WO2025054711A1

WO2025054711A1 - System for providing wireless power of mobile uncrewed robots and method of use thereof

Info

Publication number: WO2025054711A1
Application number: PCT/CA2024/051193
Authority: WO
Inventors: Philippe Boulanger; Xavier BIDAUT
Original assignee: Quaze Technologies Inc.
Priority date: 2023-09-11
Filing date: 2024-09-11
Publication date: 2025-03-20

Abstract

A system for providing wireless power of one or more mobile uncrewed robots, the system fastened or configured to be fastened to a mobile vehicle; it has a flat pad defining a charging area for the one or more mobile uncrewed robots; a power source; one or more resonators, above or below the flat pad, oriented in a plane that is parallel to a plane defining the flat pad; and a transmitter for receiving power from the power source, and transmitting wireless power to the one or more resonators; wherein the flat pad is adapted to be accessible by the one or more mobile uncrewed robots, and wherein the one or more mobile uncrewed robots receive wireless power from the one or more resonators while the one or more uncrewed robots are contacting the flat pad; methods of use thereof.

Description

SYSTEM FOR PROVIDING WIRELESS POWER OF MOBILE UNCREWED ROBOTS AND METHOD OF USE THEREOF

[0001] The present application claims priority from U.S. provisional patent application No. 63/581,943 filed on September 11, 2023, incorporated herein by reference.

Technical Field

[0002] The present disclosure relates to wireless charging, and more particularly to wireless charging of mobile uncrewed robots such as drones.

Background

[0003] Battery-powered drones and robots used for both civilian and military use suffer from a short battery life, where a drone may only last twenty or so minutes, for instance, before requiring battery replacement with a fully-charged battery or to be manually plugged into a power source for recharging. This replacement of the battery or plugging with a charger is usually performed manually by human intervention, which prevents a fully uncrewed robot operation, and can be time-consuming or consume valuable time in certain time-sensitive situations (such as during underwater drilling operations, mining operations, battle settings, etc.).

[0004] One existing solution involves tethering the drone with a wired connection for providing continuous power through the wired connection. However, this solution limits the travel distance of the drone from the power source to which the drone is connected, greatly limits the mobility and range of the drone in certain environments such as in a forest in which the wire may get tangled, and the wire can be traced back to the power source, jeopardizing the power source if the power source is detected or if the drone is detected.

[0005] Another existing solution from the prior art is an automated battery swapping station for the drones and robots. This solution swaps the empty or partially discharged battery of the robots with a fully charged (or near full charge) battery. However, this solution presents multiple limitations such as the station being bulky relative to the robots (not easy to transport), one station model working for only one specific model of robot, the drone needing a high alignment precision at the landing to mate properly with the station, the station having multiple moving parts that make it fragile (similar to a paper printer that can jam), to debris and environmental hazard, such as snow, ice, dirt, dust and water, and fragile to the movement of the station itself.

[0006] Another existing solution is a direct electrically conductive connection to the robots. This solution uses an electric conductor cable connection between the robots and a power source to be able to charge the robots battery. This solution further has a connector (with conductive contacts) for easy plugging and unplugging of the robot to the charging station. In some case, the solution takes the form of a docking station for robots, sometimes referred to as a robot nest, where each robot needs a dedicated docking station. However, this solution presents multiple limitations such as being generally compatible with only one robot model (or a family of robots with a similar form factor), the electrically conductive connectors are susceptible to short circuits (from water, metal debris or human touch) and requires a high alignment precision with the robot to achieve the conductor contact. Those docking stations generally try to mitigate the short circuit risk by enclosing the robot before starting the charge, but those systems still have the potential short circuit problem in the time the enclosure is open (exposed to water, rain, ice or snow) or if the electrically conductive connectors of the robots were exposed to conductive materials (rain, water, snow, ice or metal debris) during their operation. Some variations of this solution use electrically conductive surface connector or a tethered cable with an easy disconnect function. The conductive surface variation is generally compatible with more robot models but in exchange has a significant increased to the susceptibility to short circuit since the whole charging surface is made of conductors. The easy disconnect tethered cable variation has the advantage to be more resilient to short circuit (similar to a normal conductive cable and connector for charging an electrical device) and can disconnect easily and automatically when the robot goes at a pre-determined distance from the charging station (so the robot can keep being fully charge when in stand-by mode on the charging station), does not require human intervention to disconnect the robots, but this variation is not able to reconnect automatically when the robot comes back to the charging station and instead requires human intervention.

[0007] Some other solutions for robots that operate in remote locations (such as the far north), in water (fresh water or salt water) or in space present several challenges. For the robots operating in a remote location, a challenge of prior art solutions is that the charging station and robot system need to be resilient to the accumulation of debris and environment materials (such as snow, ice, rain, water, dust, dirt, tree branches, etc.), since it is complicated and might not be cost efficient to have a human to do maintenance and cleaning of the charging station and robot systems. For the robots operating in water, there is high risk of short circuit to the direct electrical connection of the charging station, the system further needs to be resilient to pressure if it used at dept while still having mating electrically conductive parts and isolation. This also have challenged relative to the debris and organic matter in water that can prevent the proper electrical mating of the charging station and the water robot. For the robots operating in space, there is challenges with having the electrically conductive mating components with the exposition of the vacuum of space or the dust of celestial bodies (such as the moon and mars). Space dust can be highly abrasive (since there is no rain to round the small rocks) to component and can short circuit the electrically conductive matting parts depending on the elemental and chemical composition of the dust. Furthermore, the space robots also have the same challenge as robots operating in remotes locations.

[0008] Robots, and electrical and electronics devices that operate in a cylindric form factor (such as the shaft of a motor) or motion. Some example are brushed or brushless electric motor, where an electric power is converted to mechanical motion. The use of brush (made of conductive material that mate with the conductive material of the shaft) is able to transmit electric power to the central and rotating shaft but accumulate wear and tear fast. The brushless variation does not have the wear and tear of the brush but can only transmit the electrical power to mechanical power, so if there is electrical or electronics components on the central shaft, they would not be able to transfer their data or power through that system. A robot that would use the principles of brushless motor would thus not be able to be recharge. Furthermore, the prior art explained herein can have limited axial (z), radial (r) and rotational (9) freedom (in cylindric coordinate system), and would not be compatible with an environment where there is interfering (mechanically interfering, radio frequency interfering or other type of interference) or electrically conductive material in between the transmitter cylinder or shaft, and the receiving cylinder or shaft.

[0009] As such, solutions for improving the powering of robots during certain operations, to improve the active life of the drones during these operations, to have a charging station that is more robust, easy to transport or more cost effective, to have a robot charging and powering system fully without human intervention, and compatible with remote locations would be advantageous.

Summary

[0010] The present disclosure relates to systems and methods for wirelessly charging mobile uncrewed robots (e.g. drones), thereby facilitating the recharging of the mobile uncrewed robots during certain operations.

[0011] A system for wirelessly charging the mobile uncrewed robots may be mounted onto a mobile vehicle, such as an unmanned ground vehicle (such as the Mission Master SP™ from Rheinm entail™). The system includes a flat pad coupled with one or more antennas acting as resonators for transmitting the wireless power to the mobile uncrewed robot(s) as the one or more mobile uncrewed robot(s) rest on the flat pad of the system for providing wireless power. A separator may also be present under the one or more antennas for separating the wirelessly charging system from the rest of the mobile vehicle to which the system for providing wireless power is joined.

[0012] In some embodiments, the housing may include a magnetic shield cage or a ferrite cage.

[0013] A broad aspect is a system for providing wireless power to one or more mobile uncrewed robots, the system fastened or configured to be fastened to a mobile vehicle. The system includes a flat pad defining a charging area for the one or more mobile uncrewed robots; a power source; one or more resonators, above or below the flat pad; and a transmitter for receiving power from the power source, and transmitting wireless power to the one or more resonators; wherein the flat pad is adapted to be accessible by the one or more mobile uncrewed robots, and wherein the one or more mobile uncrewed robots receive wireless power from the one or more resonators while the one or more uncrewed robots are directly or indirectly contacting the flat pad.

[0014] In some embodiments, the system may include a housing, the housing including a seal for blocking an opening, and wherein the flat pad may be contained within the housing, the flat pad accessible by the one or more mobile uncrewed robots through the opening.

[0015] In some embodiments, the housing may include a Faraday Cage.

[0016] In some embodiments, the system may be for wireless charging of one or more drones, the one or more mobile uncrewed robots including the one or more drones.

