Robot docking station and robot for use therewith

• US 9,606,541 B2
• Filed: 05/27/2010
• Issued: 03/28/2017
• Est. Priority Date: 02/03/2004
• Status: Active Grant

• Current Assignee: Mtd Products Incorporated (Stanley Black & Decker, Inc.)
• Original Assignee: F Robotics Acquisitions Ltd. (Stanley Black & Decker, Inc.)
• Inventors: Abramson, Shai
• Primary Examiner(s): Nguyen, John Q
• Assistant Examiner(s): King, Rodney P
• Application Number:
  US12/788,489
• Publication Number:
  US 20110130875A1
• Time in Patent Office: 2,497 Days
• Field of Search: 414/331.07, 320/109, 318/587, 318/568.1, 700/245
• US Class Current: 1/1
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: A47L 2201/00 Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
• CPC Class Codes: A47L 2201/02 Docking stations; Docking operations
• CPC Class Codes: A47L 2201/022 Recharging of batteries
• 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 9/2873 Docking units or charging stations for autonomous or robotic vacuum cleaners A47L2201/02
• CPC Class Codes: A47L 9/2884 Details of arrangements of batteries or their installation
• CPC Class Codes: A47L 9/2894 Details related to signal transmission in suction cleaners
• 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 1/0265 using buried wires
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: H01R 13/6315 allowing relative movement between coupling parts, e.g. floating connection for coupling devices specially adapted for printed circuits, flat or ribbon cables, or like generally planar structures, H01R12/91 takes precedence

Abstract

A docking station (20) and a robot (22) for docking therein, include corresponding transmission parts. These transmission parts are for the transmission of energy, such as electricity, for recharging the robot (22), and/or signals, for operating the robot (22), the energy and/or signals passing between the docking station and the robot (22). The docking station (20) and robot (22) are such that the docking of the robot (22) in the docking station (20) is at a horizontal orientation, as the transmission part on the robot (22) includes laterally protruding docking contacts that contact corresponding laterally oriented contact arms of the docking station (20).

Claims

1. A robot comprising:

a movement system for moving the robot over a surface;

a power supply for the robot, adapted to be electrically charged and for supplying electrical power to the movement system;

at least one magnetic contact extending from the robot, the at least one magnetic contact being electrically conductive for receiving and conducting electricity through the at least one magnetic contact for the power supply;

a control system in communication with the at least one magnetic contact;

the power supply in communication with the control system and in electrical communication with the at least one magnetic contact, and, the control system is configured for permitting charging of the power supply through the at least one magnetic contact; and

,

the at least one magnetic contact of a magnetic strength for;

     1) bringing the robot into a magnetic engagement including both a physical contact and an electrical contact with an electrically conductive portion of a charger for charging the power supply, the magnetic engagement through which the power supply of the robot is charged, and,

     2) maintaining the magnetic engagement at least during the charging of the power supply.

2. The robot of claim 1, wherein the at least one magnetic contact extends laterally from the robot.

3. The robot of claim 2, wherein the control system is configured for permitting charging of the power supply through the at least one magnetic contact, when at least a threshold voltage of approximately 25 volts is detected on the at least one magnetic contact.

4. The robot of claim 2, wherein the at least one magnetic contact includes two magnetic contacts.

5. The robot of claim 4, wherein the control system is configured for permitting charging of the power supply through the magnetic contacts when a predetermined voltage on the magnetic contacts is detected.

6. The robot of claim 1, wherein the movement system includes a first wheel on a slidably mounted mechanism, the slidably mounted mechanism configured such that when the first wheel drops a predetermined distance, the control system slows movement of the robot.

7. The robot of claim 1, wherein the movement system includes a first wheel on a slidably mounted mechanism, the slidably mounted mechanism configured such that when the first wheel drops a predetermined distance, the control system stops movement of the robot.

8. A docking station comprising:

a portion configured for receiving a robot;

a receptor mechanism coupled to the robot receiving portion for receiving at least one magnetic docking contact extending from the robot, the at least one magnetic docking contact being electrically conductive;

a system for providing electricity to the robot for charging at least one power supply of the robot through the at least one magnetic docking contact, the system coupled to the receptor mechanism; and

, the receptor mechanism being magnetic and configured for conducting electricity, and for magnetically and electrically contacting the at least one magnetic docking contact of the robot and transmitting electricity therethrough, and the receptor mechanism for bringing the robot into a magnetic engagement through which the docking station charges the at least one power supply of the robot, and, the magnetic engagement including both a physical contact and an electrical contact between the receptor mechanism and the at least one magnetic docking contact of the robot.

9. The docking station of claim 8, wherein the receptor mechanism is configured for contacting two magnetic docking contacts on the robot.

10. The docking, station of claim 9, wherein the receptor mechanism includes oppositely disposed contact arms, each of the contact arms configured for electrical contact with each of the magnetic docking contacts of the robot.

