CN114649875A - Adaptive roaming and articulated power generation device for wireless power transfer - Google Patents

Abstract

A roaming and articulated wireless power delivery apparatus includes, in part, an optical assembly adapted to deliver a light beam, an energy storage device, a controller, and a motorized mobile platform. The mobile platform may include inertial measurements, GPS, collision sensors, and proximity sensors. The apparatus may also include a camera, a gradient filter, and a wireless communication link via which the apparatus establishes two-way communication with a wirelessly powered recovery device.

Description

Adaptive roaming and articulated power generation device for wireless power transfer

Cross Reference to Related Applications

This application claims benefit of U.S. application No.17/129,880 filed on 21/12/2020 and incorporated herein by reference in its entirety.

This application incorporates by reference herein in its entirety U.S. patent application No.10,587,152 entitled Laser Wireless Power Transfer System with Active and Passive security Measures (Laser Wireless Power Transfer systems with Active and Passive security Measures) published on 10/3/2020.

Technical Field

The present invention relates to wireless power delivery, and more particularly, to a mobile power delivery method and system.

Background

A number of new applications can be derived and enhanced by non-close-range wireless power transfer using Radio Frequency (RF) and millimeter wave beam forming and focusing. For example, the popularity of internet of things (IoT) devices and sensors can be greatly accelerated by wirelessly delivering power to them and eliminating the wires that would otherwise be required during installation.

Another example of wireless power transmission is wireless charging of portable personal devices, such as smartphones and tablets. Wirelessly charging such devices would improve their usability and reduce the need to carry portable batteries. In addition, many other electronic devices ranging from wireless mice and keyboards to thermostats, security sensors and cameras can benefit from wireless power transfer.

The wireless power Generation Unit (GU) may include a plurality of RF sources and antennas, as well as other components such as processing devices, interface circuitry, communication circuitry, and the like. The RF energy focus may be formed at a desired location where the target device is located. The RF energy may be captured using an energy recovery device disposed in the target device. The Recovery Unit (RU) may have, among other components, measurement circuitry, processing and communication circuitry, etc. The RU may utilize various means of electrical energy recovery (e.g., rectennas) to harvest the RF energy and convert it to DC energy. Fig. 1 shows a GU 20 wirelessly powering an RU 40. GU 20 is shown to include, in part, processor 10, controller 12, wireless communication circuitry 14, and transmit antenna array 16. RU 40 is shown to include, in part, processor 30, power detector 32, wireless communication circuitry 34, and receive antenna array 36.

The GUs are ideally suited for quickly and efficiently launching and transferring power in different directions and orientations without much power spillage (i.e., power is not recovered and thus wasted). The GU achieves maximum power transfer by setting the phase combination of the RF signals to maximize the energy concentration and orientation at the location of the RU.

For A_GGiven effective GU aperture area, A_RThe effective RU aperture area, the distance D between GU and RU, and the signal wavelength λ, the transfer efficiency η (defined as the ratio of the electrical energy incident to the RU aperture to the electrical energy emitted by GU) can be approximated as:

wherein the content of the first and second substances,

at larger distances, the transfer efficiency can be estimated as r, resulting in:

equation (3) assumes that the apertures of the GU and RU face each other and are both perpendicular to the axis connecting their centers.

Target devices that are wirelessly charged using the same GU may be in different positions and orientations relative to the GU. Thus, some target devices may not receive power in an optimal manner due to their location and orientation. Furthermore, even in the best phase combination and the resulting constructive interference mode, the path between the GU and the target device is obstructed. There remains a need for improved methods and systems for wireless power delivery.

Disclosure of Invention

According to one embodiment of the present invention, a wireless power transfer system includes, in part, a roaming and articulated wireless power transfer apparatus, which in turn includes, in part, a wireless power generation device, an energy storage device, a controller, and a motorized mobile platform. The wireless power generation device comprises, in part, at least one electromagnetic energy source.

In one embodiment, the wireless power generation device further comprises, in part, at least one RF transmitter. In one embodiment, the wireless power generation device further comprises, in part, an array of RF transmitters adapted to radiate RF signals at the same frequency. In one embodiment, the controller is adapted to independently control the phase of each RF transmitter.

In one embodiment, the roaming and articulated wireless power transfer apparatus (device) further comprises one or more sensors. In one embodiment, the mobile platform includes, in part, inertial measurement devices to facilitate navigation. In one embodiment, the mobile platform includes, in part, a GPS that facilitates navigation. In one embodiment, the mobile platform includes, in part, a collision sensor to change the direction of movement when an obstacle is struck. In one embodiment, the mobile platform includes, in part, a proximity sensor to avoid hitting an obstacle. In one embodiment, the proximity sensor uses ultrasound. In one embodiment, the proximity sensor includes an IR sensor. In one embodiment, the apparatus further comprises a camera.

In one embodiment, the apparatus is adapted to locate the electrical energy recovery device by using a camera to identify a pattern printed or arranged on the recovery device. In one embodiment, the device further comprises a wireless communication link. In one embodiment, the apparatus establishes two-way communication with the recycling appliance via a communication link. In one embodiment, the energy storage device is a battery. In one embodiment, the battery is rechargeable. In one embodiment, the battery is charged through an expansion port.

In one embodiment, the device further comprises an inductive charging coil. In one embodiment, the docking port is adapted to inductively charge the device using an inductive charging coil. In one embodiment, the device is further adapted to locate the docking port via a beacon transmitted through the docking port. In one embodiment, the energy storage device is a fuel cell.

In one embodiment, the power generation device emits electromagnetic waves in the visible or infrared spectrum to transfer electrical energy wirelessly. In one embodiment, the wireless power transfer system further comprises, in part, at least one motor adapted to vary the elevation of the wireless power generation device. In one embodiment, the wireless power transfer system further includes, in part, a scissor lift structure adapted to change an elevation angle of the wireless power generation device in response to the motor. In one embodiment, the wireless power transfer system further comprises, in part, a telescopic arm lift structure adapted to change an elevation angle of the wireless power generation device in response to the motor.

In one embodiment, the wireless power transfer system further comprises, in part, at least one motor adapted to change the azimuth angle of the wireless power generation device. In one embodiment, the wireless power transfer system further comprises, in part, at least one motor for varying the elevation of the wireless power generation device. In one embodiment, the wireless power transfer system further comprises, in part, a scissor lift structure adapted to change an elevation of the wireless power generation device in response to the motor. In one embodiment, the wireless power transfer system further comprises, in part, a telescopic arm lifting structure adapted to change the elevation of the wireless power generation device in response to the motor.

In one embodiment, the system further comprises, in part, a hoist adapted to hoist the system. In one embodiment, the system further comprises, in part, a hoist adapted to hoist at least a portion of the wireless power generation device. In one embodiment, the mobile platform is adapted to navigate to a location from which the wireless power generation device delivers maximum power to the recovery device.

In one embodiment, the system is adapted to navigate and select azimuth, elevation, and elevation angles of the wireless power generation device such that the system delivers maximum power to the reclamation device. In one embodiment, the system is adapted to navigate and select the azimuth and phase of each RF transmitter of the wireless power generation device such that the system delivers maximum power to the recovery device.

In one embodiment, the controller includes a memory to store a list of recovery devices to be wirelessly powered by the system. In one embodiment, the list includes a priority associated with each reclamation device. In one embodiment, the priority of each reclaimer device is established according to a charge level of the reclaimer device. In another embodiment, the priority of each reclaimer is established based on the distance between the reclaimer and the system.

In one embodiment, the system further includes, in part, a second nomadic and articulated wireless power transfer device. The second roaming and articulated wireless power transfer apparatus includes, in part, a wireless power generation device including at least one electromagnetic energy source, an energy storage device, a controller, and a motorized mobile platform. The first wireless power generation device and the second wireless power generation device are configured to operate together to form a combined power generation device that is larger than either the first power generation device or the second power generation device. In one embodiment, the first device and the second device share a reference clock frequency that is wirelessly received by the first device and the second device. In one embodiment, the RF transmitter array is foldable and expandable.

