DOCKING PROCESS FOR RECHARGING AN AUTONOMOUS MOBILE DEVICE
First Claim
1. A mobile robot, comprising:
- a depth sensor;
a drive system;
a processor; and
a memory that comprises a plurality of components that are executable by the processor, the components comprising;
an image generator component that causes the depth sensor to generate an image of a docking station for the robot, the image indicative of three-dimensional shape of the docking station;
a comparer component that outputs a signal that is indicative of similarity between the image of the docking station with a previously captured image of the docking station, the previously captured image of the docking station being indicative of the three-dimensional shape of the docking station; and
a drive component that controls the drive system to cause the robot to autonomously dock in the docking station based at least in part upon the signal output by the comparer component.
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Accused Products
Abstract
Described herein are technologies pertaining to autonomously docking a mobile robot at a docking station for purposes of recharging batteries of the mobile robot. The mobile robot uses vision-based navigation and a known map of the environment to navigate toward the docking station. Once sufficiently proximate to the docking station, the mobile robot captures infrared images of the docking station, and granularly aligns itself with the docking station based upon the captured infrared images of the docking station. As the robot continues to drive towards the docking station, the robot monitors infrared sensors for infrared beams emitted from the docking station. If the infrared sensors receive the infrared beams, the robot continues to drive forward until the robot successfully docks with the docking station.
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Citations
20 Claims
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1. A mobile robot, comprising:
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a depth sensor; a drive system; a processor; and a memory that comprises a plurality of components that are executable by the processor, the components comprising; an image generator component that causes the depth sensor to generate an image of a docking station for the robot, the image indicative of three-dimensional shape of the docking station; a comparer component that outputs a signal that is indicative of similarity between the image of the docking station with a previously captured image of the docking station, the previously captured image of the docking station being indicative of the three-dimensional shape of the docking station; and a drive component that controls the drive system to cause the robot to autonomously dock in the docking station based at least in part upon the signal output by the comparer component. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method, comprising:
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causing an infrared camera in a robot to capture an infrared image of a docking station for the robot, the docking station configured to restore a power source of the robot; comparing the infrared image with a signature; identifying the docking station based at least in part upon the comparing of the infrared image with the signature; and causing the robot to drive towards the docking station responsive to identifying the docking station. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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20. A robot that comprises a computer-readable medium that includes instructions that, when executed by a processor in the robot, causes the processor to perform acts comprising:
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detecting that a power level in a power source that powers the robot is beneath a threshold; automatically navigating towards a known location of a docking station based at least in part upon one or more images captured by a camera on the robot and a map of an environment of the robot; estimating that the robot is within a first threshold distance from the docking station; causing an infrared camera to capture an infrared image at an estimated location of the docking station responsive to the estimating that the robot is within the first threshold distance from the docking station; comparing the infrared image with a previously generated signature of the docking station to determine a location of the docking station relative to the robot, wherein the previously generated signature is indicative of a three-dimensional shape of the docking station; causing the robot to drive towards the location of the docking station determined by comparing the infrared image with the previously generated signature of the docking station; estimating that the robot is within a second threshold distance of the docking station; monitoring an infrared light sensor on the robot for infrared light emitted from the docking station responsive to estimating that the robot is within the second threshold distance of the docking station; detecting that infrared light emitted from a light emitting diode on the docking station has been received by the infrared light sensor on the robot; and causing the robot to dock with the docking station responsive to detecting that the infrared light emitted from the light emitting diode on the docking station has been received by the infrared light sensor on the robot.
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Specification