Mobile robotic system and battery charging method therefor

• US 20050231156A1
• Filed: 06/25/2004
• Published: 10/20/2005
• Est. Priority Date: 04/20/2004
• Status: Active Grant

• Current Assignee: Hunan Grand-Pro Robot Technology Co.,Ltd.
• Original Assignee: Jason Yan
• Inventors: Yan, Jason
• Granted Patent: US 7,352,153 B2
• Time in Patent Office: Days
• US Class Current: 320/107
• CPC Class Codes: A47L 2201/022 Recharging of batteries
• 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: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: H02J 7/0042 characterised by the mechanical construction

Abstract

A mobile robotic system includes a charging device and a mobile robot. The charging device is provided with a light emitter and a set of first charging contacts for supplying a charging signal. The mobile robot has a first side provided with a first light sensor, a second side provided with a second light sensor and a set of second charging contacts corresponding to the first charging contacts, a rechargeable battery unit, and a control unit. When charging of the battery unit is intended, the control unit enables movement of the mobile robot until the first light sensor detects light emitted by the light emitter, subsequently enables rotation of the mobile robot until the second light sensor detects the light from the light emitter, and then enables movement of the mobile robot toward the charging device until the first and second charging contacts come into contact.

Claims

1. A battery charging method for a mobile robotic system that includes a mobile robot and a charging device,

the charging device having one side provided with a light emitter and a set of first charging contacts for supplying a charging signal,

the mobile robot having a first side provided with a first light sensor, a second side provided with a second light sensor and a set of second charging contacts corresponding to the first charging contacts, and a rechargeable battery unit,

said battery charging method comprising:

a) when charging of the rechargeable battery unit is intended, moving the mobile robot until the first light sensor detects light emitted by the light emitter, and subsequently driving the mobile robot to rotate until the second light sensor detects the light emitted by the light emitter; and

b) while the second light sensor detects the light emitted by the light emitter, driving the mobile robot to move toward the charging device until the second charging contacts come into contact with the first charging contacts, thereby permitting charging of the rechargeable battery unit via the charging signal.

2. The battery charging method as claimed in claim 1, wherein step a) includes activating the first and second light sensors upon detection that a residual power level of the rechargeable battery unit is below a threshold value.

3. The battery charging method as claimed in claim 1, wherein step b) includes enabling the mobile robot to charge the rechargeable battery unit via the charging signal only upon verifying that the charging signal complies with a power specification of the rechargeable battery unit.

4. A mobile robotic system comprising:

a charging device having one side provided with a light emitter and a set of first charging contacts for supplying a charging signal; and

a mobile robot having a first side provided with a first light sensor, a second side provided with a second light sensor and a set of second charging contacts corresponding to said first charging contacts, a rechargeable battery unit, and a control unit coupled to said first and second light sensors, said second charging contacts and said rechargeable battery unit;

wherein, when charging of said rechargeable battery unit is intended, said control unit

enables movement of said mobile robot until said first light sensor detects light emitted by said light emitter,

subsequently enables rotation of said mobile robot until said second light sensor detects the light emitted by said light emitter, and

while said second light sensor detects the light emitted by said light emitter, enables movement of said mobile robot toward said charging device until said second charging contacts come into contact with said first charging contacts, thereby permitting charging of said rechargeable battery unit via the charging signal.

5. The mobile robotic system as claimed in claim 4, wherein said control unit activates said first and second light sensors upon detection that a residual power level of said rechargeable battery unit is below a threshold value.

6. The mobile robotic system as claimed in claim 4, wherein said control unit enables charging of said rechargeable battery unit via the charging signal only upon verifying that the charging signal complies with a power specification of said rechargeable battery unit.

7. The mobile robotic system as claimed in claim 4, wherein said light emitter is an infrared light emitter.

8. The mobile robotic system as claimed in claim 4, wherein said mobile robot is a robotic vacuum floor cleaner.

9. The mobile robotic system as claimed in claim 4, wherein said first charging contacts extend horizontally.

10. The mobile robotic system as claimed in claim 9, wherein said light emitter is disposed between said first charging contacts.

11. The mobile robotic system as claimed in claim 9, wherein said first charging contacts are curved contacts that are disposed horizontally.

12. The mobile robotic system as claimed in claim 4, wherein said first side of said mobile robot is a lateral side.

13. The mobile robotic system as claimed in claim 12, wherein said second side of said mobile robot is a rear side.

14. The mobile robotic system as claimed in claim 13, wherein said first light sensor is disposed on said first side proximate to said second side.

15. The mobile robotic system as claimed in claim 4, wherein said second light sensor is disposed between said second charging contacts.

16. The mobile robotic system as claimed in claim 15, wherein said second charging contacts are spaced apart vertically.

17. A mobile robot adapted for use with a charging device, the charging device having one side provided with a light emitter and a set of first charging contacts for supplying a charging signal, said mobile robot comprising:

a housing having a first side provided with a first light sensor, and a second side provided with a second light sensor and a set of second charging contacts corresponding to the first charging contacts;

a rechargeable battery unit disposed in said housing; and

a control unit coupled to said first and second light sensors, said second charging contacts and said rechargeable battery unit;

wherein, when charging of said rechargeable battery unit is intended, said control unit

enables movement of said mobile robot until said first light sensor is able to detect light emitted by the light emitter,

subsequently enables rotation of said mobile robot until said second light sensor is able to detect the light emitted by the light emitter, and

while said second light sensor detects the light emitted by the light emitter, enables movement of said mobile robot toward said charging device until said second charging contacts are able to come into contact with the first charging contacts, thereby permitting charging of said rechargeable battery unit via the charging signal.

18. The mobile robot as claimed in claim 17, wherein said control unit activates said first and second light sensors upon detection that a residual power level of said rechargeable battery unit is below a threshold value.

19. The mobile robot as claimed in claim 17, wherein said control unit enables charging of said rechargeable battery unit via the charging signal only upon verifying that the charging signal complies with a power specification of said rechargeable battery unit.

20. The mobile robot as claimed in claim 17, wherein said mobile robot is a robotic vacuum floor cleaner.

21. The mobile robot as claimed in claim 17, wherein said first side of said housing is a lateral side.

22. The mobile robot as claimed in claim 21, wherein said second side of said housing is a rear side.

23. The mobile robot as claimed in claim 22, wherein said first light sensor is disposed on said first side proximate to said second side.

24. The mobile robot as claimed in claim 17, wherein said second light sensor is disposed between said second charging contacts.

25. The mobile robotic system as claimed in claim 24, wherein said second charging contacts are spaced apart vertically.