[0017] In some embodiments, the power source may be a battery.

[0018] In some embodiments, the power source may be a wire for receiving power from the mobile vehicle.

[0019] In some embodiments, the system may include a fastener next to the flat pad for preventing the one or more mobile uncrewed robots from slipping from the flat pad when the mobile vehicle is moving.

[0020] In some embodiments, the fastener may be one or more of a net; a hook and loop fastener; and a sticky surface.

[0021] In some embodiments, the fastener may include a magnet.

[0022] In some embodiments, the magnet may be an on / off permanent magnet. [0023] In some embodiments, the magnet may be an electromagnet.

[0024] In some embodiments, the flat pad may include on a surface one or more QR codes, the one or more QR codes for assisting with an aligning of the one or more mobile uncrewed robots with respect to the one or more resonators once the one or more mobile uncrewed robots are directly or indirectly contacting the flat pad.

[0025] In some embodiments, at least one of the one or more QR codes may be concealed within a pattern.

[0026] In some embodiments, at least one of the one or more QR codes may include a colour.

[0027] In some embodiments, at least one of the one or more QR codes may be a nested QR code.

[0028] In some embodiments, the flat pad may include a transparent film, and wherein a configuration of pixels of at least one of the one or more QR codes can be modified using the transparent film or one or more light sources located under the transparent film.

[0029] In some embodiments, the system may include a separator, positioned under the one or more resonators and the flat pad, such that the one or more resonators may be positioned between the separator and the flat pad, the separator for creating space between the mobile vehicle and the one or more resonators.

[0030] In some embodiments, the separator may be a hollow box.

[0031] Another broad aspect is a mobile vehicle comprising the system for providing wireless power to one or more mobile uncrewed robots as described herein.

[0032] In some embodiments, the system may be integrated into the mobile vehicle.

[0033] In some embodiments, the system may be fastened onto the mobile vehicle.

[0034] In some embodiments, the mobile vehicle may be a land vehicle.

[0035] In some embodiments, the land vehicle may be remote-controlled.

[0036] Another broad aspect is a system for management of wireless charging, on a flat pad of a system for providing wireless power, of one or more mobile uncrewed robots using a source of wireless power. The system includes a processor; memory comprising program code that, when executed by the processor, causes the processor to: receive information relating to a presence of an approaching mobile uncrewed robot requiring wireless recharging; generate a command to control navigation of the mobile uncrewed robot; receive location information of the mobile uncrewed robot generated by one or more position sensors; and based from the location information, determine a location of the mobile uncrewed robot and generate a plurality of navigation commands to cause a displacement of the mobile uncrewed robot to position the mobile uncrewed robot on the flat pad for wireless charging of the mobile uncrewed robot.

[0037] In some embodiments, the system may include the one or more position sensors.

[0038] In some embodiments, the one or more position sensors may include a RGB camera.

[0039] In some embodiments, the one or more position sensors may include an infrared camera.

[0040] In some embodiments, the memory may further include program code that, when executed by the processor, causes the processor to: cause the source of wireless power to transition from a sleep mode or a standby mode to an active power mode when the mobile uncrewed robot is in proximity of the flat pad, wherein a power output in the active power mode is greater than a power output in the sleep mode or the standby mode.

[0041] In some embodiments, the causing the transition between the sleep power mode to the active power mode may occur following a detection of the mobile uncrewed robot in proximity of the system for providing wireless power.

[0042] In some embodiments, the location may be determined from one or more of dot projection; GPS coordinates; RTK information; barometer readings; radar readings; and lidar readings.

[0043] In some embodiments, the location information may be obtained via one or more of a RGB camera; an infrared camera; a gyroscope; an accelerometer; and a magnetometer.

[0044] Another broad aspect is a method of maintaining a seamless image stream of an observable scene using a plurality of mobile uncrewed robots each including a camera. The method includes receiving information that a first mobile uncrewed robot of the plurality of mobile uncrewed robots, at a first location, with the camera of the first mobile uncrewed robot generating an image stream capturing the observable scene, requires recharging of a power source powering the first mobile uncrewed robot; generating a command to cause a second mobile uncrewed robot of the plurality of mobile uncrewed robots charged using a source of wireless power to navigate to the first location; and generating a command to cause the first mobile uncrewed robot to navigate to a site for wireless charging once the second mobile uncrewed robot has reached the first location, a camera of the second mobile uncrewed robot generating an image stream capturing the observable scene that is continuous with the image stream capturing the observable scene generated by the camera of the first mobile uncrewed robot.

[0045] In some embodiments, the site for wireless charging may be the source of wireless power.

[0046] In some embodiments, the plurality of mobile uncrewed robots may be drones.

[0047] Another broad aspect is an adapter for wireless charging of a drone via a source of wireless power. The adapter includes a fastener for joining the adapter to the drone; an antenna for directly or indirectly contacting the source of wireless power and for receiving wireless power from the source of wireless power; an AC / DC converter connected to the antenna configured to convert the alternating current received from the antenna into direct current; and a power output for providing the direct current to the drone for powering the drone.

[0048] In some embodiments, the adapter may include a housing containing the AC / DC converter, wherein the fastener may be integrated into the housing.

[0049] In some embodiments, the housing may be the fastener by clamping onto a portion of the drone.

[0050] In some embodiments, the housing may clamp onto a battery of the drone.

[0051] In some embodiments, the power output may be connectable to the drone to provide direct current to both a battery of the drone and directly to the drone for powering the drone.

[0052] Another broad aspect is a flexible system for providing wireless power for charging a device. The flexible system includes a flexible substrate; and a transmitter antenna joined to the flexible flat substrate, the transmitter antenna configured for transmitting wireless power.

[0053] In some embodiments, the flexible substrate may be a fabric.

[0054] In some embodiments, the flexible substrate may be made from rubber.

[0055] Another broad aspect is a system for maintaining a seamless image stream of an observable scene using a plurality of mobile uncrewed robots each including a camera, comprising a processor; and memory comprising program code that, when executed by the processor, causes the processor to: receive information that a first mobile uncrewed robot of the plurality of mobile uncrewed robots, at a first location, with the camera of the first mobile uncrewed robot generating an image stream capturing the observable scene requiring recharging of a power source powering the first mobile uncrewed robot; generate a command to cause a second mobile uncrewed robot of the plurality of mobile uncrewed robots charged using a source of wireless power to navigate to the first location; and generate a command to cause the first mobile uncrewed robot to navigate to a site for wireless charging once the second mobile uncrewed robot has reached the first location, a camera of the second mobile uncrewed robot generating an image stream capturing the observable scene that is continuous with the image stream capturing the observable scene generated by the camera of the first mobile uncrewed robot.

[0056] Another broad aspect is a method of managing wireless charging on a flat pad of one or more mobile uncrewed robots using a source of wireless power, comprising receiving information relating to an approaching of a mobile uncrewed robot requiring wireless recharging; generating a command to control navigation of the mobile uncrewed robot; receiving location information of the mobile uncrewed robot generated by one or more position sensors; based from the location information, determining a location of the mobile uncrewed robot and generate a plurality of navigation commands to cause a displacement of the mobile uncrewed robot to position the mobile uncrewed robot on the flat pad for wireless charging of the mobile uncrewed robot.

[0057] In some embodiments, the method may include causing the source of wireless power to transition from a sleep power mode to an active power mode when the mobile uncrewed robot is in proximity of the flat pad, wherein a power output in the active power mode is greater than a power output in the sleep mode.

[0058] In some embodiments, the method may include the causing the transition between the sleep power mode to the active power mode occurs following a detection of the mobile uncrewed robot in proximity of the flat pad.

[0059] Another broad aspect is non-transitory computer-readable medium having stored thereon program instructions for managing wireless charging on a flat pad of one or more mobile uncrewed robots using a source of wireless power, the program instructions executable by a processing unit for receiving information relating to an approaching of a mobile uncrewed robot requiring wireless recharging; generating a command to control navigation of the mobile uncrewed robot; receiving location information of the mobile uncrewed robot generated by one or more position sensors; based from the location information, determining a location of the mobile uncrewed robot and generate a plurality of navigation commands to cause a displacement of the mobile uncrewed robot to position the mobile uncrewed robot on the flat pad for wireless charging of the mobile uncrewed robot.

[0060] In some embodiments, the program instructions may be further executable by the processing unit for causing the source of wireless power to transition from a sleep power mode to an active power mode when the mobile uncrewed robot is in proximity of the flat pad, wherein a power output in the active power mode is greater than a power output in the sleep mode.