In one embodiment, the RF transmitter array includes a plurality of sector sub-arrays. In one embodiment, the RF transmitter array includes a plurality of sub-arrays mechanically coupled to each other via a plurality of spring-loaded hinges. The system also includes a motor and a cord configured to retract the plurality of sub-arrays. In one embodiment, the RF transmitter array includes a plurality of telescoping sub-arrays adapted to be folded and unfolded using gears. In one embodiment, the RF transmitter array includes a plurality of sub-arrays adapted to be folded and unfolded according to a origami pattern.

According to one embodiment of the invention, a wireless power transfer system includes, in part, a mobile platform and a mirror. In one embodiment, the system further comprises, in part, at least one motor adapted to change the elevation of the mirror. In one embodiment, the system further comprises, in part, at least one motor adapted to change an azimuth angle of the mirror. In one embodiment, the mirror is an RF mirror. In one embodiment, the RF mirror is curved.

A wireless power transfer system according to one embodiment of the invention comprises, in part, a wireless power generation device, which in turn comprises, in part, a plurality of RF transmitters; and a wireless energy recovery device adapted for wireless charging. The wireless power recovery device includes, in part, at least one receiving antenna having a variable orientation. In one embodiment, the radio energy recovery device comprises, in part, at least one RF receiver operating at substantially the same RF frequency as the RF transmitter.

In one embodiment, the RF transmitter and RF receiver form a radar. In one embodiment, the system further comprises, in part, a motorized mobile platform adapted to move the system to form a synthetic aperture radar. In one embodiment, the radar senses doppler shift to detect the bio-signal. In one embodiment, the bio-signal is defined by respiration. In one embodiment, the bio-signal is defined by a heartbeat. In one embodiment, the system operates remotely by receiving commands transmitted from a remote control device. In one embodiment, the remote control device is a smartphone.

According to one embodiment of the invention, a wireless power transfer system includes, in part, a wireless power generation device that in turn includes a plurality of RF transmitters, a base, at least one arm mechanically coupling the wireless power generation device to the base, a first actuator that enables the wireless power generation device to rotate about the at least one arm, and a second actuator that enables the at least one arm to rotate about the base. In one embodiment, the base comprises, in part, wheels. In one embodiment, the wheels are adapted to move on rails.

Drawings

Fig. 1 shows a power generation arrangement for wireless powering of a device as known in the prior art.

Fig. 2A and 2B are simplified perspective front and rear views of a roaming and articulation device adapted to wirelessly transmit electrical energy in accordance with an exemplary embodiment of the present invention.

Fig. 3 is a bottom perspective view of a roaming and articulation apparatus according to an exemplary embodiment of the present invention.

Fig. 4 illustrates a power generation apparatus for wirelessly powering a device via roaming and articulation passives, according to an exemplary embodiment of the invention.

Fig. 5 is a schematic view of a wandering and articulating apparatus including a scissor lift arrangement according to an exemplary embodiment of the present invention.

Fig. 6 is a schematic view of a wandering and articulating apparatus including a scissor lift arrangement according to another exemplary embodiment of the present invention.

Figure 7A illustrates a stowable antenna array comprising a plurality of sector sub-arrays according to one embodiment of the present invention.

Fig. 7B illustrates the stowable antenna array of fig. 7A in a fully open mode according to one embodiment of the invention.

Fig. 7C illustrates a stowable antenna array comprising a plurality of sub-arrays according to one embodiment of the present invention.

Fig. 7D illustrates a retractable antenna array comprising a plurality of sub-arrays in accordance with an embodiment of the present invention.

Fig. 7E illustrates a stowable antenna array comprising a plurality of sub-arrays adapted to be folded and unfolded using a origami pattern, according to one embodiment of the invention.

Figure 7F illustrates the antenna array of figure 7E after partial folding in accordance with one embodiment of the present invention.

Figure 7G shows the antenna array of figure 7E after folding in accordance with one embodiment of the present invention.

FIG. 8 illustrates a rover and articulation apparatus having a self-articulating arm adapted for inserting the rover and articulation apparatus into a receptacle for charging an internal battery of the rover and articulation apparatus according to one embodiment of the present invention.

Fig. 9 shows a power generation device having an array of radiating elements and an antenna adapted to be raised from the top surface of a rover and hinge device according to one embodiment of the invention.

Fig. 10 shows a power plant with an array of radiating elements and an antenna adapted to be lifted from the top surface of a rover and articulated apparatus via a scissor lift structure according to one embodiment of the invention.

FIG. 11 illustrates a plurality of locations where a roaming and articulating device delivers power to a target device in accordance with one embodiment of the invention.

FIG. 12A illustrates various components of a wandering and articulating assembly according to an exemplary embodiment of the present invention.

FIG. 12B illustrates various components of a wandering and articulating assembly according to an exemplary embodiment of the present invention.

Fig. 13 is a flow chart of wireless charging of a target device via a nomadic and articulated device in accordance with an embodiment of the invention.

FIG. 14 illustrates a plurality of wands and articulations that have been moved into close proximity to one another to form a larger transmit aperture, in accordance with an embodiment of the present invention.

FIG. 15A shows a power generation device having an array of emitters mounted on a base via an arm, according to one embodiment of the invention.

FIG. 15B shows a power generation device having an array of emitters mounted on a base via a plurality of arms, according to one embodiment of the invention.

Figure 16 shows a power plant with an array of emitters mounted on a base with wheels adapted to move on a track according to one embodiment of the invention.

FIG. 17 illustrates a power generation device having an array of emitters and a plurality of sensors mounted on a base via a plurality of arms, according to one embodiment of the invention.

FIG. 18 is a flow diagram for wirelessly powering a device according to one embodiment of the invention.

FIG. 19 is a flow diagram for wirelessly powering a device according to one embodiment of the invention.

Fig. 20A partially shows a power generation apparatus adapted to wirelessly charge a target device using a light beam.

Figure 20B illustrates an optical assembly suitable for delivering a light beam to wirelessly charge a device according to an exemplary embodiment of the present invention.

Figure 20C illustrates an optical assembly suitable for delivering a light beam to wirelessly charge a device according to an exemplary embodiment of the present invention.

Figure 20D illustrates an optical assembly suitable for delivering a light beam to wirelessly charge a device according to an exemplary embodiment of the present invention.

FIG. 21A illustrates a roving and articulating device with a stationary optical assembly disposed thereon that houses a light source and associated optical components suitable for delivering a light beam to charge a target device, according to one embodiment of the invention.

FIG. 21B illustrates a wander and articulation apparatus having an optical assembly disposed thereon that is adapted to deliver a light beam to charge a target device in accordance with an embodiment of the present invention.

FIG. 21C illustrates a wander and articulation apparatus having an optical assembly disposed thereon that is adapted to deliver a light beam to charge a target device, in accordance with one embodiment of the present invention.

FIG. 21D illustrates a wandering and articulating apparatus having an optical assembly disposed thereon adapted to deliver a light beam to charge a target device in accordance with an embodiment of the present invention. .

FIG. 21E illustrates a wander and articulation apparatus having an optical assembly disposed thereon that is adapted to deliver a light beam to charge a target device, in accordance with one embodiment of the present invention. .

FIG. 22 illustrates a roving and hinge assembly with a polyhedral optical assembly mounted thereon according to one embodiment of the present invention.

FIG. 23 illustrates a wandering and articulating apparatus including a dome-shaped structure having a track along which an optical component is adapted to travel, according to one embodiment of the present invention.

FIG. 24 illustrates various components of a roaming and articulating device suitable for delivery of light energy to charge a target device according to an exemplary embodiment of the invention.

FIG. 25 illustrates a wandering and articulating apparatus that operates in conjunction with a wandering and articulating passive device to deliver a light beam to a target device.

FIG. 26 illustrates a wandering and articulating apparatus including a cross shear adapted to elevate the height of an optical assembly mounted thereon in accordance with one embodiment of the present invention.

Fig. 27 shows a roaming and articulation apparatus including a cross shear adapted to lift the roaming and articulation apparatus to a desired height in accordance with one embodiment of the present invention.

FIG. 28A illustrates a wander and articulation apparatus having an optical assembly mounted thereon that is controlled to deliver a wider beam of light to a target device, in accordance with one embodiment of the present invention.

FIG. 28B illustrates the wander and articulation apparatus of FIG. 28A after the light beam of the optical assembly is controlled to deliver a narrower light beam focused on the target device, in accordance with one embodiment of the present invention.

FIG. 29 illustrates an exemplary gradient filter used by the rover and articulated apparatus for positioning the target device according to one exemplary embodiment of the present invention.

