JP2007149115A - Docking method of autonomous robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot and a base station which can be appropriately and accurately joined regardless of the position of the base station. <P>SOLUTION: The method for docking a robot device and the base station includes the steps of: detecting a low energy level in an on-board battery; matching the direction of the robot to an overlap detected between two infrared beams radiated by the station; detecting contact between charging terminals of the robot and the base station; charging the on-board battery; and restarting a task of the robot such as vacuum cleaning. A system for irradiating an avoidance signal for preventing contact due to carelessness between the robot and the base station, and a system for irradiating a return signal for accurately docking the robot device to the base station are also disclosed. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates generally to robotic systems, and more specifically to an automatic docking and energy management system for autonomous robots.

  Automated robots and robotic devices are now becoming increasingly popular and are used to perform tasks that are traditionally considered routine, time consuming, or dangerous. As programming techniques improve, there is also an increasing demand for robotic devices that require minimal human interaction for tasks such as robotic fuel supply, inspection, and repair. What is aimed at is a robot that, once set up, operates autonomously without the need for human help or intervention.

The development of robotic devices and related control equipment, navigation systems, and other related systems that progress in this direction is ongoing. For example, Patent Document 1 discloses Robot.
An Obstacle Detection System is disclosed, the disclosure of which is hereby incorporated by reference in its entirety. Additional robot controllers and navigation systems are disclosed in U.S. Patent Application Nos. 10 / 167,851, 10 / 056,804, 10 / 696,456, 10 / 661,835, and 10 / 320,729. The disclosure of which is incorporated herein by reference in its entirety.

  In general, autonomous robotic devices include on-board power supplies (usually batteries) that are charged at a base station or docking station. The types of charging stations and methods used by robots to discover and dock with them (eg, radio signals, dead reckoning, ultrasound beams, infrared beams coupled to radio signals, etc.), both effectiveness and application Vastly different. It is common to embed a wire under the surface on which the robot operates, but the use of a guide wire inside a building floor or under a road surface is expensive and clearly has limited applications. When mounted on a surface, the guidewire can be damaged by the robot itself or other traffic. Furthermore, the wire needs to move when the base station moves. Therefore, a beacon that attracts a base station or robotic device that emits a beam is more desirable. However, such devices still exhibit operational limitations.

  Base stations that utilize the emitted signals often also require additional safety devices to ensure proper coupling between the robot and the base station, and thus safe and effective charging. Some orientations may require other components such as a mechanical locking device to prevent the robot from shifting during charging or a raised guide surface to direct the robot into contact with the station. Such components can increase the size of the base station while reducing aesthetic and important considerations for automated robots for the consumer market. Also, the increase in base station size generally makes inconspicuous placement in the home more difficult and reduces the floor area that can be cleaned. In addition, current base stations generally lack the ability to prevent themselves from touching the robot during operation, increasing the possibility of damage to either the station or the robot, or the possibility of base station translocation. Let When such unintended collisions occur, human intervention may be required to relocate the base station or repair damaged components.

At present, these limitations are an obstacle to creating automated robots that are truly independent of human interaction. Therefore, there is a need for a robot and a base station that can ensure proper coupling regardless of the location of the base station. Furthermore, a system that can prevent inadvertent dislocation of the base station by eliminating the collision between the station and the robot is desirable.
US Pat. No. 6,594,844

  In one aspect, the invention relates to a method for energy management in a robotic device comprising at least one energy storage unit and a signal detector. The method includes providing a base station for coupling with the robotic device, the base station comprising a plurality of signal emitters including a first signal emitter and a second signal emitter; Determining an amount of stored energy, characterized by at least a high energy level and a low energy level, and at least in part by the robotic device to the stored energy amount. Performing a predetermined task on the basis thereof. In various embodiments of the foregoing aspect, coulometric analysis or period settings are used to determine the amount of stored energy or the task duration of the device.

  In other embodiments of the aforementioned aspect, the step of performing the predetermined task occurs when the amount of stored energy exceeds the high energy level, and the predetermined task is generated by the signal detector. An operation of the robot apparatus leaving the base station in response to reception of a base station avoidance signal. Yet another embodiment is the step of returning the robotic device to the base station in response to receiving a base station feedback signal by the signal detector and / or the amount of stored energy is below the high energy level. Returning the robotic device to the base station. In another embodiment of the aforementioned aspect, the step of returning the robot apparatus to the base station occurs when the amount of stored energy is below the low energy level, and the predetermined task is the robot Includes a reduction in energy used by the device. Various embodiments include changing the movement characteristics of the robotic device to effectively locate the base station, charging the device upon contact, and / or the predetermined or different task And resuming.

  In another aspect, the present invention relates to a method for docking a robotic device with a base station comprising a plurality of signal emitters including a first signal emitter and a second signal emitter. The method orients the robotic device to (i) a first signal transmitted by the first signal emitter, and (ii) a second signal transmitted by the second signal emitter. And maintaining the orientation of the robotic device relative to the first and second signals as the robotic device approaches the base station. An embodiment of the method of the foregoing aspect includes detecting an overlap between the first signal and the second signal by the robotic device, and at least in part by the signal duplication by the robotic device. Following a defined path and docking the robotic device with the base station. Other related embodiments include reducing the speed of the robotic device to follow the path defined at least in part by the signal overlap.

  Also, various embodiments of the method of the aforementioned aspect include detecting, by the robotic device, contact with a charging terminal on the base station during the step of docking the robotic device with the base station; Stopping the operation. In some embodiments, one or more on-board tactile sensor contacts may be used in addition or alternatively to stop operation of the robotic device. Other embodiments include fully charging the robotic device and / or charging the robotic device to one of a plurality of charge levels. Certain embodiments allow for resumption of a predetermined task or a new task upon completion of charging.

  In another aspect of the present invention, the present invention relates to an autonomous system including a base station that includes a charging terminal for contacting an external terminal of a robot apparatus, and a first signal emitter and a second signal emitter. An embodiment of the above aspect provides the first signal emitter for transmitting a base station avoidance signal and the second signal emitter for transmitting a base station feedback signal. In other embodiments, the feedback signal is a pair of signals, which may be the same or different. The pair of signals may be transmitted by a pair of emitters. In some embodiments, the signals may be duplicated and may be optical signals.

  An embodiment of the above aspect further includes a robotic device for performing a predetermined task, wherein the robotic device has at least one energy storage unit having an external terminal for contacting the charging terminal, and at least one signal. And a detector. In certain embodiments, the at least one signal detector is adapted to detect at least one optical signal. The robotic device, in one embodiment, has the ability to distinguish signals generated by multiple emitters.

