WO2016097892A1

WO2016097892A1 - Multi-function docking/charging station

Info

Publication number: WO2016097892A1
Application number: PCT/IB2015/058275
Authority: WO
Inventors: Patrik JÄGENSTEDT; Tom SÖBERG; Magnus ÖHRLUND; Andreas KÄLLMING; Fredrik KALLSTRÖM; Jonas HOLGERSSON; Mattias Kamfors; Stefan GRUFMAN
Original assignee: Husqvarna Ab
Priority date: 2014-12-18
Filing date: 2015-10-27
Publication date: 2016-06-23

Abstract

A multi-function service station may include an energy refill module and at least one maintenance module. The energy refill module may be configured to interface with a power module of a robotic vehicle responsive to docking of the robotic vehicle at the multi-function service station. The energy refill module may be configured to enable re-powering of the power module when interfaced with the power module. The at least one maintenance module may be configured to perform a maintenance related function on the robotic vehicle responsive to docking of the robotic vehicle at the multi-function service station.

Description

MULTI-FUNCTION DOCKING/CHARGING STATION

CROSS REFERENCE TO RELATED APPLICATIONS

The present application claims priority to U.S. patent application number 62/093,692 filed December 18, 2014, which is expressly incorporated by reference in its entirety.

TECHNICAL FIELD

Example embodiments generally relate to robotic vehicles and, more particularly, relate to a multi-function docking/charging station for a robotic vehicle.

BACKGROUND

Yard maintenance tasks are commonly performed using various tools and/or machines that are configured for the performance of corresponding specific tasks. Certain tasks, like grass cutting, are typically performed by lawn mowers. Lawn mowers themselves may have many different configurations to support the needs and budgets of consumers. Walk-behind lawn mowers are typically compact, have comparatively small engines and are relatively inexpensive. Meanwhile, at the other end of the spectrum, riding lawn mowers, such as lawn tractors, can be quite large. More recently, robotic mowers and/or remote controlled mowers have also become options for consumers to consider. Robotic mowers are typically confined to operating on a parcel of land that is bounded by some form of boundary wire. The robotic mower is capable of detecting the boundary wire and operating relatively autonomously within the area defined by the boundary wire. However, as robotic mowers get more sophisticated, they may include various additional sensors and equipment that may enable the robotic mowers to detect boundaries without wires, and perhaps even perform additional functions beyond mowing.

As the robotic mowers become more sophisticated, it may become more difficult to maintain the mowers and the equipment thereon. Accordingly, an evolution in the maintenance of such devices may be warranted.

BRIEF SUMMARY OF SOME EXAMPLES

Some example embodiments may therefore provide a robotic vehicle that is configured to be charged and/or docked in or at a multi-function service station. The multi- function service station may be configured to handle multiple aspects of maintaining the robotic vehicle. Accordingly, the equipment and sensors of the robotic vehicle, and the body of the robotic vehicle itself, may all be maintained in a relatively automatic way that reduces the load on the operator to manually interact with the robotic vehicle. In an example embodiment, a multi-function service station is provided. The multifunction service station may include an energy refill module and at least one maintenance module. The energy refill module may be configured to interface with a power module of a robotic vehicle responsive to docking of the robotic vehicle at the multi-function service station. The energy refill module may be configured to enable re-powering of the power module when interfaced with the power module. The at least one maintenance module may be configured to perform a maintenance related function on the robotic vehicle responsive to docking of the robotic vehicle at the multi-function service station.

Some example embodiments may improve the ability of operators or fleet managers to maximize the effectiveness and operation of a robotic vehicle in a timely and efficient manner.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING(S) Having thus described the invention in general terms, reference will now be made to the accompanying drawings, which are not necessarily drawn to scale, and wherein: FIG. 1 illustrates an example operating environment for a robotic mower;

FIG. 2 illustrates a block diagram of various components of the robotic mower and the multi-function service station and to facilitate description of an example embodiment;

FIG. 3 illustrates a perspective view of the robotic mower in accordance with an example embodiment; and FIG. 4 illustrates a perspective view of the multi-function service station in accordance with an example embodiment. DETAILED DESCRIPTION