FIG. 30 illustrates a color/shading coded label with an identifiable pattern that may be provided on an RU to guide a wandering and articulating device to position the RU, according to one embodiment of the present invention.

Detailed Description

In accordance with one aspect of the present invention, a roaming and articulated power generation apparatus (RAGU) actively searches for a target device and moves to an optimal location and orientation to wirelessly power the target device. The RAGU may charge multiple target devices simultaneously or at different time periods. The RAGU may prioritize the delivery of power based on the state of charge (e.g., power demand of the target device). After a first period of time to wirelessly charge one or a group of devices, the RAGU is adapted to search for a new target device, move to another optimal position and orientation relative to the new device and begin to wirelessly transfer power to the new target device.

The RAGU may have an internal energy storage device that is charged, for example, using a wall socket, docking station, or from another wireless power generation device (GU). The docking port may have electrical connections and wires connecting the RAGUs to an external power source (e.g., a wall socket), or the RAGUs may be inductively charged. The RAGU-powered device may be fixed, mobile or another RAGU. In one embodiment, the RAGU may provide electrical power to the target device by emitting electromagnetic waves (RF, millimeter waves, light) or by transmitting acoustic waves.

In embodiments where electrical energy is delivered using waves (e.g., acoustic, RF, millimeter wave, or light), the RAGU includes a system that operates coherently and collectively to generate a focused beam of light in order to achieve a lens effect. In such embodiments, energy is focused on the RU by adjusting the phase of each transmit element of the mirror array. Furthermore, in such embodiments, electrical energy may be transmitted wirelessly using, for example, a directional wave source (e.g., horn antenna, dish antenna) or alternatively using a collimated light source or laser. The following description of embodiments of the invention is provided in connection with a wireless power delivery system that generates and focuses RF signals. However, it should be understood that embodiments of the present invention are equally applicable to millimeter waves, acoustic waves, light waves, and the like.

FIGS. 2A and 2B are simplified perspective front and back views, respectively, of a RAGU100 according to an exemplary embodiment of the present invention. The RAGU100 may be a motor-driven wheel based mobile wireless power delivery system, shown to include in part a base 102 and a transmit antenna array 112. As shown, the base 102 is adapted to move along the x-axis and y-axis over the ground and rotate along the z-axis. The antenna array comprises in part a transmit antenna array 104 adapted to focus the radio frequency signal on the target device. The RAGU100 also includes, in part, an articulating device 114, which articulating device 114 may be a cross-scissor device as shown in FIGS. 2A and 2B, adapted to adjust the height, orientation and tilt of the antenna array. The RAGU100 is thus adapted to optimize its position and orientation relative to the target device through a combination of translational and rotational motion, as well as through its articulation of the antenna array 112. Although not shown, in some embodiments, the antenna array as a wireless transport may use, for example, gimbal movement.

According to some embodiments of the invention, the RAGU may comprise a multimodal sensing device. For example, in some embodiments, the RAGU may include (not shown) Infrared (IR) distance and proximity sensors, ultrasonic sensors, optical cameras for visual sensing, radar, lidar, GPS, contact sensors, microphones, Inertial Measurement Unit (IMU) sensors, field disturbance sensors, cameras, and the like. Such sensors not only enable the RAGU to navigate through enclosed spaces in places such as homes, offices, shops, warehouses, etc., and provide maps of these spaces, but also enable the identification of living objects and other sensitive areas where it may be desirable to control the nature and amount of electrical energy to be transferred.

According to embodiments of the present invention, the RAGUs may be powered by an internal energy source (e.g., rechargeable batteries, fuel cells), or by an external power source to enable movement, sensing, power delivery, and other operations. The RAGU may receive power from a wall outlet using an expansion port. In some embodiments, a RAKU may be wirelessly powered by another RAKU.

The RAGU may be wirelessly charged by proximity inductive charging. FIG. 3 is a bottom perspective view of a RAGU 150 according to one embodiment of the present invention. RAGU 150 is shown to include, in part, an inductive coil 152 for inductive charging as the RAGU moves to a charging pad not shown in the figure. In some embodiments, the RAGU may wirelessly power the target device while positioned on the docking port or charging pad. When not in the docking port or charging pad, the RAGU performs various sensing and wireless power delivery operations via its battery and internal power supply.

In accordance with another aspect of the present invention, a roaming and articulation Passive device (RAPU) facilitates the transfer of radio energy generated by another GU or RAGU to one or more target devices. The RAPU can be a mirror, refractor, or include a plurality of super-surfaces to redirect the beam of RF energy generated by a RAGU or another fixed RF wireless power generation device (GU). For example, if the path from the GU or RAGU to the target device is blocked by an object, the RAPU is adapted to move to a position that can redirect the RF beam to the target device. FIG. 4 shows a GU 200 attempting to wirelessly power a target device 210. The GU 200 is a fixture that is supposed to be mounted on, for example, a ceiling. The RF power path from the GU 200 to the device 210 is shown in FIG. 4 as being blocked by an object 220. To enable wireless power delivery, the RAPU 230 moves to a new location, as shown, so that RF power generated by the GU 200 and reflected by the mirror 235 of the RAPU reaches the unblocked target device 210.

As described above, the RAGU may have an articulating mechanism suitable for lifting, reorienting and tilting the antenna array in addition to translational and rotational motion. FIG. 5 illustrates a RAGU100 that includes a cross-shear 135 adapted to elevate and thereby enhance reach of antenna array 112 from base 102. The cross-shears 135 may also change the orientation and tilt of the antenna array. In other embodiments, the RAGU100 may be raised off the ground 138 as a whole using cross-shears 135 (as shown in FIG. 6) or using any other lifting mechanism.

In some embodiments, the RAGU's transmission aperture may be dynamically changed. For example, the apertures may extend in a fan-shaped configuration, accordion-like, or spread outwardly according to a pleated pattern. The mechanically retractable, foldable and adjustable aperture of the RAGU makes it more compact, enabling it to be moved and navigated around corners, uneven ground, step heights and hard to reach areas more easily.

FIG. 7A showsIncluding 8 exemplary sector sub-arrays 302 according to one embodiment of the present invention₁、302₂……302₈The stowable antenna array 300. Fig. 7A shows the array 300 in a stowed mode and fig. 7B shows the antenna array 300 in a fully open mode. The sector antenna array is stowed and deployed using motor 310. Each sub-array is shown to include a plurality of transmit elements 104.

FIG. 7C illustrates a sub-array 302 comprising 4 exemplary rectangles according to an embodiment of the invention₁、302₂……302₄The stowable antenna array 325. The stowable antenna array 325 includes spring loaded hinges 318. Each sub-array is shown to include a plurality of transmit elements 104. Fig. 7C shows the antenna array 325 in an open (deployed) mode. It is understood that the antenna array 325 may be placed in a folded pattern using the motor 310 and the rope 315.

FIG. 7D illustrates a telescoping stowable antenna array 335 comprising 4 exemplary rectangular sub-arrays 302 according to one embodiment of the invention₁、302₂……302₄. The stowable antenna array 335 includes a gear 338 and motor 40 that enables the antenna array to be stowed or deployed. Each sub-array is shown to include a plurality of transmit elements 104. Fig. 7D shows the antenna array 335 in an open mode. It is understood that the antenna array 335 may be placed in a folded mode using the motor 340 and gear 338.

FIG. 7E shows a schematic diagram including 6 exemplary rectangular sub-arrays 302 according to another embodiment of the present invention₁、302₂……302₆The stowable antenna array 345. The stowable antenna array 345 is adapted to be folded and unfolded using a paper-folded pattern. Fig. 7F shows a partially folded antenna array 345. Fig. 7G shows the antenna array 345 of fig. 7E after further folding.

The RAGU is adapted to monitor its energy status and locate and identify various power sources, such as expansion ports, inductive charging pads, or wall outlets for charging its internal energy storage system. In one embodiment, the RAGU uses its image acquisition system (e.g., camera) or other sensor to locate a wall socket. A self-articulating arm disposed within the RAGU may plug electrical wires into the socket to initiate the charging process. To find the wall socket, the RAGU uses a camera and an image recognition algorithm. Once the power outlet is located, the RAGU moves toward the outlet. The articulated arm includes a linear platform that adjusts the height of the plug and a rotation mechanism that adjusts the angle of the plug and the angle of the socket. Once the imaging system confirms that the plug and socket are aligned, the RAGU will be close to the wall until the plug is plugged into the wall socket. FIG. 8 shows a RAGU100 with a self-articulating arm 165 adapted to plug a connector 167 disposed at the end of the arm 165 into a socket, thereby charging the RAGU's internal battery.