  Still another aspect of the present invention is a robot apparatus having at least one energy storage unit and a signal detector, and a base station for coupling the robot apparatus, the first signal emitter and the second signal. The present invention relates to an energy management apparatus including a base station including a plurality of signal emitters including an emitter, and a processor for determining an amount of energy stored in the energy storage unit. Certain embodiments of the foregoing aspect use coulometric analysis or period settings to determine the amount of stored energy or the task duration of the device. In yet another embodiment, the first signal emitter transmits an avoidance signal, thereby limiting the operation of the robotic device away from the base station, and the second signal emitter transmits a feedback signal; Thereby, the operation of the robot apparatus is directed toward the base station.

  Another aspect of the present invention relates to a feedback system that includes a robotic device having a signal detector and a base station having a first signal emitter and a second signal emitter. Certain embodiments of the foregoing aspects overlap signals transmitted by the first signal emitter and the second signal emitter. Still another embodiment further includes a charging terminal on the base station and a charging terminal on the robot apparatus.

  A further aspect of the present invention transmits the first signal emitter that projects outward from the first signal emitter and the second signal that projects outward from the second signal emitter. The present invention relates to a feedback system for a base station that includes the second signal emitter that overlaps the first signal and the second signal. Another aspect is an avoidance system for restricting the operation of at least one of a first device and a second device, the first device emitting a signal, and the second device receiving the signal The avoidance system for restricting the operation of at least one of the first device and the second device.

  Yet another aspect of the present invention is a base station including a substrate and a backstop, an electrical contact placed on the upper side of the substrate, and a first signal emitter placed on the backstop, A first signal emitter, a second signal emitter, and a third signal emitter that limit the signal transmitted by the first signal emitter from moving the robotic device within a predetermined distance of the base station; A plurality of signals transmitted by the second signal emitter and the third signal emitter inducing at least one electrical contact of the robotic device to contact the at least one electrical contact of the base station. A base station for a robotic device including a second signal emitter and a third signal emitter.

  Another aspect of the present invention is a method of charging a battery of a device, the method comprising providing low energy to a charging terminal of a charger, a predetermined change in parameters associated with the charger, and a predetermined scale thereof. Detecting the presence of the device by monitoring at least one of them and increasing the energy to the charging terminal to charge the battery. One embodiment of the method of the above aspect further includes the step of measuring the level of charge in the device and allowing the device to charge when the level of charge is below a predetermined threshold.

  Yet another aspect of the present invention is a system for charging a mobile device, comprising a fixed charger comprising a first charging terminal, a predetermined change in parameters associated with the charger, and a predetermined scale thereof. A system having a circuit for detecting the presence of the device by monitoring at least one of the devices and a mobile device having a battery and a second charging terminal adapted to be coupled to the first charging terminal. Various embodiments of the above aspects include a system in which the circuit measures the level of charge in the battery and controls the power level supplied to the first charging terminal. In yet another embodiment, when the circuit is coupled to the second charging terminal, the power supplied to the first charging terminal when measuring a predetermined voltage across the first charging terminal. Includes a system to increase power.

  In the drawings, like reference characters generally refer to the same parts throughout the different views. The drawings are not necessarily to scale, emphasis instead being placed on illustrating generally the principles of the invention. In the following description, various embodiments of the present invention will be described with reference to the following drawings.

  FIG. 1 is a schematic perspective view of a base station 10 according to an embodiment of the present invention. Base station 10 includes both a substantially horizontal substrate 12 and a substantially vertical backstop 14. Base station 10 may be any of the various shapes and sizes described below, provided that there is sufficient space for the desired components and systems. The substrate 12 is generally parallel to the ground on which the base station 10 is located, but may have a slight upward angle with respect to the backstop 14. By minimizing the rising angle of the substrate 12, the robotic device (FIGS. 2A and 2B) can be easily docked with the station 10. The electrical charging contacts 16 are located on the top surface of the substrate 12 so that they can contact corresponding contacts (FIG. 2B) on the bottom surface of the robotic device. The contact 16 or the contact on the robot may be either fixed or compliant. In the depicted embodiment, the two contacts 16 (plus one, minus one) are utilized to properly detect the completed circuit when the robot 40 is docked to the base station 10. This circuit recognition sequence will be described in detail below. However, in other embodiments, a single contact 16 or more than two contacts may be utilized. The additional contacts will provide redundancy if the robot contacts are damaged, soiled or obstructed. This will allow the robot to dock and properly charge itself even after such an occurrence occurs. Other embodiments utilize two contacts 16 for charging the battery and additional contacts for transmitting data and information between the devices.

  The contacts 16 are sized and arranged to make reliable and repeatable contact with corresponding contacts on the robot. The contacts 16 may be oversized, for example, to ensure contact with the robot contacts and / or extend above the substrate 12 in a dome shape, for example. Alternatively, the contact 16 may be embedded in the substrate 12 at a higher elevation angle, or may protrude above the substrate 12 that is planar and substantially free of elevation. Depending on the application, the rising angle of the substrate 12 may vary from 0 ° to 20 ° or more. The embodiment depicted in FIG. 1 also includes a recess 26 in the substrate 12 between two contacts 16 sized to engage the robot's front caster (FIG. 2B). The recess 26, together with the structure of the charging contact 16, ensures proper alignment and registration between the charging contacts at both the base station 10 and the robot. Alternatively, the recess 26 may include one or more contacts 16 arranged to mate with corresponding one or more contacts on the robot's front caster.

  The backstop 14 provides a place for many components of the base station 10. In particular, in the depicted embodiment, the backstop 14 includes a top signal emitter 18, a front signal emitter 20, several indicator LEDs 22, and an AC plug outlet 24. The top signal emitter 18 generally avoids the robot from inadvertently coming into direct contact with the base station 10 while performing tasks such as vacuuming. A first signal such as (FIG. 3) is generated. The top signal emitter 18 generally utilizes a parabolic reflector to transmit the avoidance signal. In such an embodiment, the avoidance signal is emitted by a single LED that is directed to a lens shaped by rotating a parabola around its center. This parabolic reflector therefore projects the avoidance signal 60 in a 360 ° pattern without the need for multiple emitters. A similar structure can be used in detection in robots where a single receiver is used at a single LED location.

  Although the position of the top signal emitter 18 may change, placing the emitter 18 on the top of the backstop 14 transmits an avoidance signal through a continuous 360 ° field around the base station 10. Alternatively, a base station designed to be mounted on a corner, on a wall, or near a wall can project an avoidance signal along only a substantially unobstructed side. The front signal emitter 20 may be used for feedback signals (FIGS. 4A-4C), etc., so that the robotic device can orient itself while docked with the base station 10 for charging or when not in use. Project one or more additional signals. Of course, the signal emitter may be used to perform the functions of both emitters 18, 20 when properly located at the base station 10. Both the avoidance signal and the return beam are described in more detail below.