[0061] In some embodiments, the causing the transition between the sleep power mode to the active power mode may occur following a detection of the mobile uncrewed robot in proximity of the flat pad.

[0062] Another broad aspect is a non-transitory computer-readable medium having stored thereon program instructions for maintaining a seamless image stream of an observable scene using a plurality of mobile uncrewed robots each including a camera, the program instructions executable by a processing unit for: receiving information that a first mobile uncrewed robot of the plurality of mobile uncrewed robots, at a first location, with the camera of the first mobile uncrewed robot generating an image stream capturing the observable scene requiring recharging of a power source powering the first mobile uncrewed robot; generating a command to cause a second mobile uncrewed robot of the plurality of mobile uncrewed robots charged using a source of wireless power to navigate to the first location; and generating a command to cause the first mobile uncrewed robot to navigate to a site for wireless charging once the second mobile uncrewed robot has reached the first location, a camera of the second mobile uncrewed robot generating an image stream capturing the observable scene that is continuous with the image stream capturing the observable scene generated by the camera of the first mobile uncrewed robot.

[0063] Another broad aspect is a method of maintaining a continuous task using a plurality of mobile uncrewed robots. The method includes receiving information that a first mobile uncrewed robot of the plurality of mobile uncrewed robots, at a first location, performing a task, requires recharging of a power source powering the first mobile uncrewed robot; generating a command to cause a second mobile uncrewed robot of the plurality of mobile uncrewed robots charged using a source of wireless power to navigate to the first location; and generating a command to cause the first mobile uncrewed robot to navigate to a site for wireless charging once the second mobile uncrewed robot has reached the first location, wherein the task is performed by the second mobile uncrewed robot in a continuous fashion with respect to the task performed by the first mobile uncrewed robot.

[0064] In some embodiments, the task may be acting as a communication relay.

[0065] In some embodiments, the flexible substrate may be a fabric and wherein the transmitter antenna may be a conductive cable Brief Description of the Drawings

[0066] The invention will be better understood by way of the following detailed description of embodiments of the invention with reference to the appended drawings, in which:

[0067] Figure 1 is a block diagram of an exemplary architecture of a system for providing wireless power to a plurality of mobile uncrewed robots assisted by an exemplary computing device connected to one or more exemplary position sensors for detecting positions of the mobile uncrewed robots;

[0068] Figure 2 is a block diagram of an exemplary computing device for assisting the wireless charging of mobile uncrewed robot(s) using an exemplary system for providing wireless power and one or more exemplary position sensors for detecting a position of the mobile uncrewed robot(s);

[0069] Figure 3A is a drawing of an exemplary adapter for providing wireless power to a drone from a wireless power source, the adapter mounted to an exemplary drone;

[0070] Figure 3B is a drawing of a perspective view of an exemplary adapter for providing wireless power;

[0071] Figure 3C is a drawing of a perspective view of an exemplary adapter for providing wireless power to a drone mounted to an exemplary drone;

[0072] Figure 4 is a drawing of a cross-sectional view of an exemplary flexible system for providing wireless;

[0073] Figure 5A is a drawing of an exemplary system for providing wireless power mounted to a ground vehicle;

[0074] Figure 5B is a drawing of an isometric view of an exemplary system for providing wireless power;

[0075] Figure 6 is top-down view of an exemplary system for providing wireless power, mounted to a ground vehicle, wherein each charging station of the exemplary system is identifiable using a QR code for assisting with the positioning of the mobile uncrewed robot on the charging station;

[0076] Figure 7 is top-down view of another exemplary system for providing wireless power mounted to a ground vehicle, wherein each charging station of the exemplary system is identifiable with a nested QR code for assisting with the positioning of the mobile uncrewed robot on the charging station; [0077] Figure 8 is a picture of an exemplary system for providing wireless power mounted to a ground vehicle;

[0078] Figure 9 is a flowchart diagram of an exemplary method for maintaining a continuous image stream capturing an observable scene by rotating between a plurality of mobile uncrewed robots depending on battery life;

[0079] Figure 10 is a flowchart diagram of an exemplary method for assisting with the wireless charging of one or more mobile uncrewed robots;

[0080] Figure 11 is a drawing of an exemplary system for providing wireless power; and [0081] Figure 12 is a drawing of an exemplary system for providing wireless power that is inserted into a protective pocket.

Detailed Description

[0082] The present disclosure relates to systems and methods for providing wireless charging of mobile uncrewed robots, such as drones. A system for providing wireless power, for charging the mobile uncrewed robots, may be joined to or integrated to a mobile vehicle, the mobile vehicle carrying the mobile uncrewed robots when charging or when inactive, and produces a mobile source of wireless charging which may be positioned next to and follow the mobile uncrewed robots. As such, the source of wireless charging may be in proximity to the mobile uncrewed robots that are active.

[0083] The system for providing wireless power, as well as the other systems, adapters, computing devices, and methods described herein may be used for one or more of pipeline inspection, border inspection between countries, underwater mining, recharging robot submarines, scientific research, law enforcement by being mounted onto police vehicles, military, insurance companies (such as by being mounted onto ambulances), firefighting, etc.

[0084] Unless the context requires otherwise, throughout the specification and claims which follow, the word “comprise” and variations thereof, such as, “comprises” and “comprising” are to be construed in an open, inclusive sense, that is as “including, but not limited to.”

[0085] Reference throughout this specification to “one embodiment” or “an embodiment” means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, the appearances of the phrases “in one embodiment” or “in an embodiment” in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0086] As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” include plural referents unless the content clearly dictates otherwise. It should also be noted that the term “or” is generally employed in its sense including “and/or” unless the content clearly dictates otherwise.

[0087] From the foregoing it will be appreciated that, although specific embodiments have been described herein for purposes of illustration, various modifications may be made without deviating from the spirit and scope of the teachings. Accordingly, the claims are not limited by the disclosed embodiments.

[0088] It is understood that any combination of the different aspects of the system of the present disclosure may be present. The present disclosure may be applied to any kind of mobile uncrewed robot, or electrical or electronics device, for any kind of purpose, mission or operation. Furthermore, a person having ordinary skill in the art will readily understand that the teachings presented herein may also be applicable to any electrical device or electronic device that is mobile or immobile, or to any type of robot whether crewed or uncrewed. Moreover, the present teaching can be applied to any robot environment, mission, operation or market. Some examples, but not limited to, are drone swarm, drone show, security, inspection, maintenance and repair, military, distribution center, manufacturing plant, industrial, first response, police, firefighter, ambulance, search and rescue, delivery, transportation, scientific, agriculture, measurement, and medical and chirurgical.

[0089] The present teaching also pertains to, the hardware and software, for the control of robots relative to a charging station, such as, but not limited to, the valet parking of the robot on the charging station, the data relay and the automated switching of a robot during it’s operation when it near the moment if s battery is depleted.

[0090] DEFINITIONS:

[0091] By an “array of resonators”, it is meant two resonators or more that are arranged in proximity to one another to provide wireless power across a surface defined by the specifications of the array. Each resonator within the array of resonators may have its components (inductor, capacitor) arranged in series, or parallel. The number of resonators present in the array may vary (e.g. 2, 100, etc.), and the dimensions, matrix (e.g. 2x2; 10x10; 4x8; not a defined shape of matrix, etc.), the type of modified connection, if any, and configurations of the array of resonators may also vary. There can be multiple arrays of resonators in proximity to of one another. The size of the resonators within the array of resonators may also vary, where the resonators may be joined to or encased in a substrate, resulting in a tile that can easily be positioned next to other tiles enclosing or including resonator components. The substrates, the individual resonator of the array of resonators, or the array of resonators as a whole can be rigid, flexible, rigid-flex, semi-rigid or a combination of those different rigidities. Each resonator of the array of resonators may be placed with an overlap, partial or total, with neighboring resonators, adjacent to one another, at an angle with respect to one another (e.g. in order to cover a curved surface from flat resonators), or on different parallel planes (e.g. shelves). Those individual resonators can be in the global shape of a toy box, a room (with ceiling, floor, and walls), a cube, a cube shaped or partial cube shaped shelving (e.g. IKEA’s Kallax™) and storage. Each resonator of the array of resonators, or the array of resonators as a whole may be in the form of a flat surface (a 2D flat sheet), or a curved surface such as, but not limited to, a cylinder, a sphere, or a non-uniform curved surface.

