Vehicle docking and control systems for robots

• US 10,562,432 B2
• Filed: 08/01/2016
• Issued: 02/18/2020
• Est. Priority Date: 08/01/2016
• Status: Active Grant

• Current Assignee: Toyota Motor Engineering & Manufacturing North America Incorporated (Toyota Motor Corporation)
• Original Assignee: Toyota Motor Engineering & Manufacturing North America Incorporated (Toyota Motor Corporation)
• Inventors: Chelian, Suhas E.
• Primary Examiner(s): Lonsberry, Hunter B
• Assistant Examiner(s): Gordon, Mathew Franklin
• Application Number:
  US15/225,709
• Publication Number:
  US 20180029516A1
• Time in Patent Office: 1,296 Days
• CPC Class Codes: B25J 11/008 Manipulators for service tasks
• CPC Class Codes: B60L 53/14 Conductive energy transfer
• CPC Class Codes: B60P 1/435 the ramp being attached to or making part of the side- or tailboards of the vehicle
• CPC Class Codes: B60P 1/5404 with a fixed base B60P1/5485 takes precedence
• 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 90/14 Plug-in electric vehicles
• CPC Class Codes: Y02T 90/16 Information or communication technologies improving the operation of electric vehicles

Abstract

A vehicle for transporting and communicating with a robot includes a vehicle body and a robot dock mechanically coupled to the vehicle body and configured to mechanically couple the robot to the vehicle body. The vehicle also includes an input/output port configured to be electrically coupled to the robot. The vehicle also includes an electronic control unit (ECU) coupled to the input/output port and configured to transmit a signal to the robot via the input/output port to at least one of program the robot or control the robot.

Claims

1. A vehicle for transporting and communicating with a robot comprising:

a vehicle body;

a robot dock mechanically coupled to the vehicle body and configured to mechanically couple the robot to the vehicle body;

a vehicle power source configured to at least one of store or generate power to propel the vehicle;

an input device configured to receive user input corresponding to a mission to be performed by the robot;

an input/output port configured to be electrically coupled to the robot; and

an electronic control unit (ECU) coupled to the input/output port and the power source, and configured to;

at least partially control the vehicle power source to generate the power to propel the vehicle during movement of the vehicle,

predict a mission amount of power corresponding to an amount of power to be used by the robot to complete the mission,

determine a robot charging event when a current battery charge level of a robot battery of the robot is less than the mission amount of power,

transfer power from the vehicle power source of the vehicle to the robot battery to cause the current power level of the robot battery to reach or exceed the mission amount of power in response to determining the robot charging event,

transmit the mission to the robot via the input/output port to cause the robot to perform the mission,

determine or predict a route or a route set to be traveled by the vehicle,

determine or predict a route amount of power corresponding to an amount of power to be used by the vehicle power source to complete the route or the route set,

determine a vehicle charging event when the route amount of power is greater than a current vehicle power level of the vehicle power source, and

transfer at least some power from the robot battery to the vehicle power source in response to determining the vehicle charging event.

2. The vehicle of claim 1 wherein the input/output port includes at least one of a wired port configured to be electrically coupled to the robot when the robot is mechanically coupled to the vehicle body or a wireless port configured to be electrically coupled to the robot when the robot is mechanically coupled to the vehicle body and when the robot is at a location remote from the vehicle.

3. The vehicle of claim 1 wherein the robot dock includes an arm having a pincher configured to extend around at least a portion of a circumference of the robot and a first actuator coupled to the pincher and configured to actuate the pincher between a coupled position in which the pincher resists separation of the robot from the robot dock and an uncoupled position in which the robot is free to move relative to the pincher.

4. The vehicle of claim 3 wherein the robot dock further includes a second actuator coupled to the arm and configured to actuate the arm from a lifted position in which the robot is lifted above a ground surface when the robot is coupled to the robot dock and a grounded position in which the robot is in contact with the ground surface when the robot is coupled to the robot dock.

5. The vehicle of claim 3 wherein the input/output port is coupled to the pincher and configured to be physically connected to the robot when the pincher is in the coupled position.

6. The vehicle of claim 1 wherein the robot dock includes a trailer having at least one wheel configured to support the trailer, a platform configured to support the robot, and a ramp configured to be positioned in a loading position in which the ramp is in contact with a ground surface and the platform and a storage position in which the ramp is separated from the ground surface and still in contact with the platform.

7. The vehicle of claim 6 wherein the trailer further includes an actuator coupled to the ramp and configured to actuate the ramp between the loading position and the storage position.