  2A and 2B are schematic perspective views of a robotic device such as the autonomous robot 40 adapted to couple with the base station 10. In the following description of the autonomous robot 40, the use of the term “front / front” generally refers to the main direction of movement of the robot 40, and the term front-rear axis (reference character “FA” in FIG. 2A). Defines the forward direction of movement (indicated by the arrows of the front and rear axis FA), which matches the front and rear axis diameter of the robot 40.

  In the depicted embodiment, the housing infrastructure 42 of the robot 40 includes a chassis 44, a cover 46, and a replaceable bumper 48. The chassis 44 is cast from a material such as plastic as a single element that includes a plurality of molded wells, recesses, and structural members for attaching or integrating elements of various subsystems that operate the robotic device 40, among others. Good. Such subsystems include microprocessors, power subsystems (including one or more power supplies for various subsystems and components), power subsystems, sensor subsystems, and task specific component subsystems. Good. The cover 46 may be cast from a material such as plastic that is complementary in structure to the chassis 44 and that provides protection and access to the elements and components attached to the chassis 44. The chassis 44 and the cover 46 are combined and integrated so as to be removable by any suitable means (for example, screws), and both the chassis 44 and the cover 46 are substantially symmetrical along the front-rear axis FA. A minimum height structural packaging material having a cylindrical structure is formed.

  The replaceable bumper 48 has a generally arcuate structure and is attached to the forward portion of the chassis 44 in a movable connection for extending outward therefrom (“normal operating position”). The mounting structure of the replaceable bumper 48 is replaced in the direction of the chassis 44 (from the normal operating position) whenever the bumper 48 encounters a stationary object or an obstacle of a predetermined mass, and contacts the stationary object. Or return to normal operating position when the fault ends (depending on any such replacement of the bumper 48, the robot 40 may avoid a stationary object or obstacle and continue its task routine "bounce ”Mode (depending on the operation of the control sequence).

  A pair of detectors 50 and 52 are attached to the robot apparatus 40. In this embodiment of the robotic device 40, the detectors 50, 52 receive the projected signals from the emitters 18, 20 on the base station 10. In other embodiments, a single detector may receive signals from both emitters 18, 20 on base station 10, or more than two detectors may be used. In certain embodiments, detectors 50, 52 may be standard infrared (“IR”) detector modules that include a photodiode with an omnidirectional lens and associated amplification and detection circuitry, where omnidirectional is substantially A single plane. The IR detector module may be of the type (p / n IRM-8601S) manufactured by East Dynamic Corporation. However, as long as the emitters 18, 20 on the base station 10 are adapted to match the detectors 50, 52 on the robot 40, any detector may be used regardless of the modulation and peak detection wavelengths. . In another embodiment, an IR phototransistor may be used with or without an electronic amplification element and may be connected directly to the microprocessor analog input. Thereafter, signal processing may be used to measure the intensity of the IR rays at the robot 40, which provides an approximation of the distance between the robot 40 and the IR light source. Alternatively, radio frequency, magnetic field, and ultrasonic sensors and transducers may be used. As shown in FIGS. 2A and 2B, at least one detector 50 is mounted in the forward direction of the robot 40 as defined by the top of the robot 40 and the main direction of movement as indicated by the arrow on the axis FA. .

  The detector 50 is attached to the top of the robot 40 to avoid shadows, but in some applications to prevent operational difficulties and allow the robot 40 to pass under obstacles. It is desirable to minimize the height of the robot 40 and / or the detector 50. In some embodiments, the detector 50 is spring-loaded so that the detector 50 can collapse toward the body of the robot 40 as the robot 40 travels under a solid overhanging object. Good.

  One skilled in the art will recognize that in alternative embodiments, multiple detectors may be used. Such embodiments may include a plurality of side mounted sensors or detectors. Each sensor may be oriented in such a way that the collective field of view of all sensors corresponds to a single tip mounted sensor. A single omnidirectional detector is attached to the top of the robot for optimal performance, and by incorporating multiple side-mounted detectors, the robot's profile can be lowered.

  The landing gear of the robotic device 40 is generally indicated by the numeral 54. There are one or more charging contacts in the landing gear 54 that are configured to coincide with the position of the electrical contacts 16 of the base station 10 at such positions. Charging contacts in the robot apparatus that project them are generally present at the base station 10 regardless of their position or orientation. In certain embodiments, the charging contacts may be larger at either the base station 10 or the robot 40 to allow wider compliance when in contact. Also, the dynamic and task specific components of the robot 40 are in the landing gear 54. The dynamic components may include any combination of motors, wheels, drive shafts, or trucks as desired based on the cost or intended use of the robot 40 as is well known in the art. The dynamic component may include at least one caster 56, which in this embodiment drives the robot 40 and couples with the recess 26 on the substrate 12. Since the tasks to which the robotic device 40 is suitable are virtually infinite, the components that perform those tasks are also infinite. For example, the robotic device 40 may be used for floor waxing and polishing, floor scrubbing, re-icing (generally performed by equipment manufactured under the Zambini® brand name), sweeping and vacuuming, unfinished Floor sanding and coloring / painting applications, de-icing and snow removal, glass cutting, and the like. Any number of components for such tasks may be required, each being incorporated into the robotic device 40 as needed. For ease of use, this application will be described as a vacuum cleaner as an exemplary predetermined task. However, it will be apparent that the energy management and automatic docking functions disclosed herein have wide application across a variety of robotic systems.

  The robot apparatus 40 uses various action modes to effectively vacuum the work area. The behavior mode is the layer of the control system that can be operated simultaneously. The microprocessor is operative to execute a preferential arbitration scheme for identifying and performing one or more key modes of behavior for a scenario based on input from the sensor system. The microprocessor is also operating to coordinate avoidance, return, and docking maneuvers with the base station 10.

  In general, the behavior modes for the robotic device 40 described above are characterized as (1) coverage behavior mode, (2) escape behavior mode, and (3) safe behavior mode. The coverage behavior mode is mainly designed to allow the robot apparatus 40 to perform its operation in an efficient and effective manner, while the escape and safety behavior modes are those in which signals from the sensor system are In priority action mode, which is performed when the normal operation of the device 40 has been compromised (eg, an obstacle has been found) or is likely to be compromised (eg, a steep slope has been detected) is there.

  Exemplary and example coverage behavior modes (when vacuumed) of the robotic device 40 include: (1) spot coverage pattern; (2) obstacle tracking (or edge cleaning) coverage pattern and (3) room coverage pattern. Including. The spot coverage pattern causes the robot apparatus 40 to clean a limited area within the defined work area, for example, an area with a high traffic volume. In some embodiments, the spot coverage pattern is performed using a turning algorithm (although other types of self-limiting region algorithms such as polygons may be used). The turning algorithm causes a turning motion in and out of the robot apparatus 40, and changes the turning radius according to the time or distance of movement (thus increasing / decreasing the turning movement pattern of the robot apparatus 40). This is performed by a control signal from the microprocessor to the power system.

