Autonomous robot auto-docking and energy management systems and methods

{
  "publication_number": "US8461803B2",
  "country": "US",
  "kind": "B2",
  "title": "Autonomous robot auto-docking and energy management systems and methods",
  "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 of charging a battery of a device at a base station, the method comprising the steps of: providing a non-charging, sensing energy at charging contacts of the base station; confirming docking of the device across the charging contacts of the base station by recognizing a specific load identifying a voltage divider including a first circuit in the base station combined with a complementary second charging circuit in the device powered by the battery; in response to recognizing the specific load, increasing energy available from the charging contacts of the base station from the non-charging, sensing energy to a charging energy available to charge the battery; detecting the presence of the charging energy at the charging contacts of the device; and in response to detecting the presence of the charging energy at the charging contacts of the device, changing the state of a switch within the device to allow charging energy to energize the device, wherein confirming docking of the device across the charging contacts of the base station comprises checking for the specific load at regular intervals, the regular intervals comprising intervals of 10 times per second to once per minute.",
    "2. The method according to claim 1, 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.",
    "3. The method of claim 1, wherein the device comprises an autonomous mobile device.",
    "4. The method of claim 1, further comprising maintaining the higher energy level above a predetermined threshold regardless of a battery level of the mobile device to ensure sufficient energy to operate control circuits of the mobile device.",
    "5. The method of claim 1, wherein the non-charging energy is about 5 volts limited to 1 mA maximum short circuit current flow.",
    "6. A system for charging a mobile device at a base station, the system comprising: a base station comprising a plurality of first charging contacts, and; a first circuit for confirming docking of the device across the first charging contacts by recognizing a specific load; a base station switching circuit configured to allow current flow into the device after the specific load is recognized; and a mobile device comprising: a battery; a second circuit configured to provide part of the specific load; a plurality of second charging contacts adapted to mate with first charging contacts; a microprocessor configured to detect the presence of a charging voltage across the second charging contacts, and a device switching circuit configured to allow current flow into the battery in response to detection of the charging voltage across the second charging contacts; and wherein the first circuit and the second circuit combined form a voltage divider that creates the specific load and wherein the first circuit confirms docking of the device across the first charging contacts by recognizing the specific load at regular intervals, the regular intervals comprising intervals of 10 times per second to once per minute.",
    "7. The system of claim 6, wherein the circuitry of the base station determines a level of charge in the battery and controls a power level provided to the first charging contacts.",
    "8. The system of claim 7 wherein the circuitry is configured to change from a non-charging, sensing energy to a charging current provided to the first charging contacts upon measuring a predetermined voltage across the first charging contacts when mated with the second charging contacts.",
    "9. The system of claim 6, wherein the base station is configured to maintain the higher energy level above a predetermined threshold regardless of a battery level of the mobile device to ensure sufficient energy to operate control circuits of the mobile device.",
    "10. The system of claim 6, wherein the microprocessor of the mobile device is configured to measure a device battery level and determine a charging control cycle to be used in allowing current to flow into the battery.",
    "11. A method of charging a device including an internal battery and a device processor at a base station, the method comprising the steps of: providing a non-charging, sensing energy at charging contacts of the base station; confirming docking of charging contacts present on the device across the charging contacts of the base station by recognizing a specific load identifying a voltage divider including a first circuit connected to the charging contacts in the base station combined with a complementary second charging circuit connected to the charging contacts on the device; in response to recognizing the specific load, increasing energy available from the charging contacts of the base station from the non-charging, sensing energy to a charging energy available to power the device processor; detecting the presence of the charging energy at the charging contacts of the device; and in response to detecting the presence of the charging energy at the charging contacts of the device, changing, by the device processor, the state of a switch within the device to allow charging energy to energize the device internal battery, wherein confirming docking of charging contacts present on the device across the charging contacts of the base station comprises checking for the specific load at regular intervals, the regular intervals comprising intervals of 10 times per second to once per minute.",
    "12. The method according to claim 11, wherein the base station provides the non-charging, sensing energy at the charging contacts of the base station; the base station confirms docking of the charging contacts present on the device across the charging contacts of the base station by recognizing the specific load identifying the voltage divider including the first circuit connected to the charging contacts in the base station combined with the complementary second charging circuit connected to the charging contacts on the device; and the base station, in response to recognizing the specific load, increases energy available from the charging contacts of the base station from the non-charging, sensing energy to the charging energy available to power the device processor.",
    "13. The method according to claim 12, wherein the device processor detects the presence of the charging energy at the charging contacts of the device; and the device processor, in response to detecting the presence of the charging energy at the charging contacts of the device, changes the state of a switch within the device to allow charging energy to energize the device internal battery."
  ],
  "description_excerpt": "The present invention relates generally to robotic systems and, more specifically, to auto-docking and energy management systems for autonomous robots.\n\nAutomated robots and robotic devices are becoming more prevalent today and are used to perform tasks traditionally considered mundane, time-consuming, or dangerous. As the programming technology increases, so too does the demand for robotic devices that require a minimum of human interaction for tasks such as robot refueling, testing, and servicing. A goal is a robot that could be configured a single time, which would then operate autonomously, without any need for human assistance or intervention.\n\nRobotic devices and associated controls, navigational systems, and other related systems moving in this direction are being developed. For example, U.S. Pat. No. 6,594,844 discloses a Robot Obstacle Detection System, the disclosure of which is hereby incorporated by reference in its entirety. Additional robot control and navigation systems are disclosed in U.S. patent application Ser. Nos. 10/167,851, 10/056,804, 10/696,456, 10/661,835, and 10/320,729 the disclosures of which are hereby incorporated by reference in their entireties.\n\nGenerally, autonomous robotic devices include an on-board power unit (usually a battery) that is recharged at a base or docking station. The types of charging stations and methods used by robots in finding or docking with them (e.g., radio signals, dead reckoning, ultrasonic beams, infrared beams coupled with radio signals, etc.) vary greatly in both effectiveness and application.",
  "cpc": [
    "H02J 7/65",
    "A47L 2201/02",
    "A47L 2201/022",
    "A47L 2201/04",
    "A47L 9/0063",
    "A47L 9/009",
    "A47L 9/2805",
    "A47L 9/2852",
    "A47L 9/2857",
    "A47L 9/2873",
    "A47L 9/2889",
    "A47L 9/2894",
    "B25J 11/0085",
    "B25J 19/005",
    "B25J 5/00",
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    "B25J 9/1664",
    "B60L 53/14",
    "G01S 1/16",
    "G01S 1/7034",
    "G01S 1/7038",
    "G01S 2201/01",
    "G05D 1/02",
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    "G05D 1/0225",
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    "H02J 7/00",
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  ],
  "ipc": [
    "H02J 7/00"
  ],
  "assignees": [
    "iRobot Corp"
  ],
  "inventors": [
    "David A. Cohen",
    "Daniel Ozick",
    "Clara Vu",
    "James Lynch",
    "Philip R. Mass"
  ],
  "filing_date": "2006-12-29",
  "publication_date": "2013-06-11",
  "grant_date": "2013-06-11",
  "priority_date": "2004-01-21",
  "application_number": "US-64824106-A",
  "family_id": "87060724",
  "cited_by_count": 79,
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