[0092] By “resonator”, it is meant an apparatus adapted to receive and transmit wireless power, the resonator including an inductance value and a capacitance value (e.g. the inductance value can come from a coil, a spiroid and/or an inductor, the capacitance value can come from a discrete capacitor and/or from parasitic capacitance). Those capacitance and inductance values can be fixed or variable. The resonator may have its components (inductance, capacitance) arranged in series or in parallel. A resonator may be made of electrically conductive cable (generally for the inductance value, but it can also achieve the desired capacitance value in some cases), PCB or 3D printed materials (conductive material 3D printed to a preexisting mechanical substrate or surface, or the mechanical material and conductive material are 3D printed at the same time), etc.

[0093] By “semi rigid”, it is meant a substrate or material that is in between completely flexible (e.g. fabric, paper or flexible PCB frequently referred as flex PCB) and completely rigid (e.g. wood, plastic, metal and stone). Generally, “semi-rigid” refers to a substrate or material that has flexible properties but that can retain its shape and position without external support, and that does not further deform without external forces applied to it.

[0094] By “rigid-flex”, it is meant a substrate or material that has at least a section that is fully rigid and a section that is fully flexible, and where those section of material are joined together.

[0095] By “PCB”, it is meant a printed circuit board, the multi layer electronics board that generally contain layers of copper glued to an epoxy and fiber glass substrate, and where electronics components can be soldered to it.

[0096] By “operating frequency”, it is meant the frequency at which the system is set to emit wireless power, where a load connected to a receiver resonator can be wirelessly powered by the system, by that operating frequency.

[0097] By “tuning frequency”, it is meant the frequency at which any individual resonator is tuned. It is defined by the resonant frequency of a resonator in an environment without electromagnetic interference (the resonator is alone and not influenced by other electromagnetic objects). This tuning frequency is further calculated by using the capacitance value (C) and inductance value (L) of a resonator by the equation:

[0098] If a resonator is not influenced by its environment, it would resonate at the tuning frequency. In a real application where there are other electromagnetic objects in the vicinity of the resonator in question, the resonator can resonate at other frequencies. This may be due to the electromagnetic couplings (and the mutual inductance and/or capacitance values), the different resonant modes of a system of multiple resonators and the frequency splitting, where the frequency of resonance of the resonator at which the resonator is the most efficient to transfer wireless power can differ significatively from the tuning frequency.

[0099] This tuning frequency is in contrast with the operating frequency of the system which is the frequency at which the power is sent wirelessly.

[0100] By “strong electromagnetic coupling”, it is meant the coupling between two resonators that interact strongly with one another through an electromagnetic field (i.e. through the electric field and/or the magnetic field). This electromagnetic coupling is a dimensionless value describing the mutual capacitance and/or inductance that components impart to another. Strong coupling is when most of the electromagnetic field (or flux) from one of the resonators goes through the second resonator. This means that the magnetic or electric field coupling is more than 0.5 (Kij > 0.5). The typical value obtained in different designs, for wireless power transfer or otherwise, is of 0.7 or more. Synonyms are tight coupling, strong inductive coupling, strong capacitive coupling, strong magnetic field coupling and strong electric field coupling.

[0101] By “weak electromagnetic coupling”, it is meant the coupling between two resonators that interact weakly with one another through an electromagnetic field (i.e. through the electric field and/or the magnetic field). This electromagnetic coupling is a dimensionless value describing the mutual capacitance and/or inductance that a component does to another. Weak coupling is when most of the electromagnetic field (or flux) from one of the resonators does not go through the second resonator. This means that the magnetic and/or electric field coupling is less than 0.5 K < 0.5). The typical value obtained in different designs, for wireless power transfer or otherwise, is of 0.3 or less. Synonyms are loose coupling, weak inductive coupling, weak capacitive coupling, weak magnetic field coupling and weak electric field coupling.

[0102] By “anti-series”, it is meant two or more components that are connected to one another in series but with their polarity reversed. In the case of resonators or inductances (e.g. from coils) that interact electromagnetically with one another, a topology where the components are connected in anti-series makes those components have a differentially (subtraction) coupled electromagnetic field (if the coupling coefficient is positive, i.e. Kij > 0). This is in contrast to the same kind of components that are connected in series instead which makes those components have a cumulatively (addition) coupled electromagnetic field (if the coupling coefficient is positive, i.e. Kij > 0). In the case where the components do not have any polarity, anti-series and series become the same thing. Possible synonyms are antiseries, anti-serial, inverse-series, series with reversed polarity, reverse polarity series.

[0103] By “anti-parallel”, it is meant two or more components that are connected to one another in parallel but with their polarity reversed. In the case of resonators or inductances (e.g. from coils) that interact electromagnetically with one another, a topology where the components are connected in anti-parallel makes those components have a differentially (subtraction) coupled electromagnetic field (if the coupling coefficient is positive, i.e.

> 0). This is in contrast to the same kind of components that are connected in parallel instead which makes those components have a cumulatively (addition) coupled electromagnetic field (if the coupling coefficient is positive, i.e. K_tj > 0). In the case where the components do not have any polarity, anti-parallel and parallel become the same thing. Possible synonyms are antiparallel, inverse-parallel, parallel with reversed polarity, reverse polarity parallel.

[0104] By “checkerboard effect”, it is meant the effect where there are multiple resonators that are electromagnetically coupled to one another in such a way that the efficiency of wireless power transfer is significantly not uniform depending on which of the resonator from the multiple resonators transfers wireless power. Some of the reasons explaining this phenomenon are electromagnetic coupling between multiple resonators, the frequency splitting and the different resonant modes of the system of multiple resonators. The frequency splitting mean that a resonator has more than one resonant frequency at which it has a maximum in the efficiency of wireless power transfer. The expression “resonant modes” means that a system with multiple resonators that interact with one another electromagnetically can create different patterns of efficiency of wireless power transfer within the system depending on the operating frequency. Typically, the phenomenon of the checkerboard effect arises from multiple resonator put side by side on relatively the same plane. A possible synonym is a “checkerboard pattern”.

[0105] In the present disclosure, by “metamaterial”, it is meant an engineered/artificial structure (building block of the metamaterial) that is designed in such a way to have global properties (macroscopic) of a negative refraction-index, and which are not a result of intrinsic properties of the material. The macroscopic parameters or electromagnetic properties of a metamaterial can be described using the permittivity (e), permeability ( ) and the chirality (K).

[0106] For the structure to be a metamaterial, the structure displays global properties of negative permeability (e < 0 ) and of negative permittivity ( < 0). Normally, to achieve those properties, the building blocks are significantly smaller than the wavelength (typically 10 times smaller or more). More specifically, in the application of wireless power transfer in the near-field, since the electric and magnetic field are dissociated and one of those fields can dominate the other, a metamaterial can be achieved by having either a negative permittivity (that can be called an electric metamaterial) or a negative permeability (that can be called a magnetic metamaterial). This in contrast with having both of the properties at the same time. Furthermore, since there is a preferential direction for the propagation of the field (especially in near-field), a metamaterial can be achieved through structures in a plane that make a directional or anisotropic metamaterial (in contrast to an isotropic metamaterial where the building blocks need to be in three dimensions or in different orthogonal planes).

[0107] Typically, in wireless power transfer, the metamaterial is made with a specially designed resonator array made out of copper. A metamaterial can be used to enhance/augment the electromagnetic coupling, enhance/augment the efficiency of wireless power transfer, change the directions or shape of the electromagnetic flux between resonators, coils or metal plates, amplify evanescent waves or wave propagation, etc. Possible synonyms are super lens, resonator array (in some case), coil array (in some case), magnetic metamaterial, electric metamaterial or single- negative metamaterial, isotropic metamaterial or anisotropic metamaterial.

[0108] In the present disclosure, by “directly or indirectly contacting” the flat pad of the system for providing wireless power, it is meant that the mobile uncrewed robot may be directly touching the flat pad of the system for providing wireless power, or contacting materials or debris (such as dust, sand, snow, a net, a fabric, a film, etc.) covering the flat pad of the system for providing wireless power, where the mobile uncrewed robot is indirectly contacting the flat pad of the system for providing wireless power in these examples, wherein the mobile uncrewed robot is touching the materials or debris, the materials or debris sandwiched between the mobile uncrewed robot and the flat pad.