11. The docking station of claim 10, wherein system for providing energy provides electricity to the contact arms at a predetermined voltage.

12. The docking station of claim 11, wherein the predetermined voltage is a voltage that causes the control system of a robot to recognize docking between the robot and the docking station to initiate charging of the robot.

13. The docking station of claim 9, wherein the receptor mechanism includes oppositely disposed contact arms, each of the contact arms configured for magnetic contact with each of the magnetic docking contacts of the robot.

14. The docking station of claim 8, additionally comprising:

a control system in communication with the energy providing system, the control system configured for communication with at least one tap of an irrigation system, and the control system is coupled with the receptor mechanism and the at least one tap configured for sending a signal to the control system for activating a robot docked in the docking station, the control system sending a corresponding signal for activating the robot through the receptor mechanism and the at least one magnetic docking contact.

15. The docking station of claim 14, wherein the control system includes a perimeter signal unit for placing a signal in at least one segment of a wire electrically coupled to the perimeter signal unit.

16. The docking station of claim 15, wherein the perimeter signal unit emits an electromagnetic signal.

17. The docking station of claim 8, wherein the portion configured for receiving a robot includes an inclined section and a valley at least partially within the inclined section, the valley configured for accommodating at least one wheel of a robot and the inclined section of a height such that the at least one wheel of the robot can drop a predetermined distance, such that control system of the robot stops movement of the robot.

18. A docking station comprising:

a portion configured for receiving a robot;

a receptor mechanism coupled to the robot receiving portion; and

a controller for coupling with at least one tap of an irrigation system, and the controller is coupled to the receptor mechanism, the receptor mechanism configured for being in at least electrical contact with at least one magnetic and electrically conductive docking contact extending from the robot, when the robot is docked in the docking station, and the controller, upon receiving a signal from the at last one tap, is configured for sending a signal to a robot docked in the docking station, through the receptor mechanism, for electrical transmission through the at least one magnetic docking contact, for initiating operation of the robot.

19. The docking station of claim 18, wherein the controller is configured for sending a signal to the robot docked in the docking station for initiating operation of the robot at predetermined intervals.

20. The docking station of claim 19, additionally comprising:

a system for providing electricity to a robot for charging at least one power supply of the robot, the system for providing electricity in communication with the receptor mechanism, and for providing electricity to the robot when the at least one magnetic docking contact of the robot is in contact with the receptor mechanism.

21. The docking station of claim 19, wherein the at least one magnetic docking contact on the robot includes at least two magnetic docking contacts on the robot in contact with the receptor mechanism.

22. The docking station of claim 21, wherein the receptor mechanism includes oppositely disposed contact arms, each of the contact arms configured for electrical contact with each of the magnetic docking contacts of the robot.

23. The docking station of claim 22, wherein system for providing energy provides electricity to the contact arms at a predetermined voltage sufficient to cause the control system of a robot to recognize docking between the robot and the docking station to initiate charging of the robot.

24. The docking station of claim 21, wherein the receptor mechanism includes oppositely disposed contact arms, each of the contact arms configured for magnetic contact with each of the magnetic docking contacts of the robot.

25. The docking station of claim 18, wherein the portion configured for receiving a robot includes an inclined section and a valley at least partially within the inclined section, the valley configured for accommodating at least one wheel of a robot and the inclined section of a height such that the at least one wheel of the robot can drop a predetermined distance, such that control system of the robot slows movement of the robot.

26. The docking station of claim 18, wherein the portion configured for receiving a robot includes an inclined section and a valley at least partially within the inclined section, the valley configured for accommodating at least one wheel of a robot and the inclined section of a height such that the at least one wheel of the robot can drop a predetermined distance, such that control system of the robot stops movement of the robot.

27. A robot comprising:

a movement system for moving the robot over a surface;

a power supply adapted to be electrically charged and for supplying electrical power to the movement system; and

at least one magnetic contact for communicating with a transmission part of a docking station, the at least one magnetic contact extending laterally from the robot and being magnetic and electrically conductive, and in electrical communication with the power supply of the robot, the at least one magnetic contact for facilitating magnetic and electrical communication with the transmission part, the magnetic contact through which the power supply of the robot is charged when the movement system moves the robot into a position for docking in the docking station, and, the magnetic contact providing forces for bringing the robot into a magnetic engagement with the transmission part of the docking station, the magnetic contact through which the docking station electrically charges the power supply of the robot, and, the magnetic engagement maintaining the docking position of the robot in the docking station when the power supply of the robot is being charged.

28. The robot of claim 27, wherein the at least one magnetic contact facilitates the passing of signals to the robot and the receipt of signals by the robot for controlling the robot.

29. The robot of claim 28, wherein the at least one magnetic contact includes two contacts.

30. The robot of claim 29, wherein the transmission part includes two oppositely disposed conductive arms, each of the arms being adapted for electrical and magnetic contact with at least one of the magnetic contacts of the robot.