Some example embodiments now will be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all example embodiments are shown. Indeed, the examples described and pictured herein should not be construed as being limiting as to the scope, applicability or configuration of the present disclosure. Rather, these example embodiments are provided so that this disclosure will satisfy applicable legal requirements. Like reference numerals refer to like elements throughout. Furthermore, as used herein, the term "or" is to be interpreted as a logical operator that results in true whenever one or more of its operands are true. Additionally, the term "yard maintenance" is meant to relate to any outdoor grounds improvement or maintenance related activity and need not specifically apply to activities directly tied to grass, turf or sod care. As used herein, operable coupling should be understood to relate to direct or indirect connection that, in either case, enables functional interconnection of components that are operably coupled to each other.

Robotic mowers, which are one example of a robotic vehicle of an example embodiment, typically mow an area that is pre-defined by a boundary. The robotic mower then roams within the bounded area to ensure that the entire area is mowed. By placing a number of sensors on the robotic vehicle, the robotic vehicle becomes more sophisticated and may also be enabled to perform additional functions while mowing, mow with greater accuracy, or even discover boundaries without wires. However, when provided with additional sensors and/or equipment, the robotic mower may become correspondingly more difficult to maintain in top working order.

To facilitate further ease of maintenance of a sophisticated robotic vehicle, some example embodiments may provide a service station for the robotic vehicle in or at which a number of service related functions may be performed in a substantially automatic way. Thus, the operator may not be required to manually interact with the robotic vehicle while still providing for a number of different maintenance services to be performed. Since the robotic vehicle typically needs to dock at a charging station, some embodiments may provide for a multi-function service station inside which the robotic vehicle may dock for charging and simultaneously or sequentially receiving various other maintenance related services.

FIG. 1 illustrates an example operating environment for a robotic mower 10 that may be employed in connection with an example embodiment. However, it should be appreciated that example embodiments may be employed on numerous other robotic vehicles, so the robotic mower 10 should be recognized as merely one example of such a vehicle. FIG. 2 illustrates a block diagram of various components of the robotic mower 10 and a corresponding multi-function service station 40 in accordance with an example embodiment. FIG. 3 illustrates an example in which the robotic mower includes one or more cameras (e.g., camera 52) that extends from a housing or body 16 of the robotic mower 10.

Referring to FIGS. 1 and 2, the robotic mower 10 may operate to cut grass on a parcel 20 (i.e., a land lot, yard, or garden), the boundary 30 of which may be defined using one or more physical boundaries (e.g., a fence, wall, curb and/or the like), or programmed location based boundaries or combinations thereof. When the boundary 30 is a detected, by any suitable means, the robotic mower 10 may be informed so that it can operate in a manner that prevents the robotic mower 10 from leaving or moving outside the boundary 30. In some cases, the boundary 30 could be provided by a wire that is detectable by the robotic mower 10. However, example embodiments may also or alternatively be capable of detecting boundaries without a wire using accurate position information determinable from one or more positioning sources on the robotic mower 10.

The robotic mower 10 may be controlled, at least in part, via control circuitry 12 located onboard. The control circuitry 12 may include, among other things, a positioning module (not shown) and a sensor network 50, to facilitate detecting the location of the robotic mower 10 and guiding its operation relative to the boundaries. Accordingly, the robotic mower 10 may utilize the control circuitry 12 to define a path for coverage of the parcel 20 in terms of performing a task over specified portions or the entire parcel 20. In this regard, the positioning module may be used to guide the robotic mower 10 over the parcel 20 and to ensure that full coverage (of at least predetermined portions of the parcel 20) is obtained, while the sensor network 50 may detect objects and/or gather data regarding the surroundings of the robotic mower 10 while the parcel 20 is traversed.