In some embodiments, the roaming and articulating devices are adapted to receive a GU as an accessory, thereby forming a RAGU. The nomadic and articulated device can be used for a variety of applications other than wireless power transfer. When the user decides to use the wander and hinge apparatus to wirelessly deliver power to the target device, the user installs the GU on the top surface of the wander and hinge apparatus. FIG. 9 shows a GU 200 (with antenna array 112) that has been positioned to be installed on the top surface 168 of the rover and articulated apparatus 160. When so installed, electrical connectors (not shown) provided on the back side 202 of the GU 200 electrically connect to corresponding connectors (not shown) provided on the top side 168 of the roaming and articulating devices to provide electrical power to the GU 200. In some embodiments, as shown in fig. 10, the mounting component includes a mechanism for lifting and tilting the GU, such as a cross-shear.

To position itself for maximum power delivery, in an exemplary embodiment, the RAGU transmits power to the target device multiple times from the first location, each such transmission occurring after a certain amount of RAGU rotation. After each such rotation and transmission, the RAGU waits to receive information from the target device indicating the amount of electrical energy recovered by the target device. Thus, the RAGU knows the amount of electrical energy recovered per amount of rotation of the target device at the first location. The RAKU then moves to a second position closer to the target device along the angular displacement that provides the maximum delivery of electrical energy to the target device. The RAKU then repeats the process of delivering power from the second location to the target device a plurality of times, each time after rotating an amount and receiving information from the target device indicative of the amount of power being drawn back by the target device. The RAGU then moves toward the target device along an angular displacement that provides the maximum delivery of electrical energy to the target device from the second direction. The RAGU continues to repeat the process of transmitting power, rotating into position, receiving information indicative of the received power level returned from the device, and determining the optimal direction to move, until it finds the ideal location for power delivery. In one embodiment, the distance traveled by the RAGU between each two consecutive locations is determined by the amount of relative electrical energy recovered (or received) by the target device. For example, the RAGU travels a longer distance when the power received by the device is lower. Conversely, the RAGU travels a shorter distance when the power received by the device is higher.

According to another exemplary embodiment, to find a suitable location for powering a target device, the RAGU transmits electrical energy to the target device from an initial location multiple times, each such transmission occurring after a certain amount of RAGU rotation. After each such rotation and transmission, the RAGU waits to receive information from the target device indicating the amount of electrical energy recovered by the device. The RAGU then moves to a second position in a direction different from the direction in which the maximum electrical energy is provided. In a second position, the RAGU transmits electrical energy to the target device a plurality of times, each such transmission occurring after a certain amount of RAGU rotation. After each such rotation and emission from the second location, the RAGU waits to receive information from the target device indicative of the amount of electrical energy recovered by the device. With knowledge of the two different angles from the two different positions that result in the maximum power delivery, the RAGU uses trilateration algorithms to approximate the optimal position of the target device and moves to that optimal position to power the device. Trilateration algorithms may also be performed when multiple RAKUs in communication with each other are used to wirelessly charge a device in a short period of time.

Focusing electromagnetic waves on a target device by the RAGU may be performed in conjunction with mechanical movement of the RAGU. In other words, in addition to controlling and changing the phase of individual transmit elements of the antenna array, the RAGU and its mechanical motion of the antenna array may be used to implement the focusing operation. The mechanical movement may occur simultaneously with the phase adjustment or after the electromagnetic phase and amplitude adjustment has been performed.

FIG. 11 illustrates a first position A, where the RAKU transfers power to the target device N times (N is an integer greater than 1) each time after rotating a given amount about the Z-axis while remaining at point A. Assuming N electrical energy emissions from point A, in direction P₁Maximum power delivery occurs (recorded and relayed back to the RAGU by the target device). Then RAKU edge and P₁A different direction to a new position B. While remaining at point B, the RAGU transmits M times (M is an integer greater than 1, which may or may not be equal to N) of electrical energy to the target device each time it rotates a given amount about the Z-axis. Suppose that of the M electrical energy emissions from point B, in the direction P₂Maximum power delivery occurs (recorded and relayed back to the RAGU by the target device). Based on this information, the RAGU estimates that the target device is located in direction P₁And P₂The drawn lines intersect at point T. The processes described herein and the information obtained in determining the location of the target device and/or the optimal angle to power the target represent the RAGU's measured radiance map and may be used for subsequent calibration and control of the RAGU.

FIG. 12A illustrates various components of a RAGU 400 in accordance with an exemplary embodiment of the present invention. The RAGU 400 is shown to include, in part, a wireless power transmitter 402, a battery 404, a wireless transceiver 406, a processing and control device 408, a plurality of sensors 410, and one or more mechanical actuators 412.

The wireless power transmitter 402 includes a transmit antenna array, such as the antenna array 112 shown in fig. 2A, and associated circuitry (not shown) for controlling the phase of the individual transmit elements 104 (also shown in fig. 2A). The wireless transceiver 106 is configured to establish a communication link with a target device and includes a wireless transmitter and receiver. For example, information indicative of the amount of electrical energy received by the target device from the RAKU is provided back to the RAKU via wireless transceiver 406. The processing and control device 408 is configured to, among other functions, control the phase of the transmit element 104, determine the angle and/or position from which the RAU charges the target device, control the actuation of the actuators 412, control the linear and rotational motion of the RAGU, process data received by the sensors, and so forth. The sensors 410 may include Inertial Measurement Units (IMUs), which may in turn include accelerometers, gyroscopes, magnetometers, and other sensors, such as GPS, doppler radar, one or more cameras, LIDAR(s), ultrasound, impact sensors, odometers, and the like, to determine the position and orientation of the RAGU relative to, for example, a target device, a wall, furniture, and any other object within a confined area in which the RAGU is disposed. As described above, the actuator 412 is adapted to, among other things, raise the RAGU or its antenna array, tilt the antenna array, fold/unfold the antenna array, plug the RAGU into a wall socket, etc. FIG. 12B illustrates various components of a RAGU 450 in accordance with another embodiment of the present invention. The RAGU 450 is similar to the RAGU 400, except that the RAGU 450 includes an inductive charging receiver 414 for inductively charging the RAGU, as described above in connection with FIG. 3.

The Doppler radar disposed in some embodiments of the RAGU measures the velocity of the RAGU relative to a stationary object. The RAGU may also use Doppler radar to determine the relative angle of the RAGU with respect to walls, furniture, and other objects. Doppler radar can also be used to keep a distance from, for example, a wall, or to run parallel to a wall. Doppler radar can also be used to map a room map by transmitting radio frequency signals and detecting reflections off walls, furniture, etc. in the room. The doppler shift of the signal caused by the movement of the RAGU can also be used to locate obstacles present in the room.

When a RAGU, including a Doppler radar, roams, it may create a synthetic aperture. Thus, the RAGU may operate as a synthetic aperture radar, whose synthetic aperture is as large as the room in which it roams, creating an accurate holographic image of the room. By using beam shaping via its transmit antenna array, signal reception capability via its wireless transceiver (see fig. 12A), its translational motion, and its doppler radar, the RAGU can detect the location of humans (and/or other living organisms and pets) and map their presence by processing doppler shifts caused by subtle movements of the skin, such as movements caused by heartbeats. For example, using doppler radar, the RAGU can detect whether a person has fallen, whether the heart rate of individual occupants has significantly changed, etc.

The RAGU is also adapted to find the best position for many other devices (e.g. speakers) that can be placed in the room by creating a holographic image of the room and mapping the positions of its occupants. For example, in one embodiment, when playing music through speakers, the RAGU may carry the speakers around the room while actively finding the ideal location of the speakers by mapping the people in the room. To accomplish this, the RAGU uses its Doppler radar to detect the location of the person. Next, the doppler radar provides information indicating the degree of equalization by detecting the vibration on the skin of the person created by the sound wave generated by the speaker, thereby providing the optimal position of the speaker. For example, the RAGU's Doppler radar may identify a pair of optimal locations for a pair of speakers that result in the same skin vibration, e.g., when the speakers emit sound waves.