  The robotic device 40 may determine a predetermined or arbitrary distance (e.g., maximum turning distance) and / or occurrence of a specific event, e.g., activation of one or more obstacle detection systems (generically referred to as transition states) Up to the point coverage). When the transition state occurs, the robot apparatus 40 moves, for example, in a linear action mode (in one embodiment of the robot apparatus 40, the linear action mode moves the robot in a substantially straight line at a preset speed of about 0.306 m / sec. Different behavior modes such as a bounce behavior mode combined with a linear behavior mode) or a transitional behavior mode. The bounce action mode is a basic function that allows the robot apparatus 40 to avoid a stationary object or obstacle and continue its task routine. Avoidance is achieved by performing a series of turns until no obstacle is detected (eg, bumper 48 is no longer compressed).

  If the transition state occurs because the robotic device 40 encounters an obstacle, the robotic device 40 can take another action instead of transitioning to a different behavior mode. The robotic device 40 can temporarily perform an action mode to avoid or escape obstacles and resume operation (ie, continue turning in the same direction) under the control of the turning algorithm. . Alternatively, the robotic device 40 may temporarily perform an action mode in order to avoid or escape an obstacle and resume operation under the control of a turning algorithm (however, in a reverse reflective turn). it can.

  The obstacle tracking coverage pattern causes the robotic device 40 to clean around a work area, such as a room bounded by walls, and / or around an obstacle (eg, furniture) within a defined work area. Preferably, the robotic device 40 is adapted to maintain its position relative to an obstacle such as a wall or furniture so that the robotic device 40 moves adjacent to the periphery of the obstacle and simultaneously cleans along it. Use a tracking system. Different embodiments of the obstacle tracking system can be used to perform the obstacle tracking behavior pattern.

  In certain embodiments, the obstacle tracking system is activated to detect the presence or absence of an obstacle. In an alternative embodiment, the obstacle tracking system is activated to detect an obstacle and then maintain a predetermined distance between the obstacle and the robotic device 40. In the first embodiment, the microprocessor is operative to receive a signal from the obstacle tracking system and perform a small clockwise or counterclockwise turn to maintain its position relative to the obstacle. . The robot device 40 performs a small clockwise turn when the robot device 40 transitions from obstacle detection to non-detection (from reflection to non-reflection), or the robot device 40 from non-detection to detection (non-detection). Perform a small counter-clockwise turn when transitioning (from reflection to reflection). In order to maintain a predetermined distance from the obstacle, a similar turning action is performed by the robot apparatus 40.

  The robotic device 40 may have a predetermined or arbitrary distance (eg, maximum or minimum distance) for a predetermined or arbitrary period, and / or occurrence of a specific event, eg, one or more obstacle detection systems are activated a predetermined number of times. Operation in the obstacle-tracking behavior mode (collectively referred to as transition state). In some embodiments, the microprocessor causes the robotic device 40 to perform the alignment behavior mode upon activation of the obstacle detection system in the obstacle tracking behavior mode, and the robot 40 aligns the robotic device 40 with the obstacle so that the minimum angle is set. Would implement and implement a counter-clockwise turn.

  A room coverage pattern is a defined work area bounded by walls, stairs, obstacles, or other partitions (eg, virtual wall units that prevent the robotic device 40 from passing through other unbounded areas). Can be used by the robotic device 40 to clean. Some embodiments of room coverage patterns include a random bounce mode in combination with a linear behavior mode. First, the robot apparatus 40 moves under the control of the linear action mode until an obstacle is encountered (wheel operation is performed in the same direction at the same rotational speed). Obstacles may be indicated by physical contact with the wall or detection of base station avoidance signals. Upon activation of one or more obstacle detection systems, the microprocessor is operative to calculate a new directional tolerance based on the activated obstacle detection system. The microprocessor selects a new heading from an acceptable range and performs a clockwise or counterclockwise turn to achieve the new heading with minimal movement. In some embodiments, following a new swivel heading, the robot 40 may be advanced to increase the cleaning efficiency. The new heading may be selected randomly or based on some statistical selection scheme such as a Gaussian distribution. In other embodiments of the room coverage behavior mode, the microprocessing unit may be programmed to change the heading randomly or at a predetermined time without input from the sensor system.

  The robotic device 40 may have a predetermined or arbitrary distance (e.g., maximum or minimum distance) for a predetermined or arbitrary period, and / or occurrence of a specific event, e.g. Until it is (collectively referred to as transition state), it is operated in the room coverage behavior mode.

  One embodiment of the robotic device 40 includes four escape behavior modes: a turning behavior mode, an end behavior mode, a wheel drop behavior mode, and a deceleration behavior mode. Those skilled in the art will appreciate that other modes of behavior may be utilized by the robotic device 40. One or more of these behavior modes may be used to detect, for example, current generation (indicating some sort of interference) in one of the task components, forward bumper 48 in a compressed position for a predetermined period, or wheel drop event. Can be fulfilled accordingly.

  In the turning action mode, the robot apparatus 40 starts from a high speed (for example, twice the normal turning speed) and decreases to a low speed (half the normal turning speed), that is, a small panic turn and a large panic turn, respectively. , Placed in a random direction. The low panic turn is preferably in the range of 45 ° to 90 °, and the large panic turn is preferably in the range of 90 ° to 270 °. The turning behavior mode may cause the robotic device 40 to get caught on a surface obstruction (eg, a high point on the carpet), become unable to move under other obstructions (eg, protrusions), or be confined to a sealed area. To prevent that.

  In the end action mode, the robot apparatus 40 does not start any of the obstacle detection units, or until the robot apparatus 40 turns at a predetermined frequency from the start of the end action mode, Trace the end. The end behavior mode allows the robotic device 40 to move through the smallest possible opening to escape the sealed area.

  In the wheel drop behavior mode, the microprocessor temporarily turns the wheel drive assembly in the opposite direction and then stops. When the activated wheel drop sensor stops operating within a predetermined time, the microprocessor again performs the action mode executed before the activation of the wheel drop sensor.

  In response to a certain event such as activation of a wheel drop sensor or an inclined surface detector, for example, a deceleration action mode is performed in order to return the robot device 40 to a normal operation speed after decelerating a predetermined distance.

  For example, if a sensor subsystem detects a safety condition such as a wheel stall sensor that temporarily turns off a series of task components or an electric motor, or a wheel drop sensor or an inclined plane detection sensor that has been activated for longer than a predetermined time, the robot Device 40 is generally turned off. Also, an alarm sound may be generated.