If a sensor network 50 is employed, the sensor suite may include one or more sensors related to positional determination (e.g., a GPS receiver, an accelerometer, a camera 52 (see FIG. 3), a radar transmitter/detector, an ultrasonic sensor, a laser scanner and/or the like). Thus, for example, positional determinations may be made using GPS, inertial navigation, optical flow, radio navigation, visual location (e.g., VSLAM) and/or other positioning techniques or combinations thereof. Accordingly, the sensors of the sensor network 50 may be used, at least in part, for facilitating a determining the location of the robotic mower 10 relative to boundaries or other points of interest (e.g., a starting point or other key features) of the parcel 20, or determining a position history or track of the robotic mower 10 over time. The sensors of the sensor network 50 may also detect objects, collision, tipping over, or various fault conditions. In some cases, the sensors may also or alternatively collect data regarding various measurable parameters (e.g., moisture, temperature, soil conditions, etc.) associated with particular locations on the parcel 20.

In an example embodiment, the robotic mower 10 may be battery powered via one or more rechargeable batteries of a battery module 14 (see FIG. 2) or other power module of the robotic mower 10. Accordingly, the robotic mower 10 may be configured to return to an energy refill station such as a charge station (e.g., multi-function service station 40) that may be located at some position on the parcel 20 in order to recharge the battery module 14. In some examples, the battery module 14 may power a drive motor 60 and a blade motor 70 of the robotic mower 10. However, in some cases, the control circuitry 12 of the robotic mower 10 may selectively control the application of power or other control signals to the drive motor 60 and/or the blade motor 70 to direct the operation of wheels 62 and a blade 72, respectively, of the robotic mower 10. As such, the blade 72 should be understood to be turned to cut grass responsive to operation of the blade motor 70, and the wheels 62 should be understood to be powered from the drive motor 60 in this example. However, in alternative embodiments a single drive component could be provided to selectively turn both the blade 72 and/or the wheels 62. In some example embodiments, the wheels 62 may be operably coupled to the drive motor 60 via a drive train 64 that may include various linkages, gears, bearings and/or the like to facilitate powered operation and/or steering of the wheels 62. Components of the drive train 64 (e.g., bearings) may be replaceable in some cases, and the multi-function service station 40 may handle such replacement in the manner described below. Accordingly, movement of the robotic mower 10 over the parcel 20 may be controlled by the control circuitry 12 in a manner that enables the robotic mower 10 to systematically traverse the parcel while operating the blade 72 to cut the grass on the parcel 20. In cases where the robotic vehicle is not a mower, the control circuitry 12 may be configured to control another functional or working assembly that may supplement or replace the blade 72 (or blades). In some embodiments, the control circuitry 12 and/or a communication node at the multi-function service station 40 may be configured to communicate wirelessly with an electronic device 42 (e.g., a personal computer, a cloud based computer, server, mobile telephone, PDA, tablet, smart phone, and/or the like) of a remote operator 44 (or user) via wireless links 46 associated with a wireless communication network 48. The wireless communication network 48 may provide operable coupling between the remote operator 44 and the robotic mower 10 via the electronic device 42, which may act as a remote control device for the robotic mower 10 or may receive data indicative or related to the operation of the robotic mower 10. However, it should be appreciated that the wireless communication network 48 may include additional or internal components that facilitate the communication links and protocols employed. Thus, some portions of the wireless communication network 48 may employ additional components and connections that may be wired and/or wireless. For example, the charge station 40 may have a wired connection to a computer or server that is connected to the wireless communication network 48, which may then wirelessly connect to the electronic device 42. As another example, the robotic mower 10 may wirelessly connect to the wireless communication network 48 (directly or indirectly) and a wired connection may be established between one or more servers of the wireless communication network 48 and a PC of the remote operator 44. In some embodiments, the wireless communication network 48 may be a data network, such as a local area network (LAN), a metropolitan area network (MAN), a wide area network (WAN) (e.g., the Internet), and/or the like, which may couple the robotic mower 10 to devices such as processing elements (e.g., personal computers, server computers or the like) or databases. Accordingly, communication between the wireless communication network 48 and the devices or databases (e.g., servers, electronic device 42, control circuitry 12) may be accomplished by either wireline or wireless communication mechanisms and corresponding protocols.

