AUTONOMOUS ROBOT AUTO-DOCKING AND ENERGY MANAGEMENT SYSTEMS AND METHODS

• US 20150057800A1
• Filed: 09/03/2014
• Published: 02/26/2015
• Est. Priority Date: 01/21/2004
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Cohen, David A., Ozick, Daniel N., Vu, Clara, Lynch, James, Mass, Philip R.
• Granted Patent: US 9,215,957 B2
• Time in Patent Office: Days
• US Class Current: 700/258
• 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 robotic device comprising at least one energy storage unit and a signal detector, the method comprising the steps of:

providing a base station for mating with the robotic device, the base station comprising a plurality of signal emitters including a first signal emitter and a second signal emitter;

determining a quantity of energy stored in the energy storage unit, the quantity characterized at least by a high energy level and a low energy level; and

performing, by the robotic device, a predetermined task based at least in part on the quantity of energy stored.

2. The method of claim 1 wherein the step of determining a quantity of energy stored comprises using coulometry.

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

4. The method of claim 1 wherein the step of performing the predetermined task occurs when the quantity of energy stored exceeds the high energy level, the predetermined task comprising movement of the robotic device away from the base station in response to reception, by the signal detector, of a base station avoidance signal.

5. The method of claim 1 further comprising the step of returning the robotic device to the base station in response to reception, by the signal detector, of a base station homing signal.

6. The method of claim 5 wherein the step of returning the robotic device to the base station occurs when the quantity of energy stored is less than the high energy level.

7. The method of claim 5 wherein the step of returning the robotic device to the base station occurs when the quantity of energy stored is less than the low energy level, and wherein the predetermined task comprises a reduction in energy use by the robotic device.

8. The method of claim 7 wherein the predetermined task further comprises altering a travel characteristic of the robotic device.

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

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

11. A method of docking a robotic device with a base station comprising a plurality of signal emitters including a first signal emitter and a second signal emitter, the method comprising the steps of:

orienting the robotic device in relation to (i) a first signal transmitted by the first signal emitter and (ii) a second signal transmitted by the second signal emitter; and

maintaining an orientation of the robotic device relative to the first and second signals as the robotic device approaches to the base station.

12. The method of claim 11 further comprising the steps of:

detecting, by the robotic device, an overlap between the first signal and the second signal;

following, by the robotic device, a path defined at least in part by the signal overlap; and

docking the robotic device with the base station.

13. The method of claim 12 wherein the step of following the path defined at least in part by the signal overlap comprises reducing velocity of the robotic device.

14. The method of claim 12 wherein the step of docking the robotic device with the base station comprises:

detecting, by the robotic device, contact with charging terminals on the base station; and

stopping movement of the robotic device.

15. The method of claim 14 further comprising the step of charging the robotic device.

16. The method of claim 15 wherein the step of charging the robotic device comprises a plurality of charging levels.

17. An autonomous system comprising a base station comprising:

charging terminals for contacting an external terminal of a robotic device; and

a first signal emitter and a second signal emitter.

18. The autonomous system of claim 17 wherein the first signal emitter transmits a base station avoidance signal.

19. The autonomous system of claim 17 wherein the second signal emitter transmits a base station homing signal.

20. The autonomous system of claim 19 wherein the homing signal comprises a pair of signals.

21. The autonomous system of claim 20 wherein the pair of signals comprise a first signal and a second different signal.

22. The autonomous system of claim 21 wherein the first signal and the second signal overlap.

23. The autonomous system of claim 17 wherein the first signal emitter and the second signal emitter transmit at least one optical signal.

24. The autonomous system of claim 17 further comprising a robotic device for performing a predetermined task, the robotic device comprising:

at least one energy storage unit with external terminals for contacting the charging terminals; and

at least one signal detector.

25. The autonomous system of claim 24 wherein the at least one signal detector is adapted to detect at least one optical signal.

26. A method of charging a battery of a device, the method comprising the steps of:

providing low energy to charging terminals of a charger;

detecting presence of the device by monitoring at least one of a predetermined change in and a predetermined magnitude of a parameter associated with the charger; and

increasing energy to the charging terminals to charge the battery.

27. The method according to claim 26, further comprising the steps of:

determining a level of charge in the device; and

permitting charging of the battery in the device when the level of charge is below a predetermined threshold.

28. A system for charging a mobile device, the system comprising:

a stationary charger comprising a plurality of first charging terminals;

circuitry for detecting presence of the device by monitoring at least one of a predetermined change in and a predetermined magnitude of a parameter associated with the charger; and

a mobile device comprising;

a battery; and

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

29. The system of claim 28, wherein the circuitry determines a level of charge in the battery and controls an power level provided to the first charging terminals.

30. The system of claim 29 wherein the circuitry increases the power level provided to the first charging terminals upon measuring a predetermined voltage across the first charging terminals when mated with the second charging terminal.