[0109] In the present disclosure, by “mobile uncrewed robot”, it is meant an electrical and electronics machine that can move in its environment and perform some function, either through artificial intelligence, automated and uncrewed piloting by a computer software or directly piloting by a human through a controller. A mobile uncrewed robot may also be referred to as, and includes, for instance, an automaton, android, mechanoid, machine, bot, droid, golem, drone, UGV (Unmanned or Uncrewed Ground Vehicle), UAV (Unmanned or Uncrewed Aerial Vehicle), USV (Unmanned or Uncrewed Surface Vehicle), UUV (Unmanned or Uncrewed Underwater Vehicle), ISR (Intelligence, Surveillance and Reconnaissance) robot, robot plane, robot VTOL (Vertical Take Off and Landing) plane, quadcopter, robot aircraft, robot airplane, humanoid robot, robot dog or walker, driving robot with wheel or track (also referred by continuous track, tracked tread), robot boat, robot submarine, robot helicopter, flying robot, robot vacuum, robot car, robot vehicle, industrial robot, manufacturing robot, distribution center robot, rover (typically used on other solid celestial bodies but applicable to space and on earth), etc. The mobile uncrewed robot can be controlled remotely or can navigate following a preset path or preset set of instructions. Exemplary mobile uncrewed robots also include, but are not limited to, drones (unmanned aircrafts or aerial vehicles), unmanned underwater vehicles, unmanned ground vehicles, etc. Exemplary drones include those of the BLUE UAS list, the GREEN UAS list, any general consumer drone, etc.

[0110] By “WPT”, it is meant as Wireless Power Transfer, and can be used with, but not limited to, WPT antenna, WPT surface, and WPT circuit.

[0111] By “TX”, this combination of characters refers to transmitting, transmitter, emitting or emitter, and can be used with, but not limited to, a TX antenna and TX circuit (which generally include at least a power amplifier, sometimes referred as a DC/ AC). [0112] By “RX”, it is meant as receiving or receiver, and can be used with, but not limited to, RX antenna and RX circuit (which generally include at least a rectifier, sometimes referred as an AC/DC).

[0113] By “TRX”, it is meant a transceiver which is an antenna or circuit that can transmit and receive either data and/or power.

[0114] By “DC” and “AC”, it is meant as Direct Current and Alternative Current respectively. [0115] By “AC/DC” and “DC/AC”, it is meant as a converter from AC to DC, and a converter from DC to AC, respectively.

[0116] By “circuit”, it is meant an electrical or electronics circuit which is usually made out of a PCB with electrical and electronics components soldered thereon.

[0117] By “antenna”, it is meant, but not limited to, an electromagnetically radiative antenna (typically non-ionizing radiation such as radio telecommunication antenna, cellular network antenna, WiFi, BLE), communication or data transfer antenna, wireless power transfer antenna, transceiver antenna, resonator, coil, loop, and spiroid.

[0118] EXEMPLARY ARCHITECTURE FOR WIRELESS CHARGING OF ONE OR MOR MOBLE UNCREWED ROBOTS:

[0119] Reference is made to Figure 1, illustrating an exemplary architecture relating to wireless charging of one or more mobile uncrewed robots. For purposes of illustration, Figure 1 shows three mobile uncrewed robots 300. However, it will be understood that there may be more or less mobile uncrewed robots 300 than the number displayed in Figure 1 which may be wirelessly charged without departing from the present teachings.

[0120] The architecture includes a source of wireless power or a system for providing wireless power 200 in accordance with the present teachings. The architecture may include a computing device 100 for assisting with the wireless charging of the mobile uncrewed robots 300 via the system for providing wireless power 200. The computing device 100 may generate commands for controlling navigation of the mobile uncrewed robot(s) 300 for positioning the mobile uncrewed robot(s) 300 on the system for providing wireless power 200 e.g. when the mobile uncrewed robot 300 is in proximity of the system for providing wireless power 200. The computing device 100 may cause the system for providing wireless power 200 to alternate between a sleep mode and/or a standby mode when no mobile uncrewed robot 300 requires charging, and an active power mode when a mobile uncrewed robot 300 is positioned on the system for providing wireless power 200 and the mobile uncrewed robot 300 requires wireless charging.

[0121] One or more position sensors 350, including the software for processing the date generated by the one or more position sensors 350, may be in communication with the computing device 100 and / or the system for providing wireless power 200 for detecting a position of one or more mobile uncrewed robots 300. Exemplary position sensors 350 include, but are not limited to, red-green-blue (RGB) cameras, infrared (IR) cameras, accelerometers, gyroscopes, magnetometers, etc. Some or all of the one or more position sensors may be located on the system for providing wireless power 200. Some or all of the one or more position sensors may be located on the mobile vehicle 500. Some or all of the one or more position sensors may be located on a mobile uncrewed robot 300.

[0122] The mobile uncrewed robot(s) may be in wireless communication with the computing device 100 and/or the system for providing wireless power 200 (e.g. for communicating global positioning system (GPS) coordinates, transmitting an image stream, transmitting data relating to battery life, etc.)

[0123] EXEMPLARY COMPUTING DEVICE FOR ASSISTING A SYSTEM FOR PROVIDING WIRELESS POWER:

[0124] Reference is now made to Figure 2, illustrating an exemplary computing device 100 for assisting a system for providing wireless power 200 with wireless charging management of one or more mobile uncrewed robots 300.

[0125] The computing device 100 has a processor 102, memory 101 and an input / output (I/O) interface 106. The computing device 100 may have a display 104 and/or a user input interface 105. [0126] The processor 102 may be a general-purpose programmable processor. In this example, the processor 102 is shown as being unitary, but the processor 102 may also be multicore, or distributed (e.g. a multi-processor).

[0127] The computer readable memory 101 stores program instructions and data used by the processor 102. The computer readable memory 101 may also store identification information for mobile uncrewed robots 300 eligible for wireless charging using a given system for providing wireless power 200, commands for causing navigation of a mobile uncrewed robot 300 to the system for providing wireless power 200, etc. The memory 101 may be non-transitory. The computer readable memory 101, though shown as unitary for simplicity in the present example, may comprise multiple memory modules and/or caching. In particular, it may comprise several layers of memory such as a hard drive, external drive (e.g. SD card storage) or the like and a faster and smaller RAM module. The RAM module may store data and/or program code currently being, recently being or soon to be processed by the processor 102 as well as cache data and/or program code from a hard drive. A hard drive may store program code and be accessed to retrieve such code for execution by the processor 102 and may be accessed by the processor 102 to store and access data. The memory 101 may have a recycling architecture for storing, for instance, GPS coordinates of mobile uncrewed robots 300, position information generated by the position sensor(s) 350, a battery life value for a mobile uncrewed robot 300, etc., where older data files are deleted when the memory 101 is full or near being full, or after the older data files have been stored in memory 101 for a certain time.

[0128] The I/O interface 106 is in communication with the processor 102. The I/O interface 106 may include a network interface and may be a wired or wireless interface for establishing a connection with, for example, the position sensor(s) 350 and / or the system for providing wireless power 200. The I/O interface 106 may also establish a wireless connection with the mobile uncrewed robot(s) 300. For instance, the I/O interface 106 may be or may include an Ethernet port, a WAN port, a TCP port, a wireless transceiver, etc. In some embodiments, the computing device 100 may include multiple I/O interfaces 106 each for establishing a distinct connection with on or more of the position sensor(s) 350, the system for providing wireless power 200, the mobile uncrewed robot(s) 300.

[0129] The processor 102, the memory 101 and the VO interface(s) 106 may be linked via bus connections.

[0130] The user input interface 105 is a device through which the user may provide input to the computing device 100 (e.g. when performing a training session). A user input interface 105 may be, or include, a mouse, a keyboard, a joystick, a controller, a touchscreen (e.g. of display 104), a microphone (for capturing speech or sounds from the user), an eye tracker, a motion detector, etc.

[0131] In some instances, instead of or in addition to the user input interface 105, the user input interface may be part of an external remote computer (e.g. a desktop computer, a laptop computer, a smartphone, a tablet computer, etc.) for remotely communicating with the computing device 100 (e.g. via the I/O interface 106), for enabling remote control of the computing device 100. Remote control of the computing device 100 may be advantageous in certain situations, such as during dangerous mining expeditions, military interventions, rescue operations, etc.

[0132] The display 104 is a screen for sharing information to a user. The display 104 may be a screen, a touchscreen (where the display 104 may also act as a user input interface 105), etc. The display 104 may include a protective cover which may be deployed to protect the display 104 from damage.

