhesion, electrostatic adhesion, dry adhesion, or friction-based adhesion.

13. The deployable docking station of claim 1, wherein the anchor comprises one or more permanent magnets.

14. The deployable docking station of claim 13, further comprising an adjustable mount on the anchor, wherein positioning of the one or more permanent magnets on the anchor is adjustable.

15. The deployable docking station of claim 13, wherein the deployable docking station further comprises an electro-magnet connected to the housing to counteract the effect of the one or more permanent magnets to disengage the anchor from the surface.

16. The deployable docking station of claim 13, wherein the magnetic flux circuit created by the one or more permanent magnets can be short circuited via a signal from the deployable docking station to disengage the anchor from the surface.

17. The deployable docking station of claim 1, wherein the coupling is a passive coupling mechanism.

18. The deployable docking station of claim 1, wherein the coupling is an active coupling mechanism.

19. The deployable docking station of claim 1, wherein the engagement between the deployable docking station and the at least one mobile robot via the coupling is at least one of magnetic coupling, mechanical coupling, electrical coupling, or electromechanical coupling.

20. The deployable docking station of claim 1, wherein the engagement between the deployable docking station and the at least one mobile robot via the coupling is sparkless.

21. The deployable docking station of claim 20, wherein the engagement between the deployable docking station and the at least one mobile robot via the coupling is via an inductive wireless coupling.

22. The deployable docking station of claim 1, wherein the engagement between the deployable docking station and the at least one mobile robot via the coupling results in the transfer of power from the deployable docking station to the mobile robot.

23. The deployable docking station of claim 1, wherein the deployable docking station further comprises a support connected to the housing, wherein the support is capable of engaging the surface.

24. The deployable docking station of claim 23, wherein the support comprises three support members each capable of engaging the surface.

25. The deployable docking station of claim 24, wherein the support members further include wheels that engage the surface.

26. The deployable docking station of claim 1, wherein the deployable docking station comprises a re-chargeable battery.

27. The deployable docking station of claim 1, wherein the deployable docking station further comprises an actuator connected to the housing and configured to shift the docking station vertically relative to the at least one mobile robot to correct misalignment between the deployable docking station and the at least one mobile robot during coupling.

28. The deployable docking station of claim 1, wherein the deployable docking station has a locomotion system independent of the at least one mobile robot.

29. The deployable docking station of claim 1, wherein the deployable docking station includes one or more solar panels connected to the housing, the solar panels being capable of generating power for at least the deployable docking station.

30. The deployable docking station of claim 1, wherein the deployable docking station is configured to emit a signal that is capable of being received by the at least one mobile robot to assist the at least one mobile robot in locating the deployable docking station.

31. The deployable docking station of claim 30, wherein the signal is at least one of a visible light source, infrared light source, radio signal, or GPS signal.

32. The deployable docking station of claim 1, wherein the deployable docking station further comprises an inspection probe connected to the housing.

33. The deployable docking station of claim 32, wherein the inspection probe provides calibration data to the at least one mobile robot.

34. The deployable docking station of claim 1, wherein the alternation from the second condition to the first condition is controlled such that the anchor cannot disengage from the surface absent confirmation by the sensor of engagement of the deployable docking station with the at least one mobile robot.

35. A deployable docking station coupleable to at least one mobile robot to provide support services and at least one resource to the at least one mobile robot when coupled thereto by a coupling, the at least one mobile robot being of the type that is capable of traversing a surface, the deployable docking station comprising:

a housing;

an anchor connected to the housing configured to selectively engage with the surface,

wherein the deployable docking station is configured to alternate, selectively, between a first condition in which the at least one mobile robot and the deployable docking station are engaged via the coupling and the anchor is disengaged from the surface, wherein in the first condition the at least one mobile robot is configured to transport the deployable docking station to a desired location along the surface, and a second condition in which the at least one mobile robot and the deployable docking station are disengaged and the anchor is engaged with the surface, wherein in the second condition the at least one mobile robot is configured to move along the surface without the deployable docking station and the deployable docking station remains stationary at the desired location along the surface; and

a sensor attached to the housing and configured to confirm engagement of the anchor with the surface and engagement of the at least one mobile robot and the deployable docking station via the coupling during the alternations between the first and second conditions, and

wherein the alternation from the second condition to the first condition is controlled such that the anchor cannot disengage from the surface absent confirmation by the sensor of engagement of the deployable docking station with the at least one mobile robot.

36. The deployable docking station of claim 35, wherein the deployable docking station further comprises:

a control module comprising a non-transitory storage medium; and

a processor operatively coupled to the storage medium, the processor being configured to execute one or more software modules stored on the storage medium,

wherein the control module is connected to the housing and configured to receive and transmit data from the at least one mobile robot, and

wherein the control module is configured to selectively alternate the deployable docking station between the first condition and the second condition via a signal from the control module to the at least one mobile robot.

37. The deployable docking station of claim 35, wherein the engagement between the anchor and the surface is at least one of magnetic adhesion, electromagnetic adhesion, vacuum adhesion, suction adhesion, electrostatic adhesion, dry adhesion, or friction-based adhesion.

38. The deployable docking station of claim 35, wherein the deployable docking station further comprises an actuator connected to the housing and configured to shift the docking station vertically relative to the at least one mobile robot to correct misalignment between the deployable docking station and the at least one mobile robot during coupling.

39. The deployable docking station of claim 35, wherein the deployable docking station has a locomotion system independent of the at least one mobile robot.