In embodiments where the robotic vehicle is not a mower, such robotic vehicle may include functional components and/or equipment for performing various lawn care functions such as, for example, taking soil samples, operating valves, distributing water, seed, powder, pellets or chemicals, and/or other functional devices and/or components. Regardless of whether such additional or alternative functional devices and/or components are employed, the multi-function service station 40 may be configured to service at least some of the additional or alternative functional devices and/or components. As such, generally speaking, the multi-function service station 40 may be configured to perform a charging function for the robotic mower 10 and at least one other maintenance related function (e.g., mower or component cleaning, component sharpening, component replacement, and/or the like). However, an example embodiment will be described in relation to the functional components shown in FIG. 2 to show how the multi-function service station 40 and robotic mower 10 of one example might interact.

Although not required, the multi-function service station 40 may include processing circuitry 110 that may be used to control and/or direct interactions with external devices (e.g., via the wireless communication network 48). The processing circuitry 110 may also direct or control the operation of various modules, devices, systems and/or the like of the multi- function service station 40. However, it should also be appreciated that at least some of the modules, devices, systems and/or the like of the multi-function service station 40 could be operated manually based on interaction with the operator.

The processing circuitry 110 may be configured to perform data processing or control function execution and/or other processing and management services according to an example embodiment of the present invention. In some embodiments, the processing circuitry 110 may be embodied as a chip or chip set (e.g., an embedded controller). In other words, the processing circuitry 110 may comprise one or more physical packages (e.g., chips) including materials, components and/or wires on a structural assembly (e.g., a baseboard). The structural assembly may provide physical strength, conservation of size, and/or limitation of electrical interaction for component circuitry included thereon. The processing circuitry 110 may therefore, in some cases, be configured to implement functionality associated with an embodiment of the present invention on a single chip or as a single "system on a chip." As such, in some cases, a chip or chipset may constitute means for performing one or more operations for providing the functionalities described herein. In an example embodiment, the processing circuitry 110 may include one or more instances of a processor 112 and memory 114 that may be in communication with or otherwise control various other components and/or modules of the multi-function service station 40. As such, the processing circuitry 110 may be embodied as a circuit chip (e.g., an integrated circuit chip) configured (e.g., with hardware, software or a combination of hardware and software) to perform operations described herein. However, in some embodiments, the processing circuitry 110 may be embodied as a portion of an on-board computer. In some embodiments, the processing circuitry 110 may communicate with electronic components and/or sensors of the multi-function service station 40 via a single data bus. As such, the data bus may connect to a plurality or all of the switching components, sensory components and/or other electrically controlled components of the multi-function service station 40. The processor 112 may be embodied in a number of different ways. For example, the processor 112 may be embodied as various processing means such as one or more of a microprocessor or other processing element, a coprocessor, a controller or various other computing or processing devices including integrated circuits such as, for example, an ASIC (application specific integrated circuit), an FPGA (field programmable gate array), or the like. In an example embodiment, the processor 112 may be configured to execute instructions stored in the memory 114 or otherwise accessible to the processor 112. As such, whether configured by hardware or by a combination of hardware and software, the processor 112 may represent an entity (e.g., physically embodied in circuitry - in the form of processing circuitry 110) capable of performing operations according to embodiments of the present invention while configured accordingly. Thus, for example, when the processor 112 is embodied as an ASIC, FPGA or the like, the processor 112 may be specifically configured hardware for conducting the operations described herein. Alternatively, as another example, when the processor 112 is embodied as an executor of software instructions, the instructions may specifically configure the processor 112 to perform the operations described herein.

In an example embodiment, the processor 112 (or the processing circuitry 110) may be embodied as, include or otherwise control a maintenance manager 120. As such, in some embodiments, the processor 112 (or the processing circuitry 110) may be said to cause each of the operations described in connection with the maintenance manager 120 by directing the maintenance manager 120 to undertake the corresponding functionalities responsive to execution of instructions or algorithms configuring the processor 112 (or processing circuitry 110) accordingly. These instructions or algorithms may configure the processing circuitry 110, and thereby also the multi-function service station 40, into a tool for driving the corresponding physical components for performing corresponding functions in the physical world in accordance with the instructions provided. In an exemplary embodiment, the memory 114 may include one or more non- transitory memory devices such as, for example, volatile and/or non-volatile memory that may be either fixed or removable. The memory 114 may be configured to store information, data, applications, instructions or the like for enabling the maintenance manager 120 to carry out various functions in accordance with exemplary embodiments of the present invention. For example, the memory 114 could be configured to buffer input data for processing by the processor 112. Additionally or alternatively, the memory 114 could be configured to store instructions for execution by the processor 112. As yet another alternative, the memory 114 may include one or more databases that may store a variety of data sets responsive to input from various sensors or components of the multi-function service station 40. Among the contents of the memory 114, applications may be stored for execution by the processor 112 in order to carry out the functionality associated with each respective application.