  The above description of typical behavior modes of the robotic device 40 is intended to be representative of the types of operational modes that can be performed by the robotic device 40. Those skilled in the art will fully appreciate that the above-described behavior modes may be performed in other combinations and that other modes may be defined to achieve desirable results in a particular application.

  The navigation control system increases its cleaning efficiency by adding a deterministic component (in the form of a control signal that controls the operation of the robotic device 40) to a motion algorithm including random motions autonomously performed by the robotic device 40. It can be advantageously used in combination with the robotic device 40 to enhance it. The navigation control system operates under the direction of a navigation control algorithm. The navigation control algorithm includes a definition of a predetermined trigger event.

  In general terms, the navigation control system monitors athletic activity of the robotic device 40 under the direction of a navigation control algorithm. In one embodiment, the monitored athletic activity is defined by the term “location history” of the robotic device 40, as described in more detail below. In another embodiment, the monitored athletic activity is defined by the term “instantaneous position” of the robotic device 40.

  The predetermined trigger event is a specific event or state in the athletic activity of the robot 40. Upon recognizing a predetermined trigger event, the navigation control system operates to generate a control signal and transmit it to the robotic device 40. In response to the control signal, the robot apparatus 40 operates to perform or execute the action commanded by the control signal, that is, the prescribed action. This prescribed action means a deterministic component of athletic activity of the robot apparatus 40.

  While applying the vacuum, the robotic device 40 will periodically approach the stationary base station 10. Touching the base station 10 may damage the base station or move the base station to a location where docking is not possible. Thus avoidance functionality is desirable. In order to avoid inadvertent contact, the base station 10 can generate an avoidance signal 60 as depicted in FIG. The avoidance signal 60 is shown being transmitted from the emitter 18 at the upper end of the backstop 14. The radius range from the base station 10 to the avoidance signal 60 may vary depending on predefined factory settings, user settings, or other matters. The avoidance signal 60 needs to assume a sufficient distance to protect the base station 10 from unintentional contact with the robot 40. The range of the avoidance signal 60 can extend from the outer periphery of the base station 10 to a few feet from the base station 10 depending on the application.

  The avoidance signal 60 is depicted here as an omnidirectional (ie, single-plane) infrared beam, although other signals such as multiple single fixed beams or signals are possible. However, when using fixed beams, a sufficient number may increase the chances that the robotic device 40 will encounter them, thus providing adequate coverage around the base station 10. When the detector 50 of the robotic device 40 receives the avoidance signal 60 from the emitter 18, the robotic device 40 can change its course as required to avoid the base station 10. Alternatively, if the robotic device 40 is actively or passively searching for the base station 10 (for charging or other docking purposes), the feedback signal may be transmitted as described below with reference to FIGS. 4A and 4B. The route can be changed to go to the base station 10, such as by going around the base station 10 in such a way as to increase the chance of encounter.

  In some embodiments, a parallel IR emitter such as a Waitrony p / n IE-320H is used. Due to potential interference from sunlight and other IR sources, most IR devices such as remote controls, personal digital assistants and other IR communication devices emit signals that can be modulated. Here, the emitters 18 and 20 modulate the beam at 38 kHz. In the embodiment of the present invention, the collision with other IR equipment is prevented by further modulating at a frequency different from a normal IR bit stream such as 500 Hz. In general, avoidance signal 60 is encoded as feedback signals 62, 64. Even when the robot 40 receives a plurality of signals simultaneously, a bit encoding method is selected in addition to the binary code so that the robot apparatus 40 can detect the presence of each signal.

  Whenever a measurable level of IR radiation in the avoidance signal 60 strikes the detector 50, an IR avoidance action of the robot is triggered. In one embodiment, this action rotates the robot 40 to the left until the IR signal is below a detectable level. Thereafter, the robot 40 resumes the previous movement. Rotating to the left is desirable in some systems because, by convention, the robot tries to keep all objects on the right during the next operation. When the avoidance behavior of the robot rotates to the left in the detection of the avoidance signal 60, it matches the other behavior. In one embodiment, detector 50 acts as a tilt detector. If the robot 40 encounters a region with a higher IR intensity, the robot 40 rotates at the same location. Since the detector 50 is attached to the front of the robot 40 and the robot 40 does not move backwards, the detector 50 always “confirms” an increase in IR intensity before the rest of the robot 40. Therefore, by rotating at the same place, the detector 50 moves to a range where the intensity is reduced. When the robot 40 next moves forward, the robot 40 inevitably moves to a range where the IR intensity is reduced and away from the avoidance signal 60.

  In other embodiments, the base station 10 includes multiple encoded emitters of different power levels or emitters that change their power level using a time division multiplexed system. These create a centrally coded signaling that steers the robot 40 from a remote location in the direction of the base station 10. Therefore, the robot 40 is always aware of the presence of the base station 10 by facilitating identification of the location of the base station 10, docking, determining how many rooms have already been cleaned, and the like. I will. Alternatively, the robot 40 uses that motion throughout the IR region to measure the slope of the IR energy. If the tilt indication is negative (ie, the detected energy is decreasing with movement), the robot 40 goes straight (away from the IR source). If the tilt indication is positive (energy is increasing), the robot 40 turns. The net effect is to perform the “tilt descent algorithm” with the robot 40 escaping from the source of the avoidance signal 60. This tilt method may be used to find the source of the emitted signal. Concentrated rings of various power levels facilitate this possibility without means for measuring the raw signal strength.

  A flowchart of one embodiment of control logic for avoidance behavior 100 is shown in FIG. 6A. The robot 40 determines whether the signal 110 detected by the detector 50 is the avoidance signal 60. When the avoidance signal 60 is detected, the robot 40 selects the turning direction 120. The robot 40 then begins to turn in the selected previous direction and continues until 130 when the avoidance signal 60 is no longer detected. When the avoidance signal 60 is no longer detected, the robot 40 may continue to turn an additional amount 140, such as 20 °, or the robot may turn randomly between 0 ° and 135 °.

  In step 120 of the flowchart, the direction selection algorithm 120a illustrated in the flowchart shown in FIG. 6B is used. The robot control logic keeps track of the discontinuous interaction of the robot with the beam. First, the robot 40 increments the counter by one (122). In an odd numbered interaction, the robot 40 randomly selects a new turning direction 124, 126, and in an even numbered interaction, the robot 40 again uses the most recent turning direction. Optionally, the robot 40 may randomly select which direction to turn. Continue to turn in that direction until you travel a sufficient distance.