In some applications, the speaker may have its own power tool. The RAGU may find a suitable location for a speaker by detecting vibrations generated on the skin of the person by such speaker when moving to a different location. By comparing the detected vibration level with the values generated during the calibration phase, the RAGU can thus find the optimal position of the loudspeaker. Thus, in contrast to conventional audio systems that rely on microphones to perform equalization and determine the optimal position of the speaker system, the RAGU's Doppler radar according to embodiments of the present invention uses skin vibrations to find the optimal position of the speaker system to achieve sound equalization. The speakers may also be charged by the RAGU.

In some embodiments, the RAGU uses the information it receives from its doppler radar as well as information it receives from other sensors (e.g., camera, LIDAR, ultrasound, collision sensors, odometer, etc.) to map the location where the tower is charging the device. By comparing the mapping data generated by the RAGU from each trip around the restricted area with the mapping data from previous trips, the RAGU is adapted to build highly accurate and advanced models of walls, chairs, toys, doors, etc. within the area in which it operates. This, in turn, enables the RAGU to efficiently reach known devices and locate the optimal location to transfer maximum power to each such device.

FIG. 13 is a flowchart 500 illustrating how a RAGU charges a target device, according to one embodiment of the invention. At 502, a target device (also referred to herein as a reclaimer, or RU) transmits a power request. At 504, the RAGU generates a priority list of devices to be charged. At 506, the RAGU moves towards the first RU determined to be the highest priority for charging. At 508, the RAGU optimizes its position, orientation, and tilt to focus the light beams generated by its transmit antenna array toward the first device. At 510, the RAGU charges the first device and wipes the first device from its charging list. At 512, the RAGU determines whether it has enough power to power the next device on the priority list. If at 512 the RAGU determines that it has sufficient power to power the next device, then at 514 the RAGU moves to the next device and optimizes its position, orientation and tilt at 508 to focus the light beam generated by its transmit antenna array toward the next device, and then the process repeats at 510. If, at 512, the RAGU determines that it does not have enough power to power the second device, then, at 516, the RAGU moves to a charging station and, at 518, charges its battery. Thereafter, as described above, the RAKU moves to the next device at 514 and the process repeats at 508.

In some embodiments, the RAGU may identify the RU using a variety of mechanisms, such as predetermined patterns (black and white, grayscale, and/or color) that may be recognized by a camera or image acquisition device disposed in the RAGU. In other embodiments, the RAGU may identify the RU using a bar code or any other label having an identifiable shape or pattern and formed on the RU. In some embodiments, the RAGU may also have a receive antenna array that may be used with its transmit antenna array to perform monostatic, bi-static, or multi-static sensing radars for mapping and location identification.

In accordance with one aspect of the invention, the RAGU is controlled by a smartphone application. The application enables, among other things, the user to assign priorities, e.g., depending on which target device is to be charged, and/or to provide instructions to the RAGU regarding when to operate and when not to operate in certain areas of the user's home/office/store. For example, the user may command the RAGU not to charge the device in the living room and kitchen before 10 pm, or may command the RAGU not to operate in the living room on an upcoming weekend (because a friend is sleeping on a sofa). This enables users to track their devices and RAGUs while away from home or on business.

Through this application, the user may also inform the RAGU of where the RAGU is working, e.g., home, office, etc. For example, the user may decide to take his/her RAGU to the office during the day and to take his/her RAGU home at night. The application enables the user to do this so that the RAGU knows where he is, so that he can use his previously stored map data to charge the device.

In accordance with embodiments of the present invention, the RAGU is also adapted to track the frequency with which it charges each device and communicate this information to the user through the application. For example, if a smoke detector that was previously requested to be charged by the RAGU every 6 months is changed to a request every 6 weeks, its battery may need to be replaced. By recording such data and reporting it to the user via the application, the user will be aware that the smoke detector battery may need to be replaced.

In one embodiment, the RAGU may be an aerial vehicle, such as a balloon, drone, or the like. In other embodiments, the GU may be mounted on an aerial vehicle and use its internal battery or the battery of an aerial device, which may be a photovoltaic cell covering the surface of the aerial vehicle, to wirelessly power the target device. Such an embodiment is suitable for powering any flying or stationary device.

According to embodiments of the present invention, the RAGU may perform many other functions and operate as other devices (e.g., mobile speakers playing music, security sensors, wireless routers and hubs, room mapping, warehouse inventory updates, infant health monitoring, etc.). Further, the antenna array of the GU or RAGU is a phased array that, when coupled with a receiver array formed of multiple target devices (or a receiver array disposed in a single target device), forms a phased array radar that may be used for navigation, sensing, and other applications.

In other embodiments, the GU may be mounted on the surface of the submarine vehicle and use the energy mechanically extracted from the water waves to power other equipment and submarines that are not reachable.

The RAGUs and/or RAPUs are adapted to work in conjunction with other RAGUs and/or RAPUs. For example, multiple RAGUs may operate simultaneously and collectively to provide a transmit aperture that is larger than the transmit aperture of each RAGU. To accomplish this, for example, two or more RAKUs navigate and are positioned close to each other, thereby forming a larger transmit aperture. FIG. 14 shows three RAKUs 100₁、100₂And 100₃They are moved into close proximity to each other to form a larger transmit aperture. In other words, the combined antenna array 112₁、112₂And 112₃Has a transmit aperture larger than that of each antenna array 112₁、112₂And 112₃The transmit aperture of each of. RAGU100₁、100₂And 100₃The synchronization between can be achieved in a number of different ways. For example, in one embodiment, a reference clock signal wirelessly transmitted by one of the GUs, RAGUs/RAPUs or another wired or wireless device via an optical or RF transmitter may be used to synchronize the RAGUs' local clocks such that they work together to form a single effective aperture in order to improve wireless power transfer efficiency and power levels. In other words, cooperation between RAKUs according to embodiments of the present invention provides enhanced range, power, and efficiency.

In one embodiment, when multiple RAGUs and RAPUs are turned on, one of the RAGUs or RAPUs may act as a master while the remaining RAGUs and RAPUs act as slaves. In such an embodiment, the master device will provide instructions and control, in whole or in part, to the slave devices. In other embodiments, the plurality of RAGUs and RAPUs operate in a decentralized and ad hoc manner to operate as a swarm intelligence system.

According to one aspect of the invention, the recovery device/apparatus may be a Roaming and Articulated Recovery Unit (RARU). Thus, the RARU can reposition and redirect itself to maximize power reception and recovery. For example, the RARU may be incorporated on a wall-mounted remote powered device and the angle of its receive antenna array adjusted based on the height of the device mounted on the wall or the minimum distance the RAGU can approach the RARU.

In one embodiment, the GU antenna array may be mounted on a moving arm similar to the moving arm that supports the table lamp. FIG. 15A shows a GU 600 comprising an emitter array 112 mounted on a base 610 via an arm 602. According to one embodiment of the invention, the GU 600 is adapted to change its height, inclination and orientation using the actuators 615 and 625 to wirelessly power the RU 605. FIG. 15B shows a GU 650 adapted to change its height, inclination and orientation using actuators 615, 625, 635 and 645 in accordance with another embodiment of the invention. In some other embodiments, not shown, the number of actuators and the number of moving arms may be less or more than four, depending on the desired degrees of freedom.

In some embodiments, the GUs may be moved using, for example, wheels, as described above. The GUs can move around freely using rails. FIG. 16 shows a GU700 having a base 610, the base 610 including wheels adapted to move on rails 604, 606. The GU700 is shown to include actuators 615, 625, and 645. Fig. 17 shows a GU 750 that includes the transmit array 112, actuators 615, 625, 645, and a pedestal 610. GU 750 is also shown to include a plurality of sensors, identified together as 752.

The recovery device (e.g., RU 605 shown in fig. 15A and 15B) transfers information (e.g., the amount of received power, the distribution of RF power on its antenna, the orientation (through the use of the RU's IMU sensors), the requested power level, etc.) to the GU. The GU determines the optimal direction of movement of the GU, orientation, tilt, height of the transmit array 112 and causes the actuators to achieve such optimal direction, orientation, tilt and height, based on information received from the RU and information from its own sensors 752, including, for example, IMU, proximity sensors, radar (ultrasonic, RF or LIDAR), etc. The estimated position of the GU relative to the RUs may be used to determine the optimal orientation of the GU to obtain the optimal transfer of electrical energy to one or more RUs.