The applications may include applications for controlling the multi-function service station 40 relative to various operations including monitoring blade condition, directing cleansing, sharpening and/or replacement of blades, monitoring drive train component conditions, directing bearing replacement, monitoring sensor network component (e.g., camera) cleanliness and/or performance, directing cleansing of various sensors, facilitating charging (via controlling charger 130), directing various other cleaning-related functions and/or the like. Alternatively or additionally, the applications may include applications for enabling the multi-function service station 40 to communicate with external devices and/or networks, and to change its operations on the basis of such communications.

Although not required, the multi-function service station 40 may include a user interface to provide an audible, visual, mechanical or other output to the user, and allow the user to provide inputs to the multi-function service station 40. As such, the user interface (if employed) may include, for example, a display, one or more buttons or keys (e.g., function buttons or keypad), and/or other input/output mechanisms (e.g., speakers, lights, levers, switches and/or the like). Various sensors of sensor network 50 of the robotic mower 10 may be configured to interface with the maintenance manager 120 to provide operational data or other information that the maintenance manager 120 may use to determine whether to implement various maintenance functions. In other cases, the sensors may provide information on damage or other alterations to the robotic mower 10 on the basis of probing or other inspection related activity. Thus, for example, a camera of the robotic mower 10 (or of the multi-function service station 40) may inspect the external features or condition of the robotic mower 10 to determine whether any anomalies are detected. Vehicle inspection may include a visual or probative investigation into the status of the body of the robotic mower 10, blades, LED functionality, and/or the like. In an example embodiment, the sensor network 50 (or other components of the robotic mower 10) may provide data related to run hours to the maintenance manager 120. The maintenance manager 120 may then determine whether blade sharpening or replacement is appropriate, or whether bearing replacement is appropriate (e.g., based on cumulative run hours since the last blade sharpening, blade change or bearing change). In some cases, other information such as, for example, the energy drawn to cut grass or drive the wheels may be indicative of a need to sharpen the blade or to replace the blade or a bearing. In this regard, as blade sharpness decreases, more energy may be required for grass cutting. Similarly, if a bearing needs replacement, friction may increase and cause more energy to be required to drive the robotic mower 10.

If blade replacement is desired, the maintenance manager 120 may provide direction to a blade replacement module 140 to replace the blade 72. In this regard, the blade replacement module 140 may include one or more replacement blades in a blade queue and a robotic operator configured to remove the blade 72 and install one of the replacement blades from the blade queue. If bearing replacement is desired, the maintenance manager 120 may provide direction to a bearing replacement module 142 to replace the bearing within the drive train 64. In this regard, the bearing replacement module 142 may include one or more replacement bearings in a bearing queue and a robotic operator (e.g., the same or a different robotic operator to the one for replacing blades) configured to remove the bearing and install a replacement bearing from the bearing queue. If sharpening is desired, the maintenance manager 120 may provide direction to a blade sharpener 144 to sharpen the blade 72. In this regard, the blade sharpener 144 may include a robotic operator configured to hone cutting edges of the blade 72 while the robotic mower 10 is in or at the multi-function service station 40.

In some cases, other sensors of the sensor network 50 may provide data indicative of a need for servicing the robotic mower 10. For example, the camera 52 (see FIG. 3) may be producing images that are clouded, obstructed or otherwise of degraded quality, which may be remediated by cleaning the camera 52 (or its lens). The maintenance manager 120 may be configured to analyze image quality and determine if degradation is present. Responsive to a determination that image quality is degraded, the maintenance manager 120 may direct a cleaning module 150 to clean the camera 52 (or its lens) or various other parts of the robotic mower 10 including, for example, the body 16 thereof.