[0133] The computing device 100 may be, or may include (composed by processor 102, memory 101, etc.), a computer, such as a desktop computer, a laptop, a tablet computer, a smartphone, a virtual-reality computer system, an extended-reality computer system, etc.

[0134] In some instances, the system 100 may be connected (e.g. through an Internet connection, through a local network such as a LAN network) to a remote server or database for transmitting thereto and optionally storing data thereon.

[0135] In some instances, the computing device 100 may be integrated to the system for providing wireless power 200.

[0136] In other embodiments, the computing device 100 may be separate from the system for providing wireless power 200, and may, e.g., be at a remote location from the system for providing wireless power 200.

[0137] EXEMPLARY ADAPTER FOR A MOBILE UNCREWED ROBOT FOR ENABLING WIRELESS CHARGING OF THE MOBILE UNCREWED ROBOT:

[0138] Reference is now made to Figures 3A and 3B, illustrating an exemplary adapter 250 for enabling wireless charging of a mobile uncrewed robot 300 to which the adapter 250 is fastened to or integrated thereto.

[0139] The adapter 250 includes a flat antenna 251 for contacting the system for providing wireless power 200 (the flat pad of the system for providing wireless power 200 which is over the resonator(s) of the system for providing wireless power 200).

[0140] The adapter 250 includes an alternating current / direct current (AC / DC) converter 252. The AC / DC converter 252 receives the alternating current from the antenna 251, and converts the alternating current into direct current.

[0141] The adapter 250 includes a power output 254. The power output 254 receives the direct current from the AC / DC converter 252, and provides the power to the uncrewed mobile robot 300 (i.e. either to the battery of the drone 301, the operating hardware of the drone, or to both).

[0142] In some instances, the adapter 250 may be integrated into the uncrewed mobile robot 300, where the AC / DC converter may be integrated into a housing of the uncrewed mobile robot 300.

[0143] In other embodiments, the adapter 250 may be fixed to the mobile uncrewed robot 300, as illustrated in Figure 3C. The adapter 250 may include a fastener 253 for joining to the mobile uncrewed robot 300. As shown in Figure 3B, the fastener 253 may include a basket for receiving a part of the body of the mobile uncrewed robot 300. Moreover, in the example of the adapter 250 shown in Figure 3B, the battery 301 of the mobile uncrewed robot 300 fits over a surface 255 of the adapter 250 for receiving the battery 301 of the mobile uncrewed robot 300. The AC / DC converter 252 may be located between the body of the mobile uncrewed robot 300 received in the basket of the fastener 253 and the battery 301 of the mobile uncrewed robot 300.

[0144] The power outlet 254 of the adapter 250 may protrude from a housing 256 of the adapter 250 including the AC / DC converter 252. The housing 256 may include a lip which is at an angle (e.g. orthogonal) with the surface 255 for receiving the battery 301, the lip configured to fit between the battery 301 of the mobile uncrewed robot 300 and the body of the mobile uncrewed robot 300, as shown in Figure 3C.

[0145] The fastener 253 may also secure the antenna 251. The antenna 251 may be positioned opposite to the housing 256 of the AC / DC converter 252. The antenna 251, the housing 256 of the AC / DC converter 252 and the side ligaments 257 may form the basket of the fastener 253.

[0146] It will be understood that the adapter 250 illustrated in Figures 3 A-3C is but an example of an adapter 250 suitable for a given drone, and that the configuration and shape of the adapter 250 may vary depending on the configuration of the mobile uncrewed robot 300 (e.g. the position of the battery 301 of the mobile uncrewed robot 300, the shape of the body of the mobile uncrewed robot 300, if the mobile uncrewed robot 300 travels by air, on ground, in the water, etc.)

[0147] In some instances, the system for providing wireless power may transmit a command for ending transmission of power and/or data from the battery 301 to the body of the mobile uncrewed robot 300, where communication of data and/or power between the adapter 250 and the battery 301 remains. In other instances, the system for providing wireless power may transmit a command for causing an enabling of transmission of data and/or power from the battery 301 to the body of the mobile uncrewed robot 300.

[0148] EXEMPLARY FLEXIBLE SYSTEM FOR PROVIDING WIRELESS POWER:

[0149] Reference is now made to Figure 4, illustrating an exemplary flexible system 400 for providing wireless charging, where the system 400 is flexible to be rolled up for transport, storage, etc., and can shape to an irregular surface (e.g. uneven ground).

[0150] The flexible system 400 includes a flexible substrate 402 and an antenna 401 (for acting as a transmitter of wireless power) mounted thereon.

[0151] The flexible substrate 402 may be a flexible sheet of material, such as fabric or rubber. The shape of the antenna 401 on the flexible substrate 402 may vary depending on the use and desired properties of the antenna for purposes of wireless power transmission.

[0152] As such, the flexible substate 402 enables the flexible system 400 to be rolled up (e.g. for storage).

[0153] The antenna 401 may also be made from a material which is flexible or pliable.

[0154] The shape and dimensions of the flexible substrate 402 may vary and depend on the require application of the flexible system 400.

[0155] In some instances, the flexible system 400 may include a plurality of antennae 401, e.g., mounted side-by-side, onto the flexible substrate 402.

[0156] The antenna 401 may be separated and/or connected to the flexible substrate 402 using an electrical cable.

[0157] EXEMPLARY SYSTEM FOR PROVIDING WIRELESS POWER TO ONE OR MORE MOBILE UNCREWED ROBOTS:

[0158] Reference is now made to Figures 5A-5B, illustrating an exemplary system 200 for providing wireless charging to one or more mobile uncrewed robots 300.

[0159] The system 200 includes one or more resonators 201 for transmitting wireless power. The system 200 includes a flat pad 202 over the one or more resonators 201. The system 200 includes a power source 204.

[0160] The system 200 may include a housing 205 (where the housing 205 may optionally include a seal 206). The system 200 may include a separator 203. The system 200 may include a fastener 207 for securing the mobile uncrewed robot(s) 300 onto the flat pad 202 once the mobile uncrewed robot(s) 300 have landed onto the flat pad 202.

[0161] The power source 204 provides power to the system 200 for purposes of generating wireless power for charging the mobile uncrewed robot(s) 300. The power source 204 may be a battery, a power outlet, a solar panel, be sourced from the power supply of a mobile vehicle onto which the system 200 is mounted, etc. The power source 204 may optionally be coupled to a transmitter (and in some cases an AC / DC converter for receiving direct current and converting the direct current into alternating current) for generating wireless power that is received by one or more of the resonators 201.

[0162] The one or more resonators 201 receive the power from the power source 204 (e.g. the wireless power transmitted from the transmitter coupled to the power source 204) and transmit the wireless power for charging the mobile uncrewed robot 300 in proximity of the resonator 201 (e.g. resting over the resonator 201). When the system 200 includes a plurality of resonators 201, the resonators 201 may be laid out side-by-side to one another. The resonators 201 may be configured in a manner as described in U.S. Pat. Number 11,133,714, incorporated herein by reference. The resonators may be configured at different tuning frequencies, distinct from the operating frequency of the overall system 200 (the operating frequency being the frequency at which the transmitter transmits power from the power source 304 and the frequency at which a majority of the wireless power is transmitted to the mobile uncrewed robot(s) 300), as explained in U.S. Pat. Number 11,133,714.

[0163] Each of the one or more resonators 201 may include an antenna which is laid out in a plane, e.g., that is parallel to the plane defining the body of the flat pad 202.

[0164] The flat pad 202 provides a surface on which the mobile uncrewed robot(s) 300 rest for wireless charging by the system 200 (the mobile uncrewed robot(s) 300 directly or indirectly contacting the flat pad 202). The flat pad 202 also protects the one or more resonators 201 contacting or located below the flat pad 202 (and in some cases above if the mobile uncrewed robot(s) 300 approach the system 200 from below for purposes of wireless charging).

[0165] In some instances, the flat pad 202 may include markings or visual indications for assisting a navigation of a mobile uncrewed robot 300 onto the flat pad 202, for aligning the mobile uncrewed robot 300 with a charging station with a resonator 201 for purposes of wireless charging of the mobile uncrewed robot 300. As shown in Figure 6, for purposes of illustration, the markings may include a quick-response (QR) code that may be captured by a camera that is part of the mobile uncrewed robot(s) 300.