  In other embodiments, the robot 40 can always turn in a single direction or randomly select a direction. When the robot 40 always turns in a single direction, the robot turns in the loop by turning away from the beam, hitting another obstacle in the room, turning back toward the beam, checking the beam again, hitting it again, etc. It may get caught. Furthermore, if the robot 40 only turns in a single direction, it may result in failure to clean a certain area of the floor. Thus, a single turning direction may not be optimal if the robot's task is to complete the task uniformly throughout the room. If the direction is chosen at random, the robot 40 can frequently turn back and forth each time it encounters a beam.

  Referring again to FIG. 6A, in the embodiment of step 140, the robot 40 has made an additional 20 ° turn from the point where the avoidance signal 60 was lost. The turning arc may vary depending on the particular robot 40 and application. The additional turn helps prevent the robot 40 from re-encountering immediately after encountering the avoidance signal 60. For various applications, the amount of additional motion (linear or swivel) may be a predetermined distance, angle, or number of times, and may optionally include a random component. In still other embodiments, the robot's avoidance action may include turning the robot away until no avoidance signal 60 is detected, or as described above, and the robot has lost the avoidance signal 60. Later, you may turn randomly between 0 ° and 135 °.

  4A-4C depict the robot apparatus 40 at various stages in searching for base station 10 using feedback signals 62,64. The robot apparatus 40 can search for the base station 10 when the necessity of charging the battery is detected, or when the cleaning of the room is completed. As described above, when the robotic device 40 detects the avoidance signal 60 (and consequently the base station 10), it can move on demand to detect the feedback signals 62,64. Similar to the avoidance signal 60 described above, the projection ranges and directions of the feedback signals 62, 64 may be varied as desired. However, it should be noted that longer signals can increase the opportunity for the robot 40 to efficiently discover the base station 10. Longer signals may also be useful when the robotic device 40 is deployed in a particular large room and it takes too long to locate the base station 10 randomly. The range of the feedback signals 62, 64 can be considered from about 6 inches above the substrate 12 to several feet above the substrate 12, depending on the application. Naturally, the angular width of the feedback signals 62 and 64 may be changed according to the application, but an angular width in the range of 5 ° to over 60 ° is conceivable. Tilt behavior as described above can also be used to assist the robot in locating the base station.

  In addition to operating as a navigation beacon, the feedback signals 62, 64 (and even the avoidance signal 60) carry information including program data, failsafe and diagnostic information, docking control data and information, maintenance and control sequences, etc. May be used for In such embodiments, these signals provide control information, dictating the robot's response, as opposed to the robot 40, which takes certain actions when contacted with certain signals from the base station 10. can do. In that case, the robot 40 operates as instructed by the transmitted signal, and performs the above functions as a slave of the base station 10.

  The robot 40 performs docking with the base station 10 accurately and repeatably without requiring a total mechanical guidance function. The two feedback signals 62 and 64 can be distinguished, for example, as a red signal 62 and a green signal 64 by the robot apparatus. The IR beam is generally used to generate a signal and is itself invisible. The color distinction is provided for illustrative purposes only, and any “color” (ie, signal bit pattern) may be used as long as the robotic device 40 identifies which signal is facing a particular side. Alternatively, the signals 62, 64 can be distinguished using different wavelengths or using different carrier frequencies (eg, 38 kHz for 380 kHz, etc.).

  Accordingly, when the robot device 40 desires or needs docking, if the detector 50 receives the red signal 62 transmitted from the base station 10, it moves to keep the red signal 62 on the right side of the robot, and the base station 10 If the green signal 64 transmitted from is detected, it moves to keep the green signal on the left side of the robot. If the two signals overlap (“yellow” zone 66), the robot 40 knows that the base station 10 is nearby and can be docked. Such a system may be optimized to make the yellow area 66 as thin as practicable to confirm proper orientation and approach of the robot 40 and successful docking. Alternatively, red signal 62 and green signal 64 may be replaced with a single signal that robot 60 will track until docked.

4A-4C depict a docking procedure utilizing two signals at various stages. In Figure 4A, the detector 50 is in the green or left signals 64 area, thus the robot device 40, in order to keep the green signal 64 on the left side of the robot 40, will move to the right in the direction M _R ( In practice, the robot 40 moves to keep the green signal 64 on the left side of the detector 50). Similarly, in FIG. 4B, the detector 50 is in the red or the right signal 62 area, thus the robot 40 for the purpose of fastening the red signal 64 on the right side of the detector 50, is moved to the left in the direction M _L I will. Finally, in FIG. 4C, the detector 50 has encountered a yellow area 66. At this point, the robot apparatus 40 will move in a direction M _F toward the direct base station 10. While approaching the base station 10, the robotic device 40 can perform its other functions to slow down its approach speed and / or interrupt the vacuuming or verify that there is no problem with docking. These actions occur when the robot 40 detects the avoidance signal 60 and thus recognizes that the base station 10 is nearby, or at some other predetermined time, such as when the signal from the emitters 62, 64 changes, for example. May occur.

  Various methods are conceivable for confirming that the robot 40 is correctly docked with the base station 10. For example, the robot 40 can continue to move in the direction of the base station 10 (in the yellow area 66) while sending a signal to the robot 40 that has contacted the base station 10 until the bumper 48 is depressed. Another embodiment duplicates the feedback signals 62, 64 so that the yellow zone 66 ends at a point that is adjusted to contact the charging contacts when the robot 40 reaches the end point. Other embodiments simply stop the robot 40 when the electrical contact touches the electrical contact on the base station 10. This will ensure that the robot 40 is moving over the contact 16 while providing a wiping action that cleans the contact 16 and improves the electrical integrity of the connection. This makes it possible to make the base station 10 even lighter, since it is not necessary to resist the force required to dent the robot bumper 48. FIG. 5 shows the robotic device 40 fully docked with the base station 10. Of course, this procedure may also utilize detector 52 or a combination of both detectors.

  Although this embodiment of the present invention describes IR signals for both avoidance and feedback, other signals may be used in the system and method of the present invention to accomplish the objectives. However, other types of waves may have disadvantages. For example, directing radio waves is more difficult and expensive, and visible light can be disturbed by many sources and distracting the user. Although sound waves may be used, it is equally difficult to direct the sound, and such waves tend to be more scattered and reflected.

  FIG. 7 depicts a schematic diagram illustrating a control sequence 200 of the robotic device 40 during vacuuming. In general, the control sequence 200 includes three subsequences based on the measured energy level of the robotic device 40. They are generally referred to as high energy level 210, medium energy level 220, and low energy level 230. In the high energy level subsequence 210, the robotic device 40 performs its predetermined task, in this case vacuuming (using various behavior modes as described above) while avoiding the base station 212. When avoiding the base station 212, the robot apparatus 40 performs the avoidance action and continues to operate normally. This process continues while the robotic device 40 is continuously monitoring its energy level 214. Various methods can be used to monitor the energy level 214 of the power source, such as coulometric analysis (ie, always measuring the current entering and exiting the power source) or simply measuring the residual voltage at the power source. Other embodiments of the robotic device 40 simply use a timer and lookup table stored in memory to measure how long the robotic device 40 can operate before entering the difficult energy level subsequence. be able to. Still other embodiments can simply allow the robot 40 to operate for a predetermined period before charging without determining which energy level subsequence it is operating on. If the robot 40 operates with liquid or gas fuel, this level can also be measured with devices currently known in the art.