In an example embodiment, the cleaning module 150 may include any or all of a service air applicator 152, a water applicator 154, a wax applicator 156, and a buffer 158. The service air applicator 152 may provide high pressure air for drying, defouling, or otherwise performing tasks that may employ high pressure air. The service air applicator 152 may include a pipe, hose, header or other connection to a high pressure air source, or may include an air compressor. The service air applicator 152 may also include one or more nozzles or jets (which may be positionally controlled to be oriented as desired) for directing the air onto portions of the robotic mower 10. The water applicator 154 may include a pipe, hose, header or other connection to a water source, or may include a water pump. The water applicator 154 may also include one or more nozzles or jets (which may be positionally controlled to be oriented as desired) for directing the air onto portions of the robotic mower 10. The wax applicator 156 may include an eductor, or other device configured to draw liquid was from a reservoir for application to the body 16 of the robotic mower 10. In some cases, the wax applicator 156 may use the nozzles or jets of the water applicator 154 to apply wax to the body 16 for upkeep and cleaning of the robotic mower 10. The buffer 158 may include one or more buffing agents or members that are configured to frictionally engage the body 16 to buff or otherwise polish the body 16 responsive to operation of the buffer 158.

The multi-function service station 40 may take a number of different forms for providing a charging function and at least one other maintenance function. As such, the multi-function service station 40 may include the charger 130 and at least one maintenance module (e.g., the blade replacement module 140, the bearing replacement module 142, the blade sharpener 144, the cleaning module 150 and/or the like). FIG. 4 illustrates a perspective view of one example of the form that the multi-function service station 40 may take in accordance with an example embodiment. As shown in FIG. 4, the multi-function service station 40 may be provided in semi-enclosed housing 200. However, in other embodiments, the multi-function service station 40 may be configured to perform at least one additional function to the basic function of charging of the robotic mower 10 without necessarily employing an enclosure in the manner shown in FIG. 4. As such, for example, the multi-function service station 40 need not necessarily employ a roof or sidewalls, but could instead be an elevated platform housing one or more functional components for performing the at least one additional function. In the example of FIG. 4, the housing 200 may include a roof and sidewalls, and have an opening 210 into which the robotic mower 10 may enter for servicing and/or charging. In some cases, the housing 200 may also include an elevated floor 220 to facilitate the provision of at least some servicing equipment (e.g., blade replacement module 140, bearing replacement module 142, and blade sharpener 144) at a portion of the housing 200 that may provide access to an underside of the robotic mower 10 while the robotic mower 10 is charging or otherwise docked for servicing. In an example embodiment, a service door 225 may be provided at a portion of the elevated floor 220 and the service door 225 may enable the robotic operator described above to pass through the elevated floor 220 to access the underside of the robotic mower 10.

In some embodiments, charge contacts 230 may also be provided on the elevated floor 220 so that when the robotic mower 10 docks in the housing 200, the charging contacts 230 engage corresponding contacts on the robotic mower 10 while positioning the blade 72 and/or any drive train 64 components in a position where they are accessible by the robotic operator through the service door 225. The charge contacts 230 may be housed in a waterproof enclosure that is penetrated while maintaining waterproof continuity when the robotic mower 10 is engaged for charging.