Fig. 18 is a flow chart 800 for wirelessly powering an RU in accordance with an embodiment of the present invention. After the RU indicates that it is ready to charge at 802, the RU sends a power request at 804. At 806, the GU focuses its RF beam on the RU. At 808, the RU reports its orientation, position, and the size of the focus of the electrical energy and power it receives from the GU to the GU. If the RF beam is determined to satisfy the predefined focusing condition at 810, then no adjustment to the GU is needed and the GU continues to charge the RU until the charging is complete at 812.

If at 810 the RF beam is determined not to satisfy the predefined focus condition, then at 814 the actuator is activated. This causes the GU transmitter to adjust its various positioning parameters such as height, orientation, tilt, etc. At 816, the GU beam is refocused. If it is determined at 818 that the beam focus is improved as reported by the RU, the process moves to 810. If it is determined at 818 that the beam focus has not improved, the actuation direction is returned at 820, followed by initiating actuation at 814 and repeating the process.

Fig. 19 is a flow chart 850 for wirelessly powering an RU, according to another embodiment of the invention. After the RU indicates that it is ready to charge at 802, the RU sends a power request at 804. At 852, the RU sends information indicating its location and orientation to the GU. If at 854, the GU determines that the RU is within the GU charging region, then at 856, the GU determines the optimal location and orientation of its emitter array. The GU actuator is then activated 858 causing the GU to focus its RF beam on the RU 860. The GU power remains focused on the RU until the RU is charged, and then the process ends at 870. If the GU determines that the RU is not within the GU charging region at 854, the GU sends a signal to the RU that wireless charging is not possible at 862 and the process ends at 870.

It will be appreciated that any robotic control algorithm (including but not limited to a PID controller, gradient descent, artificial intelligence, genetic algorithm, or simulated annealing algorithm) may be used to direct actuator motion based on input from the RU and sensors to position the GU to transfer optimal power to the RU and navigate around the object. The calculation of the mechanical orientation and the electronic phase setting may be based on Least Mean Square (LMS) maximization or the highest priority power distribution method.

In some embodiments, using a subset of sensors (e.g., radar, LIDAR, ultrasound, field interference sensors, etc.), the RAGU may detect movement of other objects in its surroundings to change its position and emit RF power accordingly. For example, when a hand is detected approaching the RU, the RAGU processor will turn off RF power transmission before the user's hand reaches the RF beam, thereby causing the actuator to move the transmitter away from the RU and enabling the user to pick up the phone safely. The RAGU may use voice activated commands to start/stop charging, move to a particular RU to be charged, dodge, etc.

When multiple RUs are to be charged, the RAGU may use any number of techniques to power the RUs. In one exemplary embodiment, the RAGU positions the transmitter in a position for charging at maximum efficiency and power transfer level, the RU having the highest priority while simultaneously powering other RUs at a lower rate. The priority of an RU may dynamically change during charging as the state of charge of the RU changes. RU priority changes will cause the RAGU to move as necessary to efficiently power another RU that gets the highest priority.

In another exemplary embodiment, the RAGU positions its transmitter array in a position where the efficiency of wireless power transfer is at least proportional to the priority of the RU to be charged. For example, an RU with a low priority may receive a higher than predefined efficiency level due to its proximity to another RU with a high priority.

In some embodiments, the RAGU may include a lamp that operates as a desk lamp. The lights may also be used as status indicators. For example, the light source may change color, flash, or dim to indicate, for example, that the transmitter is charging the device, that the transmitter is in an idle mode, and so forth. The light source may also serve as an indicator of the wireless power transmission system coverage area where RUs placed in the lighting area are to be charged.

According to one embodiment, wireless power transmission at a distance is achieved by a high efficiency light source (e.g., an LED and laser disposed on a GU or RAGU). Such a GU or RAGU may comprise, in part, one or more light sources and optical systems for collimating light, optical/electronic components for processing information capabilities, hardware interfaces and communication circuitry. By sending a collimated beam or by focusing on one or more photovoltaic cells of the RU, the energy generated by the light source can be directed to a desired location in order to convert the light energy into electrical energy for use by a target device in which the RU is disposed. Such an RU may include, in part, one or more measurement devices, information/data processing and communication devices, power recovery arrays, and the like.

FIG. 20A illustrates a RAGU 900 adapted to wirelessly charge RUs 920 via beams 935 according to another embodiment of the invention. RAGU 900 is shown to include base 902. An optical assembly (also referred to herein as a beam emitting system) 905 is mounted on the base 902. Optical assembly 905 is shown to include one or more light sources 904. The optical assembly 904 is adapted to change its height and angle. Further, as described in detail above, the base 902 is adapted to move over the ground (i.e., along the X-Y axis) and rotate about the z-axis. RU 920 is shown to include, in part, a plurality of photovoltaic cells 922, a power management device 924, a controller 928, a wireless communication device 930, and a battery 926. As shown in fig. 20A, the RAGU may transfer electrical energy in different directions and along different orientations. The RAGU achieves maximum power transfer by aligning the beam 935 with the RU and ensuring that the focal spot size of the beam is approximately equal to or less than the area of the photovoltaic cell 922.

Fig. 20B, 20C, and 20D illustrate various exemplary embodiments of configurations of laser/light sources and their associated optics. In the embodiment shown in fig. 20B, the optical components forming optical component 960 (e.g., lens 952 and laser 950) are fixed relative to each other to generate collimated light beam 970. In the embodiment shown in fig. 20C, laser 950 is shown as having a fixed position, while optical component 952 is shown as being adapted to change its position along the optical axis, thereby changing beam 975 between a collimated, converging, or diverging beam. In the embodiment shown in fig. 20D, optical component 952 is shown as having a fixed position, while laser 950 is shown as being adapted to change its position along the optical axis, thereby varying beam 975 between a collimated beam, a converging beam, or a diverging beam. The converging light beam can be used for adjustment to match the focal diameter on the RU photovoltaic cell. The diverging beam may initially be used to create a larger diameter spot size that illuminates a larger area. This may be used to speed up the process of finding an RU location, as discussed further below. The light source may be modulated to encode information (e.g., GU identification number, laser identification number, etc.).

In some embodiments, the light beam for wireless charging of the device is provided by a RAGU, which can move freely and provide electrical energy to various stationary and mobile devices that require energy for operation and/or charging. The RAGU may be adapted to have internal energy storage or to receive energy from an external power source (e.g., a wall outlet or docking port). The RAGU may also be adapted for inductive charging, or charging via another GU as described above.

The light source for wireless energy transfer may be mounted on the RAGU, or it may have one or more degrees of freedom relative to the RAGU. For example, only the elevation angle of the light source may be adjustable, or both the elevation angle and the azimuth angle may be adjustable. A telescoping arm or scissor-type cross arm may also be incorporated into the RAGU to change the height of the light source and overcome the obstruction of opaque objects that may be present in the light path (e.g., when charging a cell phone on a desk).

The RAGU is capable of transmitting electrical energy to one or more other fixed or mobile Recovery Units (RUs) and other RAGUs. In some embodiments, the roving base unit itself may provide azimuth (by rotating in place) and/or elevation (by pushing one end up) changes. A RAGU may have more than one laser/light source that can be used independently to power multiple devices simultaneously. In some embodiments, two or more RAGUs may operate together to provide electrical energy to one or more RUs. Each laser/light source may be modulated with a unique identifiable code to enable the RU to distinguish the ID of each beam or RAGU.

FIG. 21A shows a RAGU 1000 with a fixed optical assembly 1002 mounted thereon, which houses a laser (or other light source, such as an LED) and associated optical components suitable for delivering a light beam to the RU 1004, according to one embodiment. RAGU 1000 is adapted to move and rotate to focus light beam 1006 on RU 1004. FIG. 21B shows a RAGU 1010 with an optical assembly 1012 that can be pivoted about point B to change its angle α with respect to the xy plane to change the height of the beam 1016 according to another embodiment. The azimuth angle of the beam 1016 may be changed by rotating the RAKU. According to one embodiment, optical assembly 1102 houses a light source and associated optical components (not shown) that are adapted to deliver light beams 1016 to RU 1014.

