Autonomous robot auto-docking and energy management systems and methods

• US 8,390,251 B2
• Filed: 08/06/2007
• Issued: 03/05/2013
• 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.
• Primary Examiner(s): Tso, Edward
• Assistant Examiner(s): PIGGUSH, AARON C
• Application Number:
  US11/834,575
• Publication Number:
  US 20070267998A1
• Time in Patent Office: 2,038 Days
• Field of Search: 320/109, 320/132, 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. Also disclosed are systems and methods for confirming a presence of a robotic device docked with a charger by recognizing a load formed by a circuit in the charger combined with a complementary circuit in the robotic device.

Claims

1. An autonomous robotic device responsive to signals from a base station, the robotic device comprising:

electric contacts for contacting a charging terminal of a base station; and

a microprocessor that, based on a measured robotic device energy level, instructs the robotic device to;

avoid a short-range omni-directional base station signal to avoid contact with the base station when the measured energy level is above a predetermined energy level;

seek the short-range omni-directional base station signal and a directional base station signal extending beyond the range of the omni-directional signal when the measured energy level is below the predetermined energy level, including following the omni-directional signal to encounter the directional signal; and

follow the directional signal in order to dock with the base station for charging.

2. The autonomous robotic device of claim 1, configured to be responsive to at least one optical signal.

3. The autonomous robotic device of claim 1, configured to determine the quantity of energy in an energy storage unit using at least one of coulometery and monitoring of a time period of use.

4. The robotic device of claim 1, configured to reduce energy use by removing power from one or more powered systems of the robotic device while seeking the omni-directional signal or following the directional signal.

5. The robotic device of claim 1, configured to follow a wall while seeking the omni-directional signal.

6. The robotic device of claim 1, configured to be responsive to the directional signal as one of a right signal and a left signal and further responsive to a second directional base-station signal as the other of the right signal and the left signal.

7. The robotic device of claim 6, configured to maintain an orientation relative to both the right signal and the left signal as the robotic device approaches the base station.

8. The robotic device of claim 7, configured to maintain the orientation by:

moving to keep the right signal to the right of the robotic device, and

moving to keep the left signal to the left of the robotic device to dock with the base station.

9. The robotic device of claim 7, configured to recognize the left signal different than the right signal by recognizing at least one of a color of a signal, a carrier frequency of a signal, a modulation of a signal, a bit pattern of a signal and a wavelength of a signal.

10. The robotic device of claim 6, configured to follow an overlap of the right and left signals to dock with the base station.

11. The autonomous robotic device of claim 1, responsive to the directional signal from the base station in positions where the robotic device does not detect the omni-directional signal.

12. The autonomous robotic device of claim 1, further comprising an omni-directional detector for detecting the omni-directional signal and the directional signal.

13. The autonomous robotic device of claim 1, further configured to follow a periphery of at least one of the omni-directional and directional signals.

14. An autonomous robotic device responsive to signals from a base station, the robotic device comprising:

electric contacts for contacting a charging terminal of a base station; and

microprocessor that, based on a measured robotic device energy level, instructs the robotic device to;

avoid a short-range omni-directional base station signal to avoid contact with the base station while cleaning when the measured energy level is above a first predetermined energy level,

seek the omni-directional signal and a directional base station signal extending beyond the range of the omni-directional signal while cleaning when the measured energy level is below the first predetermined energy level;

seek the omni-directional signal and the directional signal without cleaning when the measured energy level is below a second predetermined energy level; and

follow the directional signal in order to dock with the base station for charging.

15. The robotic device of claim 14, configured to follow the short-range omni-directional signal to encounter the directional signal.

16. The robotic device of claim 14, configured to follow a wall while seeking without cleaning.

17. The robotic device of claim 14, configured to be responsive to the directional signal as one of a right signal and a left signal and further responsive to a second directional base-station signal as the other of the right signal and the left signal.

18. The robotic device of claim 17, configured to maintain an orientation relative to both the right signal and the left signal as the robotic device approaches the base station.

19. The robotic device of claim 18, configured to maintain the orientation by:

moving to keep the right signal to the right of the robotic device, and

moving to keep the left signal to the left of the robotic device to dock with the base station.

20. The robotic device of claim 14, further comprising circuitry for forming a predetermined load in combination with a complementary circuit in the base station.