8. The vehicle of claim 6 further comprising at least one of a convertible cover or a moveable cover configured to at least partially cover the robot when the robot is coupled to the vehicle body.

9. The vehicle of claim 1 wherein the ECU is further configured to at least one of program the robot or control the robot based on the received user input.

10. The vehicle of claim 1 wherein the ECU is further configured to monitor the current battery charge level of the robot battery and to control the vehicle power source to transfer power to the robot battery based on the current battery charge level of the robot battery.

11. A docking station for docking a robot to a vehicle comprising:

a robot dock configured to be mechanically coupled to a vehicle body of the vehicle and to the robot;

a communication port coupled to the robot dock and configured to be electrically coupled to an electronic control unit (ECU) of the vehicle, to be electrically coupled to the robot, to transmit a signal from the ECU to the robot to at least one of program the robot or control the robot, and to transmit a current battery charge level of a robot battery of the robot to the ECU of the vehicle, the ECU being configured to;

predict a mission amount of power corresponding to an amount of power to be used by the robot to perform a mission,

determine a robot charging event when the current battery charge level of the robot battery is less than the mission amount of power,

determine or predict a route or a route set to be traveled by the vehicle,

determine or predict a route amount of power corresponding to an amount of power to be used by the vehicle power source to complete the route or the route set,

determine a vehicle charging event when the route amount of power is greater than a current vehicle power level of the vehicle power source, and

control a vehicle power source to generate power to propel the vehicle; and

a power port coupled to the robot dock and configured to be electrically coupled to a vehicle power source of the vehicle that is used to propel the vehicle, to be electrically coupled to the robot battery, and to facilitate power transfer from the vehicle power source to the robot battery in response to the robot charging event and to facilitate power transfer of at least some power from the robot battery to the vehicle power source in response to the vehicle charging event.

12. The docking station of claim 11 wherein the robot dock includes an arm having a pincher configured to extend around at least a portion of a circumference of the robot and a first actuator coupled to the pincher and configured to actuate the pincher between a coupled position in which the pincher resists separation of the robot from the robot dock and an uncoupled position in which the robot is free to move relative to the pincher.

13. The docking station of claim 11 wherein the robot dock includes a trailer having at least one wheel configured to support the trailer, a platform configured to support the robot, and a ramp configured to be positioned in a loading position in which the ramp is in contact with a ground surface and the platform and a storage position in which the ramp is separated from the ground surface and still in contact with the platform.

14. The docking station of claim 13 wherein the trailer further includes an actuator coupled to the ramp and configured to actuate the ramp between the loading position and the storage position.

15. The docking station of claim 13 further comprising at least one of a convertible cover or a moveable cover configured to at least partially cover the robot when the robot is coupled to the vehicle body.

16. The docking station of claim 11 wherein the robot dock is configured to be mechanically coupled to the vehicle body via a trailer hitch of the vehicle.

17. A method for controlling a robot by a vehicle comprising:

at least partially controlling, by an electronic control unit (ECU) of the vehicle, a power source of the vehicle to generate power to propel the vehicle during movement of the vehicle;

receiving, by an input device of the vehicle, user input corresponding to a request for the robot to perform a mission;

predicting, by the ECU, a mission amount of power corresponding to an amount of power to be used by the robot to complete the mission;

determining, by the ECU, a robot charging event when a current robot battery charge level of a robot battery of the robot is less than or equal to the mission amount of power;

controlling, by the ECU, the vehicle power source of the vehicle to transfer power to the robot battery based on the robot charging event;

programming, by the ECU, the robot to perform the mission;

instructing, by the ECU, the robot to begin performing the mission;

determining or predicting, by the ECU, a route of the vehicle;

determining or predicting, by the ECU, a route amount of power corresponding to an amount of power that the vehicle power source will use to complete the route;

determining, by the ECU, a current vehicle amount of power stored in the vehicle power source of vehicle;

determining, by the ECU, a vehicle charging event when the current vehicle amount of power is less than the route amount of power; and

controlling, by the ECU, the robot to transfer at least some power from the robot power source to the vehicle power source in response to determining the vehicle charging event.

18. The method of claim 17 further comprising:

monitoring, by the ECU, a status of the robot;

displaying, by an output device of the vehicle, the status of the robot;

receiving, by the input device of the vehicle, additional user input corresponding to a desired change in the mission; and

controlling, by the ECU, the robot to change the mission based on the additional user input.