  When the residual energy falls below a predetermined high level, the robot 40 enters a medium energy level sequence 220. The robot 40 continues to vacuum and monitor its energy level 224 using the method shown in step 214 above. However, at medium energy level 220, robot 40 “passively searches” for base station 10 (222). While passively searching for the base station 10 (222), the robotic device 40 does not change its mobility characteristics, but rather an avoidance signal 60 or feedback signal 62 that can be tracked until the robot 40 eventually docks with the base station 10, respectively. , 64 until it is detected by accident, and continues in the same degree as the normal action mode. That is, if the avoidance signal 60 is detected while the robot is passively searching (222) rather than avoiding the base station 10 as usual, the robot detects the return signal 62 or 64, and the result Change its movement characteristics until docking is possible.

  Alternatively, the robot 40 continues to operate in this medium energy level subsequence 220 until it registers the energy level 224 below a predetermined low level. At this point, the robot 40 enters a low level subsequence 230 that is characterized by changes in motion and movement characteristics. To convert energy, the robot 40 considers all incidental systems and cleanings to allow for as much energy conversion as possible to “proactively seek” the base station 10 (232). You may interrupt the power supply to operations, such as a machine. While actively searching (232), the robot 40 can change its movement characteristics to increase the chance of finding the base station 10. This allows you to interrupt behavior modes, such as those that make use of swivel movement, so there is a need to create more opportunities to locate base stations in support of more planned modes such as wall tracking. Absent. This systematic search will continue until the robot 40 detects the presence of the base station 10 by detecting either the avoidance signal 60 or the period signals 62, 64. Obviously, the additional subsequence is performed by the robot 40 from a sound that will alert when the residual energy reaches a critical level, or from a previous contact with the base station 10 to assist in relocating the base station 10. Can be incorporated into the reconfiguration.

  The robot 40 may dock because it has determined that an assigned task (e.g., room vacuuming) has been completed. The robot 40 can make this determination based on various factors including considerations relating to room size, total travel time, total travel distance, dirt detection, and the like. Alternatively, the robot may employ a room mapping program that uses walls and large objects as base stations 10 and / or reference points. If it is determined that the task has been completed, the robot 40 changes its movement characteristics in order to quickly find the base station 10.

  The robot 40 autonomously charges when it comes into contact with the base station 10. The circuit in the base station 10 detects the presence of the robot 40 and then switches the charging voltage to its contact 16. Thereafter, the robot 40 detects the presence of the charging voltage, turns on its internal transistor power switch, and passes current through the battery. In one embodiment, the base station 10 includes a constant current type switching charger. Maximum current is limited to about 1.25 amps, even under short circuit conditions. The maximum no-load terminal voltage is limited to about 22Vdc. This constant current charging circuit is used to charge a battery in the robot 40 via a biographical connection provided by a contact 16 on the base station 10 and a contact on the landing gear 54 of the robot 40. One embodiment of this charging sequence will be described below.

  Generally, the robot 40 is remote from the base station 10, but the charging contact 16 will present 5 volts, limited to a short circuit current maximum of 1mA. This low voltage / constant current “sense” condition limits the amount of energy available at the contacts 16 and thus provides their safety in the event of contact by humans, animals, and conductive objects. The contact on the landing gear 54 of the robot 40 presents an accurate load resistance that creates an impedance divider along with the resistance in the base station 10 when it contacts the contact on the base station 10. A microprocessor that constantly monitors the voltage at contact 16 will recognize this low voltage. This voltage divider produces a specific voltage with a known service life. If the microprocessor determines that the voltage is within a certain range, it detects that the robot 40 is present. The microprocessor then turns on the transistor switch that supplies the charging contact 16 for higher voltage / current charging (which can charge the robot's internal battery). Alternatively, the robot 40 and / or the base station 10 can verify the integrity of the charging circuit by transmitting a signal via an IR beam, thereby confirming that the robot 40 has actually been docked.

  FIG. 8 depicts an embodiment of a charger circuit schematic. When 5 volts is presented by the base station, the job of resistor dividers R101 and R116 is to keep Q48 and Q5 away when J25 is in contact with the initial low voltage condition. This divider also provides known impedances R101 and R116 in parallel with the base-emitter diode voltage drop of R224 and Q48. The Thevenin impedance is in series with the docking station and thus forms a voltage divider. A window comparator in the docking station looks for a specific voltage produced by the divider. If the base station determines that this impedance is like a robot (not some other conductor), it supplies the robot with a maximum possible 22 volt, 1.25 amp charging voltage.

  At the start of this high voltage, the R101 and R224 dividers meet the requirements for turning on Q48 and Q5, respectively. It is this combination of transistors that allows the robot processor to become active when the battery is actually inoperable and allows current to flow only to the onboard robot electronics.

  Once operational, the robotic processor can detect the presence of the base station voltage via R113 and D15 and turn off its drive motor if it is driving. Once stable at the charging contacts, the robot's job is to determine when and what kind of charge control circuit is required when measuring the internal robot battery and passing current through the battery. For example, if the battery is 12 volts, it is acceptable to turn on Q45 and Q47 via processor control to allow current to flow continuously through the FET U9 to the battery.

  However, if the battery voltage is considered to be less than 5 volts, it would generally be undesirable to continuously maximize the current through the battery. The reason for this concern is that the power supply in the DOC is a constant current charger, and the charger will adjust its output voltage slightly higher than the battery voltage in order to pass 1.25A to the battery. In fact. In some cases this may be a few millivolts higher than the battery voltage itself, and if the battery is a low voltage, such as 3 volts, the output voltage is used to operate the onboard base station and the robot electronics suite. It will be lowered below the required 5 volts.

  In this case, the robot processor will then pulse the charger control line associated with Q47 so that the energy storage capacitors of both the robot and base station maintain sufficient charge to keep the respective electronics operating properly through the charge pulse. Supply width modulation. The energy storage capacitor is then replenished during the off-time of the pulse width modulated charging cycle and is ready to continue the next charging pulse. This scenario continues until the battery is charged and charging control can reach a static level until the point at which continuous charging cannot reduce the supply voltage to a critical level.