FIG. 21C shows a RAGU 1020 with optical components 1022 that can pivot about point B to change its angle α relative to the plane of the RAGU to further rotate about the z-axis, according to another embodiment. Optical assembly 1022 houses a light source and associated optical components (not shown) suitable for delivering light beam 1026 to RU 1024, in accordance with an embodiment of the present invention.

FIG. 21D shows RAGU 1030 with optical assembly 1032 fixed in place and housing the light source and its associated optical components. Light from a light source in optical assembly 1032 is delivered to a movable mirror 1038 that is adapted to change the elevation and/or azimuth of a light beam 1036 reflected off the mirror and delivered to RU 1034.

FIG. 21E illustrates a RAGU 1040 with optical components 1042 that house the light source and its associated optics. Telescopic arm 1048 is adapted to change the height of optical assembly 1042 and rotate about the z-axis to focus light beam 1046 on RU 1044. In some implementations, for example, as shown in fig. 26, a cross-shear can be used to change the height of the optical assembly 1042.

In some embodiments, multiple laser power sources may be disposed on an object having a three-dimensional shape (e.g., a pyramid, polyhedron, or dome). FIG. 22 shows a RAGU 1100 that includes a faceted optical assembly 1130 mounted on a base 1110. The exemplary faceted optical assembly 1130 is shown with 8 triangular surfaces (faces), 6 of which are visible. Each such surface is adapted to have a laser or light source. Light sources 1112, 114, 1116, 1118, 1120, and 1122 are shown in FIG. 22. The RAGU 1100 is adapted to simultaneously power multiple devices through rotation and articulation of the base and/or movement of the facets relative to each other and in multiple dimensions.

In some embodiments, each laser source is mounted on an optical assembly adapted to move along a one-, two-, or three-dimensional track, thereby enabling the light source to move along the track. FIG. 23 illustrates a RAGU 1150 comprising a dome-shaped structure 1200 mounted on the base of the RAGU. The dome-shaped structure 1200 is shown to include three tracks 1160, 1162, and 1164 that are spanned along the curved geometry of the dome surface. Components 1170, 1172, and 1174, each adapted to carry a light source, are positioned in the tracks 1160, 1162, and 1164, respectively. Embodiment 1150 provides independent control of the position of light sources within a track. A control algorithm may be used to move the light source to an optimal position to achieve maximum power transfer for multiple targets simultaneously.

FIG. 24 illustrates various components of a RAGU adapted to deliver optical energy, according to an exemplary embodiment of the invention. RAGU 1300 is shown to include a controller 1302, a battery 1304, an inductive charging device 1306, a wireless communication device 1308, a laser driver/modulator 1310, a gimbal/mirror controller 1312, wheels 1314, an inertial measurement device (IMU)1316, a motor driver 1318, a laser and associated optics 1320, and a gimbal/movable mirror 1324. It is understood that other embodiments of the RAGU may have fewer or more components than shown in FIG. 24. For example, IMU and inductive charging may not be present in some embodiments. When the RAKU is adapted to align the beam by its movement/rotation, there may be no movable mirror and mirror controller.

It will be appreciated that the light beam may be provided by any suitable light source not limited to a laser source, as coherence is not required when the device is powered using the light beam. Light from the incoherent light source may also be converted into a light beam suitable for wireless power transfer through the use of mirrors, lenses, and other optical components.

In some embodiments, one or more RAKUs may operate in conjunction with one or more RAPUs to power a device using light. Such a RAPU includes mirrors or refractors positioned to redirect and recombine the light beams. RAPU is advantageously used in many cases by providing a path from a GU that is blocked or otherwise obstructed by other objects.

Fig. 25 shows a GU 1400 attempting to wirelessly power an RU 1410. GU 1400 is a fixture that is supposed to be mounted on, for example, a ceiling. The optical beam supply path from GU 1400 to RU 1410 is shown as being blocked by object 1420. To achieve optical light delivery, the RAPU 1430 is moved to a new position as shown so that light generated by the GU 1400 and reflected by the mirror 1435 of the RAPU reaches the target RU 1410. In other embodiments, the RAGU may use fixed mirrors to reach the target device may be located in other obstacles or difficult or complex places.

One or more RAKUs and/or RAPUs may operate collectively in a variety of ways. A distributed processing or central processing system may be used to control the movement and operation of multiple RAGUs and/or RAPUs. For example, a central processing system may be used in situations that require a large amount of computation (e.g., imaging).

The RAGU may include the ability to monitor its own energy state and to locate and identify various power sources (e.g., expansion ports, inductive charging pads, or wall outlets). In some embodiments, the RAGU identifies the power outlet using, for example, a camera or other sensor. The RAGU may comprise a self-articulating arm adapted for insertion of the RAGU into the receptacle. Inductive charging may be incorporated into some or all of the floor of a house/office/store to enable the RAGU to charge itself, thereby enabling the RAGU to have a smaller battery and overall size. The RAGU may be adapted to find the docking port by following the beacon (optical beacon, ultrasonic beacon or RF beacon) emitted by the docking port. In another embodiment, the docking port responds to a beacon emitted by the RAGU to guide the RAGU to find the docking port. Other sensors (e.g., IMU) and navigation mechanisms (e.g., GPS, WiFi, etc.) may also be used to guide the RAGU to know the docking station or the device that needs charging.

In addition to translational and rotational motion, the RAGU may have an articulating mechanism suitable for lifting, reorienting and tilting the optical delivery system. FIG. 26 shows a RAGU 1500 that includes a cross-shear 135 adapted to raise and thereby enhance reach of an optical delivery system 1502 from a base 1502. The cross-scissors 135 may also change the orientation and tilt of the optical system. In other embodiments, as shown in FIG. 27, RAGU 1510 may be raised off the ground 138 in its entirety using cross-shears 135 or using any other lifting mechanism. It should be appreciated that in FIG. 27, the optical delivery system adapted to charge a target using light and mounted on the base 1512 of the RAGU 1510 is not visible.

According to one aspect of the invention, the recycling device/apparatus adapted to be charged by light may be a RARU. Thus, the RARU can reposition and reorient itself to maximize power reception and recovery. For example, the RARU may be incorporated on a wall-mounted remote powered device and the angle at which it receives the array of photovoltaic cells is adjusted according to the height at which the device is mounted on the wall or the minimum distance the RARU can be close to the RARU.

To position itself for maximum power delivery, in an exemplary embodiment, the RAGU delivers the light beam to the target device multiple times from the first location, each such emission occurring after a certain amount of RAGU rotation. After each such rotation and transmission, the RAGU waits to receive information from the target device indicative of the amount of light energy recovered by the target device. Thus, the RAGU knows the amount of electrical energy recovered by the target device for each rotation at the first location. The RAKU then moves to a second position closer to the target device along the angular displacement that provides the maximum delivery of electrical energy to the target device. The RAKU then repeats the process of emitting light energy from the second location to the target device a plurality of times, each time after rotating an amount and receiving information from the target device indicative of the amount of light energy recovered by the target device. The RAKU then moves toward the target device along an angular displacement that provides the maximum optical energy delivery to the target device from the second direction. The RAGU continues to repeat the process of transmitting electrical energy, rotating into place, receiving information indicative of the level of received optical energy returned from the device, and determining the optimal direction to move, until it finds the ideal location for optical energy delivery. In one embodiment, the distance traveled by the RAGU between each two consecutive locations is determined by the relative amount of light energy recovered (or received) by the target device. For example, when the device receives low power, the RAGU travels a longer distance. Conversely, the RAGU travels a shorter distance when the device receives higher power.

According to another exemplary embodiment, to find a suitable location for powering a target device, the RAGU emits light energy from an initial position to the target device multiple times, each such emission occurring after a certain amount of RAGU rotation. After each such rotation and transmission, the RAGU waits to receive information from the target device indicative of the amount of light energy recovered by the device. The RAGU then moves to a second position in a direction different from the direction in which the maximum electrical energy is provided. In a second position, the RAGU transmits electrical energy to the target device a plurality of times, each such transmission occurring after a certain amount of RAGU rotation. After each such rotation and emission from the second location, the RAGU waits to receive information from the target device indicative of the amount of light energy recovered by the device. With knowledge of the two different angles from the two different positions that result in the maximum light energy delivery, the RAGU uses trilateration algorithms to approximate the optimal position of the target device and moves to that optimal position to power the device. Trilateration algorithms may also be performed when multiple RAKUs in communication with each other are used to wirelessly charge a device in a short period of time.

