Autonomous robot auto-docking and energy management systems and methods
DC CAFCFirst Claim
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1. A method of docking a robotic cleaning device with a base station that includes a plurality of signal emitters including a right signal emitter and a left signal emitter, the method comprising:
- directing the robotic cleaning device about a room at a first velocity;
detecting, by a sensor mounted on the robotic cleaning device, a right signal transmitted by the right signal emitter of the base station and a left signal transmitted by the left signal emitter of the base station;
controlling forward movement of the robotic cleaning device toward the base station at a second velocity less than the first velocity while orienting the robotic cleaning device in relation to the right signal and the left signal;
detecting contact with charging terminals on the base station;
stopping the forward movement of the robotic cleaning device in response to detecting contact with the charging terminals on the base station; and
charging a battery of the robotic cleaning device.
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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.
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Citations
26 Claims
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1. A method of docking a robotic cleaning device with a base station that includes a plurality of signal emitters including a right signal emitter and a left signal emitter, the method comprising:
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directing the robotic cleaning device about a room at a first velocity; detecting, by a sensor mounted on the robotic cleaning device, a right signal transmitted by the right signal emitter of the base station and a left signal transmitted by the left signal emitter of the base station; controlling forward movement of the robotic cleaning device toward the base station at a second velocity less than the first velocity while orienting the robotic cleaning device in relation to the right signal and the left signal; detecting contact with charging terminals on the base station; stopping the forward movement of the robotic cleaning device in response to detecting contact with the charging terminals on the base station; and charging a battery of the robotic cleaning device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. An autonomous cleaning robot, comprising:
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an undercarriage; a motive system configured to propel the undercarriage; an energy storage unit configured to be charged while the cleaning robot is positioned at a base charging station; and a navigational control system configured to autonomously; control the motive system to direct the cleaning robot about a room at a first velocity; control forward movement of the cleaning robot toward the base charging station at a second velocity less than the first velocity before completing a cleaning task in the room and in response to detecting a need to charge the energy storage unit; stop the forward movement of the cleaning robot to dock the cleaning robot to the base charging station; charge the energy storage unit with the cleaning robot docked at the base charging station; and control the motive system to direct the cleaning robot to continue to clean the room at the first velocity. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 25)
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21. An autonomous cleaning robot, comprising:
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an undercarriage; a motive system configured to propel the undercarriage; an energy storage until supported by the undercarriage and configured to be charged while the cleaning robot is positioned at a base charging station; and a navigational control system configured to autonomously; control the motive system to direct the cleaning robot about a room at a first velocity; control forward movement of the cleaning robot toward the base charging station at a second velocity less than the first velocity in response to detecting a need to charge the energy storage unit; stop the forward movement of the cleaning robot to dock the cleaning robot to the base charging station; and charge the energy storage with the cleaning robot docked at the base charging station. - View Dependent Claims (22, 23, 24, 26)
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Specification