In an example embodiment, a water hose 240 may be operably coupled to the housing 200 to provide water for the water applicator 154. Nozzles or jets 242 may be positioned in sidewalls (and/or on the ceiling or floor) of the housing 200 to direct spray of water onto the robotic mower 10 when the robotic mower 10 is docked in the housing 200. In some cases, the elevated floor 220 may be sloped to drain water out the opening 210 and down a ramp 212. However, in other cases, drain holes 244 may be provided to drain water through the elevated floor 220. In some cases, an air hose 250 may be operably coupled to the housing 200 to provide pressurized air for use by the service air applicator 152. In some cases, selected ones of the nozzles or jets 242 provided in the housing 200 sidewalls (and/or on the ceiling or floor) of the housing 200 may be used to direct high pressure air onto the robotic mower 10 when the robotic mower 10 is docked in the housing 200. The high pressure air may be used to dry the robotic mower 10 after a wash/wax or other cleaning operation. The high pressure air may also or alternatively be used to clear fouling and/or otherwise facilitate cleaning in its own right. In situations in which the wax applicator 156 is employed, some or all of the nozzles or jets 242 provided in the housing 200 sidewalls (and/or on the ceiling or floor) of the housing 200 may be used to direct a wax solution onto the robotic mower 10 when the robotic mower 10 is docked in the housing 200. As mentioned above, an eductor may be used to draw from a wax reservoir to incorporate water and the wax solution together prior to delivery out the nozzles or jets 242. It should be appreciated that the wax reservoir could be replaced by soap or other cleaning solutions in some cases, and incorporation of such solutions into a water stream may be accomplished in similar fashion to that described above for wax solution delivery. In an example embodiment, a multi-function service station is provided. The multifunction service station may include an energy refill module and at least one maintenance module. The energy refill module may be configured to interface with a power module of a robotic vehicle responsive to docking of the robotic vehicle at the multi-function service station. The energy refill module may be configured to enable re-powering of the power module when interfaced with the power module. The at least one maintenance module may be configured to perform a maintenance related function on the robotic vehicle responsive to docking of the robotic vehicle at the multi-function service station.

In some embodiments, the features described above may be augmented or modified, or additional features may be added. These augmentations, modifications and additions may be optional and may be provided in any combination. Thus, although some example modifications, augmentations and additions are listed below, it should be appreciated that any of the modifications, augmentations and additions could be implemented individually or in combination with one or more, or even all of the other modifications, augmentations and additions that are listed. As such, for example, the maintenance related function may include vehicle or component cleaning, component sharpening, vehicle inspection, or component replacement. In some embodiments, the at least one maintenance module may include a blade replacement module. In some embodiments, the at least one maintenance module may include a bearing replacement module. In some embodiments, the at least one maintenance module may include a blade sharpening module. In some embodiments, the at least one maintenance module accesses an underside of the robotic vehicle in an elevated floor upon which the robotic vehicle is disposed when docked at the multi-function service station. In some embodiments, the at least one maintenance module may include a cleaning module, a service air applicator, or a water applicator. In some embodiments, the cleaning module is configured to clean a camera of the robotic vehicle. In some embodiments, the cleaning module may include a wax applicator or a buffer. In some embodiments, the station may further include a maintenance manager including processing circuitry configured to interface with the robotic vehicle to receive operational data based on robotic vehicle operation. In such an example, the maintenance manager may be configured to analyze the operational data to determine whether to implement the maintenance related function. In some embodiments, the operational data may include run hours, and the maintenance manager may determine whether to implement blade sharpening, blade replacement, or bearing replacement based on cumulative run hours since a prior blade sharpening, prior blade replacement, or prior bearing replacement. In some embodiments, the operation data may include data indicative of energy drawn for operation of a blade motor or data indicative of energy drawn for operation of a drive motor. In some embodiments, the station may further include a housing into which the robotic vehicle is drivable for service. In some embodiments, the housing operably couples to a water hose to supply water to a cleansing module of the multi-function service station. In some embodiments, the housing is operably coupled to an air hose to supply air to a cleansing module of the multi-function service station. In some embodiments, the housing may include nozzles or jets disposed in a sidewall of the housing for provision of water or air into the housing. In some embodiments, the housing may include a semi-enclosed housing or an elevated floor and a ramp. In some embodiments, the elevated floor may be sloped to direct water onto the ramp for draining of the housing or may include drain holes for draining of the housing.