To expedite RU position determination, in some embodiments, the width of the light beam delivered by an optical delivery system disposed on the RAGU is dynamically adjusted. A narrow collimated beam results in a small spot of light and as the beam sweeps around, no guiding information is available before the beam hits the RU. By using a wider beam during the start of the search, the probability of illuminating the RU increases, and thus feedback can be achieved faster. Once the initial approximate position of the RU is detected, the beam may be tapered until the spot size becomes equal to or less than the photovoltaic size of the RU. FIG. 28A illustrates a RAGU 1600 having a beam delivery system 1602 mounted thereon, the beam delivery system 1602 being shown delivering a beam to a RU 1620. The beam width 1604 is shown to be wide. In FIG. 28B, RAKU 1600 has determined the approximate location of RU 100, and therefore beam delivery system 1602 has reduced beam width 1606 to achieve better focus on RU 1620.

In some embodiments, a gradient filter or a gaussian beam expander may be used to further speed the location determination of the RU. Such a filter may be a fixed filter or may be dynamically adjustable by means of a spatial light modulator element (SLM). This gradient across the filter provides information to the GU about the direction of beam movement so that the RU becomes centered in the beam.

Fig. 29 shows an embodiment of such a filter. As shown, the center of the filter is completely transparent and may have a hole. The filter becomes more opaque gradually away from the center. Thus, a beam of light impinging on the filter will have the highest intensity in the center and the lowest intensity at the edges. The RU reports, among other information, the amount of electrical energy received as the GU sweeps the beam around. Thus, the gradient ascent algorithm used by the GU can quickly find the direction of movement that concentrates the RU near the center of the beam. Once the RU is centered, the beam width can be rapidly reduced to approximately the size of the RU without further searching for the location. The gradation pattern need not be circularly symmetric and may have any form or pattern. The light intensity can be varied by varying the opacity or by small scale black and white patterns, in a manner similar to the way different shades of gray are generated in monochrome printing.

In one embodiment, a wireless communication link (e.g., an RF link, an acoustic link, or an infrared link) may be used between the RU and the GU. The RU may report data regarding the received optical energy back to the GU using the communication link. In other embodiments, the RU utilizes a reflective surface (e.g., reflective paint) around the photovoltaic cell. In such embodiments, the GU senses the reflection and directs the light beam with a light receiver (e.g., a photodiode or camera). If a camera is used, the reflective surface may incorporate a unique pattern (e.g., a QR code) that may be used to identify the RU or distinguish the RU from other reflective surfaces.

In some embodiments, the RAGU with the light beam delivery system uses the information it receives from its doppler radar as well as the information it receives from other sensors (e.g., camera, LIDAR, ultrasound, impact sensors, odometer, etc.) to map the location where it is charging the device. By comparing the mapping data generated by the RAGU from each trip around the restricted area with the mapping data from previous trips, the RAGU builds a highly accurate and advanced model of the walls, chairs, toys, doors, etc. within the area in which it operates over time. This, in turn, enables the RAGU to efficiently reach known devices and locate the optimal location to transfer maximum power to each such device.

In some embodiments, the homing of the RAGUs to the RUs may be enhanced by various mechanisms (e.g., predetermined patterns and/or colors/shading (black and white, grayscale, and/or color), which may be recognized by a camera or other visual imaging device that may be present on the RAGUs. such mechanisms may also be used to find the distance and orientation of the RUs relative to the RAGUs. the RAGUs may use their cameras to find the RUs in various rooms, e.g., using unique identifying patterns printed on or provided on the RUs. The label 1700 includes 4 regions 1710, 1720, 1730 and 1740, each having a different grayscale. Each such region may also include patterns/markings that are easily recognized by image capture devices disposed on the RAGU to help direct the RAGU toward the RU. Thus, the RAGU may use different areas of shading and patterns/marks on the label to guide its movement towards the RU.

According to one aspect of the invention, a RAGU having a light beam emitting system may be controlled by a smartphone application. The application enables, among other things, the user to assign priorities, e.g., depending on which target device is to be charged, and/or to provide instructions to the RAGU regarding when to operate and when not to operate in certain areas of the user's home/office/store. For example, the user may command the RAGU not to charge the device in the living room and kitchen before 10 pm, or may command the RAGU not to operate in the living room on an upcoming weekend (because a friend is sleeping on a sofa). This enables users to track their devices and RAGUs while away from home or on business.

Through this application, the user may also notify the RAGU of the location (e.g., home, office, etc.) where the RAGU operates. For example, the user may decide to bring his/her RAGU to the office during the day and to bring his/her RAGU home at night. The application enables the user to do this so that the RAGU knows where it is, so that it can use its previously stored mapping data to charge the device.

In accordance with embodiments of the present invention, the RAGU is also adapted to track the frequency with which it charges each device and communicate this information to the user through the application. For example, if a smoke detector that was previously requested to be charged by the RAGU every 6 months is changed to a request every 6 weeks, its battery may need to be replaced. By recording such data and reporting it to the user via the application, the user will be aware that the smoke detector battery may need to be replaced.

In one embodiment, the RAGU with the light beam delivery system may be disposed on an aerial vehicle (e.g., balloon, drone, etc.). In other embodiments, the GU may be mounted on an aerial vehicle and use its internal battery or the battery of an aerial device, which may be a photovoltaic cell covering the surface of the aerial vehicle, to wirelessly power the target device. Such an embodiment is suitable for powering any flying or stationary device. In another embodiment, the GU may be mounted on the surface of a submarine and harvest the mechanical energy of the waves to provide electrical energy for its motion.

The above-described embodiments of the present invention are illustrative and not restrictive. Embodiments of the present invention are not limited by the type of wirelessly chargeable device. Other additions, subtractions or modifications are obvious in view of the present disclosure and are intended to fall within the scope of the appended claims.

Claims (23)

1. A RAGU for a roaming and articulated power plant, comprising:

an optical assembly adapted to convey a light beam;

an energy storage device;

a controller; and

an electric moving platform.

2. The RAGU of claim 1, wherein the optical assembly comprises a laser.

3. The RAGU of claim 2, wherein the optical component comprises a lens.

4. The RAGU of claim 2, wherein the position of the lens is changeable along an optical axis relative to the fixed position of the laser.

5. The RAGU of claim 2, wherein the position of the laser is changeable along an optical axis relative to the fixed position of the lens.

6. The RAGU of claim 1, wherein the optical assembly is adapted to change its angle relative to the plane of the surface on which the RAGU is located.

7. The RAGU of claim 1, wherein the optical assembly is adapted to rotate about a z-axis.

8. The RAGU of claim 1, wherein the optical assembly is adapted to change its height along the z-axis.

9. The RAGU of claim 1, wherein the mobile platform comprises inertial measurement devices to facilitate navigation.

10. The RAGU of claim 1, wherein the mobile platform comprises a GPS that facilitates navigation.

11. The RAGU of claim 1, wherein the RAGU further comprises a camera.

12. The RAGU of claim 1, wherein the RAGU further comprises a wireless communication link.

13. The RAGU of claim 1, wherein the energy storage device is a rechargeable battery.

14. The RAGU of claim 1, further comprising: at least one motor adapted to change the elevation and azimuth of the optical assembly.

15. The RAGU of claim 1, wherein the RAGU is adapted to navigate to a location from which the optical assembly delivers maximum electrical energy to a retrieval device.

16. The RAGU of claim 1, wherein the RAGU is adapted to navigate and select the elevation and elevation of the optical assembly to deliver maximum electrical energy to a recovery device.

17. The RAGU of claim 1, wherein the controller is adapted to change a beam width of the optical assembly.

18. The RAGU of claim 1, wherein the optical assembly further comprises a gradient filter.

19. The RAGU of claim 1, wherein the optical assembly further comprises a Gaussian beam expander.

20. The RAGU of claim 1, further comprising a lidar.

21. The RAGU of claim 1, further comprising an indoor positioning system.

22. The RAGU of claim 21, wherein the indoor positioning system uses Bluetooth signals for determining indoor location.

23. The RAGU of claim 21, wherein the indoor positioning system uses WiFi signals for determining indoor location.

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