[0166] In some implementations, as shown in Figure 7, the flat pad 202 may include a nested QR code (a smaller QR code located within the larger QR code) for purposes of assisting the positioning of the mobile uncrewed robot 300 on the flat pad 202 for purposes of wirelessly charging the mobile uncrewed robot 300. The larger QR code may be visible from a camera of the mobile uncrewed robot 300 when the mobile uncrewed robot 300 is further from the flat pad 202, and the smaller QR code can be identified and analyzed by the mobile uncrewed robot 300 as the mobile uncrewed robot 300 is closer to the flat pad 202 for purposes of further refining the position of the mobile uncrewed robot 300 over the flat pad 202, to align the mobile uncrewed robot 300 (r the antenna of the mobile uncrewed robot 300 for receiving wireless power) with a resonator 201. [0167] In some instances, the QR code may include one or more colours, or one or more shades of colour.

[0168] In some instances, the QR code may be covered with a transparent film for causing a modification of the displayed QR code. As such, the QR code may be varied following a receipt of a command (e.g. transmitted from computing device 100, an external computer, etc.) for modifying the appearance of the QR code (e.g. by turning on or off one or more light sources located under the transparent film, thereby altering the appearance of the QR code displayed through the transparent film).

[0169] In some instances, the QR code may be integrated into an image or patter, such that a human eye perceives the image or pattern but does not detect the presence of the QR code, which is nonetheless detected by software (e.g. run by the processor of the mobile uncrewed robot 300) analyzing the image or pattern (e.g. captured by a camera of the mobile uncrewed robot 300).

[0170] It will be understood that other symbols or markings other than, or in addition to, QR codes may be added to the surface of the flat pad 202 for purpose of guiding the mobile uncrewed robot(s) 300 onto the flat pad 202.

[0171] Moreover, it will be understood that the QR codes described herein may be used for other purposes aside from wireless charging of mobile uncrewed robots, by applying the QR code(s) onto a surface or substrate. The QR codes may be used for identifying objects, for navigation of mobile uncrewed robots, etc.

[0172] In some embodiments, the system 200 may include a housing 205 for protecting the flat pad 202, the resonators 201 and the mobile uncrewed robot(s) 300 when the mobile uncrewed robot(s) 300 are wirelessly charging. The housing 205 includes an opening 208 for permitting the mobile uncrewed robot(s) 300 to enter and leave the space 209 defined by the housing 205 for enabling access to the mobile uncrewed robot(s) 300 for wireless charging of the mobile uncrewed robot(s) 300.

[0173] In some instances, the opening 208 of the housing 205 may be sealed off using a seal 206. The seal 206 may be actuated to provide access through or block the opening 208, granting or denying access to the space 209 by blocking the opening 208. The seal 206 may be, e.g., a lid, a door (e.g. a panelled door, where the panels fold onto one another for providing access to the space 209), etc.

[0174] The opening 208 and the seal 206 may be located on a side of the housing 205, as shown in Figure 5A, or on a top or bottom of the housing 205 (e.g. depending on the orientation of the system for providing wireless power 200). The location of the opening 208 may vary in other to accommodate the difference in trajectory of the robot 300 (e.g. robot traveling vertically or horizontally to land).

[0175] In some instances, the housing 205 is, or is provided with, a Faraday Cage. The Faraday Cage may prevent third parties from detecting the system 200 and the mobile uncrewed robot(s) 300 positioned within the housing 205. The Faraday Cage may prevent external electromagnetic interference with the wireless charging by the system 200. The Faraday Cage may prevent the electromagnetic wave that is generated by the system for providing wireless power 200 from exiting the housing 205 and being detected by devices of third-parties, or present interference of the electromagnetic wave with devices in proximity of the system for providing wireless power 200.

[0176] In some instances, the housing 205 may include a magnetic shield cage or a ferrite cage. The system for providing wireless power 200 may then rest on a metal plate, shielded by the magnetic shied cage or the ferrite cage.

[0177] The housing 205 may also protect the other components of the system for providing wireless power 200 and/or the mobile uncrewed robot(s) 300 from the environment (e.g. from snow, rain, dust, heat, cold, etc.)

[0178] In some embodiments, the system 200 includes a fastener for preventing the mobile uncrewed robot(s) 300, once contacting the flat pad 202, from sliding off the flat pad 202 when the mobile uncrewed robot(s) 300 are being wirelessly charged. For instance, when the system 200 is joined to a mobile vehicle 500, the mobile vehicle 500 may travel on uneven terrain, where the change in pose of the mobile vehicle 500 may cause the flat pad 202 to be angled, resulting in the mobile uncrewed robot(s) 300 sliding off from the mobile uncrewed robot(s) 300 if not for the fastener 207.

[0179] In some instances, the fastener 207 may be one or more of a net (for causing ends or protrusions of the mobile uncrewed robot(s) 300 to connect through the holes of the net), a hook and loop fastener (with one portion joined onto the mobile uncrewed robot(s) 300, and the other portion located on the flat pad 202), a sticky surface, etc.

[0180] In some instances, the fastener 207 may be a magnet.

[0181] In some examples, the magnet may be an electromagnet (where current can be fed through the electromagnet for generating a magnetic field).

[0182] In some examples, the magnet may be a permanent magnet (not requiring the consumption of energy, or as much energy, as when an electromagnet is used). An actuator may be included to decrease or increase the distance of the permanent magnet from the flat pad 202 (and the mobile uncrewed robot 300 positioned thereon). When the permanent magnet is closer to the flat pad 202, the magnetic field exerted on the mobile uncrewed robot 300 is greater, thereby securing the mobile uncrewed robot 300 to the flat pad 202. When the mobile uncrewed robot 300 is charged and is preparing to depart from the system 200, the distance of the permanent magnet from the flat pad 202 may be increased, thereby weakening the magnetic field at a position of the mobile uncrewed robot 300, thereby enabling the mobile uncrewed robot 300 to depart. In some instances, the magnetic field may be weakened (permitting the departure of the mobile uncrewed robot 300) or the magnetic field may be strengthened (for fastening the mobile uncrewed robot 300 to the system for providing wireless power 200) by rotating the permanent magnet. The displacement or rotation of the permanent magnet may be actuated by an actuator, such as a mechanical lever or an electric switch. In some instances, the permanent magnet may be an ON/OFF permanent magnet, where one configuration results in a generation of a magnetic field securing the mobile uncrewed robot 300 onto the flat pad 202, where the other configuration of the ON/OFF permanent magnet does not result in a magnetic field at the position of the mobile uncrewed robot 300, thereby enabling the mobile uncrewed robot 300 to leave the system 200. A switch (e.g. an electric switch), e.g. actuated by a mechanical lever or an electric motor, may cause the ON/OFF permanent magnet to alternate between configurations. The switch controlling the configuration of the ON / OFF permanent magnet may in turn be controlled by the computing device 100 (or a computing device of the system 200).

[0183] In some embodiments, a portion of the fastener 207 (e.g. a portion of the hook and loop fastener, a magnet, etc.) may be located onto the adapter 250 or directly onto the mobile uncrewed robot 300, such that when the mobile uncrewed robot(s) 300, coupled with the adapter 250, rest on the flat pad 202, the portion of the adapter 250 suitable for interacting with the fastener 207, interacts with the fastener 207, thereby securing the mobile uncrewed robot(s) 300 joined thereto to the flat pad 202.

[0184] In some instances, the system 200 may include a spacer 203. The spacer 203 creates a separation between the resonator(s) 201 and the mobile vehicle 500 onto which the system 200 is mounted, or to which the system 200 is integrated.

[0185] In some examples, the spacer 207 may be a hollow metal box. In some instances, the spacer 207 may be a basket, or a plurality of boxes or baskets. In some instances, the spacer 207 may be, or may include rods orthogonal to the surface area of the flat pad 202, where the length of the rods determines the separation between the resonator(s) 201 and the mobile vehicle 500.

[0186] In some instances, the system 200 may be mounted onto a mobile vehicle 500 (e.g. a patrol vehicle, an unmanned ground vehicle, a boat, a firetruck, a tank, a pickup truck, a boat, etc.) For instance, reference is made to example of Figure 8, illustrating an exemplary system 200 (with drones 300 resting thereon) mounted to an unmanned ground vehicle.

[0187] In some instances, the system 200 may be integrated to the land vehicle 500.

[0188] In some instances, the system 200 may be positioned on the ground, where the position of the system 200 remains static. In some instances, the system 200 may be positioned on a building. The system 200 may receive power from an electrical grid, one or more solar panels, a battery, a generator, a power outlet, etc.