Many modifications and other embodiments of the inventions set forth herein will come to mind to one skilled in the art to which these inventions pertain having the benefit of the teachings presented in the foregoing descriptions and the associated drawings. Therefore, it is to be understood that the inventions are not to be limited to the specific embodiments disclosed and that modifications and other embodiments are intended to be included within the scope of the appended claims. Moreover, although the foregoing descriptions and the associated drawings describe exemplary embodiments in the context of certain exemplary combinations of elements and/or functions, it should be appreciated that different combinations of elements and/or functions may be provided by alternative embodiments without departing from the scope of the appended claims. In this regard, for example, different combinations of elements and/or functions than those explicitly described above are also contemplated as may be set forth in some of the appended claims. In cases where advantages, benefits or solutions to problems are described herein, it should be appreciated that such advantages, benefits and/or solutions may be applicable to some example embodiments, but not necessarily all example embodiments. Thus, any advantages, benefits or solutions described herein should not be thought of as being critical, required or essential to all embodiments or to that which is claimed herein. Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

THAT WHICH IS CLAIMED:

1. A multi-function service station comprising:

an energy refill module configured to interface with a power module of a robotic vehicle responsive to docking of the robotic vehicle at the multi-function service station, the energy refill module being configured to enable re-powering of the power module when interfaced with the power module; and

at least one maintenance module configured to perform a maintenance related function on the robotic vehicle responsive to docking of the robotic vehicle at the multi- function service station.

2. The multi-function service station of claim 1, wherein the maintenance related function comprises vehicle or component cleaning, component sharpening, vehicle inspection, or component replacement.

3. The multi-function service station of claim 1, wherein the at least one maintenance module comprises a blade replacement module.

4. The multi-function service station of claim 1, wherein the at least one maintenance module comprises a bearing replacement module.

5. The multi-function service station of claim 1, wherein the at least one maintenance module comprises a blade sharpening module.

6. The multi-function service station of any of claims 3-5, wherein the at least one maintenance module accesses an underside of the robotic vehicle in an elevated floor upon which the robotic vehicle is disposed when docked at the multi-function service station.

7. The multi-function service station of claim 1, wherein the at least one maintenance module comprises a cleaning module.

8. The multi-function service station of claim 7, wherein the cleaning module comprises a service air applicator.

9. The multi-function service station of claim 7, wherein the cleaning module comprises a water applicator.

10. The multi-function service station of any of claims 7-9, wherein the cleaning module is configured to clean a camera of the robotic vehicle.

11. The multi-function service station of claim 7, wherein the cleaning module comprises a wax applicator.

12. The multi-function service station of claim 7, wherein the cleaning module comprises a buffer.

13. The multi-function service station of claim 1, further comprising a

maintenance manager comprising processing circuitry configured to interface with the robotic vehicle to receive operational data based on robotic vehicle operation, wherein the maintenance manager is configured to analyze the operational data to determine whether to implement the maintenance related function.

14. The multi-function service station of claim 13, wherein the operational data comprises run hours, and wherein the maintenance manager determines whether to implement blade sharpening, blade replacement, or bearing replacement based on cumulative run hours since a prior blade sharpening, prior blade replacement, or prior bearing

replacement.

15. The multi-function service station of claim 13, wherein the operation data comprises data indicative of energy drawn for operation of a blade motor.

16. The multi-function service station of claim 13, wherein the operation data comprises data indicative of energy drawn for operation of a drive motor.

17. The multi-function service station of claim 1, further comprising a housing into which the robotic vehicle is drivable for service.

18. The multi-function service station of claim 17, wherein the housing operably couples to a water hose to supply water to a cleansing module of the multi-function service station.

19. The multi-function service station of claim 17, wherein the housing is operably coupled to an air hose to supply air to a cleansing module of the multi-function service station.

20. The multi-function service station of claim 18 or 19, wherein the housing comprises nozzles or jets disposed in a sidewall of the housing for provision of water or air into the housing.

21. The multi-function service station of claim 17, wherein the housing comprises a semi-enclosed housing.

22. The multi-function service station of claim 21, wherein the housing comprises an elevated floor and a ramp.

23. The multi-function service station of claim 22, wherein the elevated floor is sloped to direct water onto the ramp for draining of the housing.

24. The multi-function service station of claim 22, wherein the elevated floor comprises drain holes for draining of the housing.

25. The multi-function service station of any preceding claim, wherein the energy refill module comprises a battery charger and the power module comprises a battery module.