Autonomous robot auto-docking and energy management systems and methods

• US 7,332,890 B2
• Filed: 01/21/2004
• Issued: 02/19/2008
• Est. Priority Date: 01/21/2004
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Lynch, James, Mass, Philip R., Vu, Clara, Cohen, David A., Ozick, Daniel
• Primary Examiner(s): Vu; Bao Q.
• Assistant Examiner(s): PIGGUSH, AARON C
• Application Number:
  US10/762,219
• Publication Number:
  US 20050156562A1
• Time in Patent Office: 1,490 Days
• Field of Search: 320/109, 700/262, 901/46
• US Class Current: 320/109
• CPC Class Codes: A47L 2201/02 Docking stations; Docking operations
• CPC Class Codes: A47L 2201/022 Recharging of batteries
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: A47L 9/0063 External storing devices; Stands, casings or the like for the storage of suction cleaners
• CPC Class Codes: A47L 9/009 Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
• CPC Class Codes: A47L 9/2805 Parameters or conditions being sensed
• CPC Class Codes: A47L 9/2852 Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
• CPC Class Codes: A47L 9/2857 User input or output elements for control, e.g. buttons, switches or displays
• CPC Class Codes: A47L 9/2873 Docking units or charging stations for autonomous or robotic vacuum cleaners A47L2201/02
• CPC Class Codes: A47L 9/2889 Safety or protection devices or systems, e.g. for prevention of motor over-heating or for protection of the user
• CPC Class Codes: A47L 9/2894 Details related to signal transmission in suction cleaners
• CPC Class Codes: B25J 11/0085 Cleaning
• CPC Class Codes: B25J 19/005 using batteries, e.g. as a back-up power source
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: B60L 53/14 Conductive energy transfer
• CPC Class Codes: G01S 1/16 Azimuthal guidance systems, e.g. system for defining aircraft approach path, localiser system
• CPC Class Codes: G01S 1/7034 Mounting or deployment thereof
• CPC Class Codes: G01S 1/7038 Signal details
• CPC Class Codes: G01S 2201/01 adapted for specific applications or environments
• CPC Class Codes: G05D 1/0219 : ensuring the processing of the whole working surface
• 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 1/0227 : using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0242 : using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: H02J 7/00 : Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
• CPC Class Codes: H02J 7/00309 : Overheat or overtemperature protection
• CPC Class Codes: H02J 7/0036 : using connection detecting circuits H02J7/0034 takes precedence
• CPC Class Codes: H02J 7/0044 : specially adapted for holding portable devices containing batteries H02J7/0045 takes precedence
• CPC Class Codes: H02J 7/0045 : concerning the insertion or the connection of the batteries
• CPC Class Codes: H02J 7/00714 : in response to battery charging or discharging current
• CPC Class Codes: H02J 7/007182 : in response to battery voltage
• CPC Class Codes: H02J 7/04 : Regulation of charging current or voltage
• 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 90/14 : Plug-in electric vehicles
• CPC Class Codes: Y10S 901/01 : Mobile robot

Abstract

A method for energy management in a robotic device includes providing a base station for mating with the robotic device, determining a quantity of energy stored in an energy storage unit of the robotic device, and performing a predetermined task based at least in part on the quantity of energy stored. Also disclosed are systems for emitting avoidance signals to prevent inadvertent contact between the robot and the base station, and systems for emitting homing signals to allow the robotic device to accurately dock with the base station.

Claims

1. A method for energy management in a robotic device, the method comprising the steps of:

providing a robotic device comprising at least one energy storage unit and a signal detector;

providing a base station for mating with the robotic device, the base station emitting a homing signal;

determining whether a quantity of energy stored in the energy storage unit is below one or both of a predetermined high energy level and a predetermined low energy level that is lower than predetermined high energy level;

performing, by the robotic device, a predetermined task based at least in part on whether the quantity of energy stored is below the predetermined high energy level or the predetermined low energy level;

the predetermined task comprising;

cleaning without seeking the homing signal when the quantity of energy is not below the high energy level;

cleaning while seeking the homing signal when the quantity of energy is below the high energy level;

seeking the homing signal without cleaning when the quantity of energy is below the low energy level; and

following the homing signal to return to the recharging base station when detecting the homing signal during seeking the homing signal.

2. The method of claim 1 wherein the step of determining comprises using coulometry.

3. The method of claim 1 wherein the step of determining comprises setting a time period.

4. The method of claim 1 further comprising while cleaning without seeking the homing signal, driving away from the base station in response to detecting a base station avoidance signal.

5. The method of claim 1 further comprising while seeking the homing signal without returning cleaning, to the base station in response to detecting a base station homing signal.

6. The method of claim 1, further comprising orienting the robotic device in relation to (i) a right signal transmitted by a right signal emitter of the base station and (ii) a left signal transmitted by a left signal emitter of the base station, according to signals received by an omni-directional sensor on the robotic device;

and

maintaining an orientation of the robotic device by;

when the right signal is received by the omni-directional sensor on the robotic device, moving the robotic device to keep the right signal to the right of the robot, and

when the left signal is received by the omni-directional sensor on the robotic device, moving the robotic device to keep the left signal to the left of the robot.

7. The method of claim 5 wherein seeking the homing signal without cleaning further includes altering a travel mode to follow a wall.

8. The method of claim 5 further comprising charging the robotic device.

9. The method of claim 8 further comprising the step of resuming the predetermined task.

10. The method of claim 1 further comprising while seeking the homing signal without cleaning, reducing energy use by removing power from some of the robotic device'"'"'s powered systems.

11. An autonomous robot system comprising:

a base station emitting a homing signal, and

a robot dockable to the base station;

wherein the robot is configured to compare a quantity of energy in an energy storage unit to a predetermined first level or a predetermined second level that is lower than the predetermined first level to perform;

cleaning without seeking the homing signal when the quantity of energy is above the predetermined first level;

cleaning while seeking the homing signal when the quantity of energy is below the predetermined first level;

seeking the homing signal without cleaning when the quantity of energy is below the predetermined second level; and

following the homing signal to the recharging base station, when detecting the homing signal during seeking the homing signal.

12. The system of claim 11, wherein the robot is configured to determine the quantity of energy in the energy storage unit using at least one of coulomtery and monitoring of a time period of use.

13. The system of claim 11, wherein the robot is configured to drive away from the base station in response to detecting an avoidance signal from the base station while cleaning without seeking the homing signal.

14. The system of claim 11, wherein the robot is configured to reduce energy use by removing power from some of the robotic device'"'"'s powered systems while seeking the homing signal without cleaning.

15. The system of claim 11, wherein the robot is configured to follow a wall while seeking the homing signal without cleaning.

16. The system of claim 11, wherein the robot further comprises an omni-directional sensor and the base station further comprises a right signal emitter and a left signal emitter for transmitting corresponding right and left signals;

and

wherein the robot is configured to maintain an orientation by;

moving to keep the right signal to the right of the robot when the right signal is received by theomni-directional sensor, and

moving to keep the left signal to the left of the robot when the left signal is received by the omni-directional sensor.

17. The system of claim 11, wherein the base station further comprises:

a plurality of first charging terminals; and

circuitry for confirming a presence of the robot at the charging terminals by recognizing a load formed by a circuit in the base station combined with a complementary circuit in the robot; and

wherein the robot further comprises;

a battery; and

a plurality of second charging terminals adapted to mate with the first charging terminals.

18. The system of claim 17, wherein the circuitry of the base station is configured to increase energy to the charging terminals to a charging current upon confirmation of a presence of a robotic device docked with the base station.