ROBOT BATTERY CHARGING APPARATUSES AND METHODS
First Claim
1. A method of charging a battery of a robot comprising:
- providing a robot battery charging apparatus comprising a plurality of charging terminals;
providing a robot comprising a plurality of battery terminals configured to contact the plurality of charging terminals of the robot battery charging apparatus;
moving the robot into an engagement position with the robot battery charging apparatus such that the plurality of battery charging terminals contact the plurality of charging terminals;
detecting whether each battery terminal contacts a corresponding charging terminal in accordance with a first terminal contact condition;
detecting whether each battery terminal contacts the corresponding charging terminal in accordance with a second terminal contact condition;
detecting whether each battery terminal contacts the corresponding charging terminal in accordance with a third terminal contact condition; and
providing charging power to the battery from the robot battery charging apparatus through one or more of the battery and charging terminals upon a verification that all of the battery terminals contacted the corresponding charging terminals in accordance with at least two of the first, second and third terminal contact conditions.
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Accused Products
Abstract
Systems and methods for charging a battery of a robot are provided. In one embodiment, a method includes providing a robot battery charging apparatus having a plurality of charging terminals, providing a robot having a plurality of battery terminals, and moving the robot into an engagement position with the robot battery charging apparatus such that the plurality of battery charging terminals contact the plurality of charging terminals. The method further includes detecting whether each battery terminal contacts the corresponding charging terminal in accordance with a first, second and third terminal contact condition. The method further includes providing power to the battery from the robot battery charging apparatus through one or more of the battery and charging terminals upon a verification that all of the battery terminals contacted the corresponding charging terminals in accordance with at least two of the first, second and third terminal contact conditions.
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Citations
20 Claims
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1. A method of charging a battery of a robot comprising:
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providing a robot battery charging apparatus comprising a plurality of charging terminals; providing a robot comprising a plurality of battery terminals configured to contact the plurality of charging terminals of the robot battery charging apparatus; moving the robot into an engagement position with the robot battery charging apparatus such that the plurality of battery charging terminals contact the plurality of charging terminals; detecting whether each battery terminal contacts a corresponding charging terminal in accordance with a first terminal contact condition; detecting whether each battery terminal contacts the corresponding charging terminal in accordance with a second terminal contact condition; detecting whether each battery terminal contacts the corresponding charging terminal in accordance with a third terminal contact condition; and providing charging power to the battery from the robot battery charging apparatus through one or more of the battery and charging terminals upon a verification that all of the battery terminals contacted the corresponding charging terminals in accordance with at least two of the first, second and third terminal contact conditions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A robot battery charging system comprising:
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a robot comprising a battery and a plurality of battery charging terminals positioned on the robot and electrically coupled to the battery; and a robot battery charging apparatus comprising a battery charging unit, a plurality of charging terminals, and a controller; wherein; the plurality of charging terminals is configured to contact the plurality of corresponding battery terminals when the robot and the robot battery charging apparatus are in an engagement position; and the controller is configured to; determine whether each battery terminal contacts a corresponding charging terminal in accordance with a first terminal contact condition; determine whether each battery terminal contacts the corresponding charging terminal in accordance with a second terminal contact condition; determine whether each battery terminal contacts the corresponding charging terminal in accordance with a third terminal contact condition; and control the battery charging unit such that a charging power is provided to the robot battery from the battery charging unit through one or more of the battery and charging terminals upon a verification that all of the battery terminals contacted the corresponding charging terminals in accordance with at least two of the first, second and third terminal contact conditions. - View Dependent Claims (11, 12, 13, 14)
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15. A robot battery charging apparatus comprising a battery charging unit, a plurality of charging terminals, and a plurality of electronic control units, wherein:
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each of the electronic control units are associated with an individual one of the plurality of charging terminals; the plurality of charging terminals is configured to contact a corresponding plurality of battery terminals positioned on a robot and electrically coupled to a robot battery; each of the plurality of electronic control units further comprise; a force sensing circuit operable to measure a contact force value of an associated battery terminal pressed against a corresponding charging terminal; a contact timing circuit operable to detect a physical contact between the associated battery terminal and the corresponding charging terminal, and determine a time value corresponding to the physical contact; and an impedance sensing circuit operable to measure a terminal impedance value at the corresponding charging terminal; and charging power is provided to the robot battery from the battery charging unit through one or more of the robot battery and charging terminals upon two or more of the following; the contact force values measured by each electronic control unit are within a valid contact force range; time lag values based on the determined time values for each electronic control unit are within a valid time lag value range; and the terminal impedance values measured by each electronic control unit are within a valid terminal impedance range. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification