Autonomous robot auto-docking and energy management systems and methods

  • US 9,884,423 B2
  • Filed: 04/19/2017
  • Issued: 02/06/2018
  • Est. Priority Date: 01/21/2004
  • Status: Active Grant
First 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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