  Since this pulse width modulation process in this embodiment relies on software control, it is important to monitor the health of the processors in both the base station and the robot. The following is a charge requirement: for the charger, a “monitoring mechanism” is established via Q45 so that a static high or low state on this signal line disables current flow to the battery. It is built in. For any current, this control line is continually pulsed so that most of the time the processor latches up due to static discharge or other battery-related events resulting from overuse of the charging profile is eliminated. This is a requirement of the robot processor. Of course, other controls and associated failsafe schemes may be utilized.

  The charging sequence described above provides certain safety functions even when the charging contacts 16 are exposed and voltage is applied. When a sense voltage of 5 volts is present (ie, when the robot 40 is not docked), a specific resistance is required to create a specific voltage drop across the contact 16, and the low sense current is harmless. There is no risk of electric shock from accidental contact. Also, since the sense current is not within the predetermined range, the base station 10 will never switch to a higher voltage / current level. If the base station 10 does not determine that the robot 40 is present, the base station supplies a charging voltage / current. This charging current is limited to a maximum of about 22 volts / 1.25 amps. Even if inadvertent contact occurs during charging--the robot chassis 44 effectively blocks the contacts 16, so it is unlikely to occur--the supplied voltage is relatively low, so there is a serious risk of electric shock. Will not bring.

  Another level of safety is provided by the base station 10 periodically inspecting the robot 40 from a minimum of once per minute to a maximum of 10 times per second. Thus, if the robot 40 is removed from the base station 10 (either by an animal or a human), the charging current may be stopped immediately. The same situation applies when the contact 16 is short-circuited with the docked robot 40 (intentionally or accidentally, for example, when the robot 40 drags debris on the charging contact 16).

  A further safety feature of this charging sequence prevents overheating of the contact 16 due to an intentional short circuit or oxidation. To accomplish this task, a thermal breaker or similar device can be used in addition to a microprocessor equipped with a temperature measurement subroutine. However, the breaker provides the advantage of controlling the contact temperature in the event of a microprocessor or software failure. Also, the circuit of the base station 10 may incorporate a timer to reset the temperature measurement subroutine or breaker when a system failure occurs. These safety controls may be incorporated into the “monitoring mechanism” described above.

  While docked with the base station 10, the robot 40 may perform other maintenance or diagnostic checks. In certain embodiments, the robot 40 can fully recharge its power source or charge only partially based on various factors. For example, if the robot 40 uses a route tracking subroutine to determine that a small portion of the room still needs to be vacuumed, it will only perform a minimal charge before returning to complete the room cleaning. Can do. However, if the robot 40 requests a full charge before returning to clean the room, that choice is also available. If robot 40 completes the room vacuuming prior to docking, the robot will dock, fully recharge, and wait for a signal (either internal or external) to begin the next cleaning cycle. be able to. During this standby mode, the robot 40 may continue to measure its energy level and may start a charging sequence when the energy level falls below a predetermined amount. Alternatively, the robot 40 may maintain a constant or nearly constant trickle charge to keep its energy level near the peak. While in the docking position, other actions such as diagnostic functions, cleaning internal mechanisms, communicating with a network, or manipulating data may also be performed.

  While the specification has described what are considered to be exemplary and preferred embodiments of the present invention, other modifications of the invention will become apparent to those skilled in the art from the teachings herein. Let's go. The particular manufacturing methods and shapes disclosed herein are exemplary in nature and should not be considered limiting. Accordingly, it is desired that all such modifications be protected within the scope of the appended claims as long as they are within the spirit and scope of the present invention. Therefore, what is desired to be protected by patent is an invention as defined and differentiated in the following claims.

FIG. 1 is a schematic perspective view of a base station according to an embodiment of the present invention. FIG. 2A is a schematic perspective view of a robotic device according to an embodiment of the present invention. FIG. 2B is a schematic side view of the robot apparatus of FIG. 2A. FIG. 3 is a representative schematic perspective view of a robotic device and a base station depicting avoidance signals transmitted by the base station and detected by the robotic device according to one embodiment of the present invention. 4A-4C are representative schematic perspective views of feedback signals according to one embodiment of the present invention transmitted by a base station and detected by a robotic device. 4A-4C are representative schematic perspective views of feedback signals according to one embodiment of the present invention transmitted by a base station and detected by a robotic device. 4A-4C are representative schematic perspective views of feedback signals according to one embodiment of the present invention transmitted by a base station and detected by a robotic device. FIG. 5 is a schematic perspective view of the robotic device and base station at the docking or coupling location. FIG. 6A is a flowchart of an avoidance algorithm according to an embodiment of the present invention. FIG. 6B is a flowchart of an avoidance algorithm according to an embodiment of the present invention. FIG. 7 is a flowchart of an energy management algorithm according to an embodiment of the present invention. FIG. 8 depicts an embodiment of a charger circuit schematic according to one embodiment of the present invention.

Claims (12)

A base station comprising a plurality of signal emitters including a right signal emitter and a left signal emitter, and a method for docking a robotic device,
Aligning the robotic device with (i) a right signal transmitted by the right signal emitter, and (ii) a left signal transmitted by the left signal emitter;
Maintaining the orientation of the robotic device relative to both the right signal and the left signal as the robotic device approaches the base station. Detecting an overlap between the right signal and the left signal by the robot device;
Following the path defined at least in part by the signal overlap by the robotic device;
The method of claim 1, further comprising docking the robotic device with the base station.   The method of claim 2, wherein the step of following a path defined at least in part by signal overlap comprises reducing the speed of the robotic device. Docking the robotic device with a base station,
Detecting contact with the charging terminal on the base station by the robotic device;
And stopping the operation of the robotic device.   The method of claim 4, further comprising charging the robotic device.   The method of claim 5, wherein charging the robotic device includes a plurality of charge levels. A method for charging a battery of a device, comprising:
Providing non-charging energy to the charging terminal of the charger;
Confirming the presence of the device across the charging terminals by recognizing a load formed by a combination of circuitry in the charger and complementary circuitry in the device;
Increasing the energy to the charging terminal to a charging current to charge the battery. Measuring the level of charge in the device;
8. The method of claim 7, further comprising: allowing charging of the battery in the device when the level of charging is below a predetermined threshold. A system for charging a mobile device,
A fixed charger comprising a plurality of first charging terminals;
A circuit for confirming the presence of the device across the charging terminal by recognizing a load formed by a combination of a circuit in the charger and a complementary circuit in the device;
A mobile device,
Battery,
A mobile device comprising: a plurality of second charging terminals adapted to couple with the first charging terminal;
A system comprising:   The system of claim 9, wherein the circuit determines a level of charge in the battery and controls a power level supplied to the first charging terminal.   When the circuit is coupled to the second charging terminal, a change from non-charging energy supplied to the first charging terminal to a charging current when measuring a predetermined voltage across the first charging terminal. The system of claim 10.   The method of claim 7, wherein the device comprises an autonomous mobile device.

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