[0189] The system 200 may be mobile, where the system 200 may be joined to a mobile vehicle 500 for purposes of transportation, and then positioned on the ground when the system 200 is to be left at a same position.

[0190] A fastener may be used to connect and secure the system 200 to a mobile vehicle 500. [0191] As the system for providing wireless power 200 is solid state, the system 200 is reliable due to its compactness and lack of moving parts, and can therefore work through water, snow, sand, dirt, etc.

[0192] The system for providing wireless power 200 may enable charging of multiple mobile uncrewed robots simultaneously, and of different models.

[0193] The system for providing wireless power 200 may be mounted onto a variety of different mobile vehicles 500.

[0194] Mobile uncrewed robots 300 may depart from a first system for providing wireless power 200 and land on a different system for providing wireless power 200, or a different charging base (e.g. one where an empty battery is replaced manually with a charged battery, etc.)

[0195] Moreover, as the system for providing wireless power 200 may be mounted onto a mobile vehicle 500, the mobile uncrewed robot 300 may land onto the mobile vehicle 500 and be recharged by the system for providing wireless power 200 that is joined to the mobile vehicle 500 as the mobile vehicle 500 is moving. A plurality of mobile uncrewed robots 300 may be synchronized in movement, amongst themselves or with the charging system 200, for purposes of landing and leaving one or more systems for providing wireless charging 200.

[0196] ANOTHER EXEMPLARY SYSTEM FOR WIRELESSLY CHARGING ONE OR MORE MOBILE UNCREWED ROBOTS:

[0197] Reference is now made to Figure 11, illustrating another exemplary system 1100 for wirelessly charging one or more mobile uncrewed robots 300.

[0198] The system 1100 has one or more antennae 1113, a substrate 1112, a transmitter system 1110. In some instances, the system 1100 includes a power controller 1111.The transmitter system 1110 is connectable to a power source 1170.

[0199] The one or more antennae 1113 are joined to the substrate 1112. In some instances when there are more than one antenna 1113, the antennae 1113 may overlap with one another, as shown in Figure 11 to avoid or reduce the amount of dead charging spots on the charging surface area related to the dimensions of the substrate 1112. In some instances, the antennae 1113 may be placed side by side, without overlap (not shown). In some instances, some of the antennae 1113 may overlap, while the other antennae 1113 may not overlap. The antennae 1113 may be of the same dimensions, or may be of different dimensions. The antennae 1113 may be arranged to align with one another (along one or both axes), or may be offset with respect to one another as illustrated in Figure 11. In some instances, only some of the strands or loops of the antennae 1113 may overlap with one another.

[0200] The antenna 1113 may be made of a flexible, or rigid material. The antenna 1113 is a conductive filament or elongated material that is configured to cover at least a portion of the substrate 1112 in a winding manner around a central point. The antenna 1113 receives power from the transmitter system, and transmits power wirelessly to a mobile uncrewed robot 300 positioned on the substrate 1112.

[0201] The one or more antennae 1113 may be made from PCB (printed circuit board), conductive cables, the 3D printing of conductive material onto the substrate 1112 (that may also be 3D printed, or supplied as a pre-manufactured substrate), etc.

[0202] The number of antennae 1113 located on the substrate 1112 may vary. For instance, there may be two or more antennae 1113 located on the substrate 1112. For instance, there may be four or more antennae 1113 located on the substrate 1112. For instance, there may be six or more antennae 1113 located on the substrate 1112. There may be 2, 4, 5, 6, 7, 8, 10, etc. antennae 1113 located on the substrate 1112.

[0203] The substrate 1112 may be made from a flexible material, a rigid material, etc. The one or more antennae 1113 are joined to the substrate. When the substrate 1112 is flexible (and the antenna(e) 1113 are flexible), the substrate 1112 may be rolled or folded onto itself for storage (for instance, in a knapsack, sac, handbag, etc.) The substrate 1112 may be made from fabric, silicone, a plastic polymer, etc.

[0204] The transmitter system 1110 receives power from a power source (e.g. a battery, an electrical socket or outlet, a solar panel, etc.) and transmits same, either directly or indirectly, to the one or more antennae 1113. In some instances, the power is transmitted to the one or more antennas 1113 through a wired connection. The transmitter system 1110 may include a connection for a power source 1170, a connection to a telecommunication source, and an antenna for wireless communication.

[0205] In some instances, when the system 1100 includes more than one antenna 1113, the transmitter system 1110 is in communication (wired communication) with a power controller 1111. The power controller 1111 directs or prohibits transmission of power from the transmitter system 1110 to each of the antenna(s) 1113. In some embodiments, the power controller 1111 may be a switchbox, with on / off switches that turns on or off the transmission of power to each of the antenna(s) 1113. In some instances, the transmission of power to the antennas 1113 is done sequentially, where power is only provided to one antenna 1113 at a time, where power is provided to a single antenna 1113, followed by transmission to a different antenna 1113 of the antennas 1113, and so forth, the provision of power controlled by the power controller 1111. The transmitter system 1110 may transmits commands to the power controller 1111 for causing the power controller 1111 to transmit, or stop transmitting, power to an antenna 1113.

[0206] In some instances, the power controller 1111 may be integrated into the transmitter system 1110. In other instances, the power controller 1111 may be separate from the power controller 1111 (e.g. where each of the power controller 1111 and the transmitter system 1110 has their own respective housing).

[0207] As shown in Figure 12, the system 1100 may be inserted into a protective pocket 1150. The pocket 1150 may include a compartment for the substrate 1112 with the one or more antennas 1113, and a compartment for the transmitter system 1110 (and the power controller 1111). The pocket 1150 may be made out of resistant fabric, such as a para-aramid. The pocket 1150 may include other compartments for other equipment or hardware.

[0208] As the system 1100 may be deployed in the wilderness (e.g. in a forest, in a desert, in the dirt, in the snow, etc.), lying on the ground, the pocket 1150 offers protection for the system 1000, acting as a barrier from the elements of the wilderness (e.g. dirt, water, snow, etc.). In some instances, the pocket 1150 may be impermeable.

[0209] As such, the system 1000 may be deployed (e.g. when the substrate 1112 and antenna(s) 1113 are composed of flexible material, the substrate 1112 may be unfolded) and laid down on the floor or ground, next to a power source (the power source may be portable, such as a battery, that is installed next to the system 1100). The mobile uncrewed robot 300, as described herein, may then land on the substrate 1112 of the system 1100 for being wirelessly charged via the antenna(s) 1113. The system 1100 may thereby act as a remote charging station for the mobile uncrewed robots 300, where a human operator does not have to be next to the system 1100 for purposes of charging the mobile uncrewed robot(s) 300.

[0210] In some instances, the transmitter system 1110 may be adapted for receiving and transmitting data. As illustrated in Figure 11, a communication radio 1160 may be positioned next to the transmitter system 1110, where the communication radio 1160 is adapted to communicate with the transmitter system 1110, wirelessly.

[0211] When a mobile uncrewed robot 300 is positioned on or next to the substrate 1112, within the communication range of the transmitter system 1110, the mobile uncrewed robot 300 may communicate with the communication radio 1160 via the transmitter system 1110. Data can be sent from the mobile uncrewed robot 300 to the transmitter system 1110, that is in turn communicates with the communication radio 1160. The data can then in turn be communicated to a remote destination (e.g. a remote operator) from the communication radio 1160.

[0212] The communication radio 1160 may also communicated with the adapter 250 mounted to the mobile uncrewed robot 300. [0213] Similarly, data received at the communication radio 1160 may be relayed to the transmitter system 1110, that in turn can communicate the data to a mobile uncrewed robot 300 via, for instance, wireless meshing, within the communication range of the transmitter system 1110. As such, communication is possible between the mobile uncrewed robot 300 and an individual located at a remote location due to the combination of the communication radio 1160 and the transmitter system 1110, thereby not requiring for a human operator to be located next to the system 1100 or the communication radio 1160 to enable communication.

[0214] In some instances, the substrate 1112 with the one or more antennas 1113 may be arranged axially (e.g. vertically), forming, for instance, a cylinder, for receiving therein a mobile uncrewed robot 300 that is, for instance, a cylindrical or tower drone. The one or more antennae 1113 are arranged along the wall of the cylindrically-shaped substrate 1112.

[0215] In some instances, the substrate 1112 with the one or more antennae 1113 may be integrated into the back of a chair (e.g. of a vehicle). When a person with a wireless receiver, for charging one or more electronic devices worn by the person, comes into proximity of the substrate 1112 with the one or more antennae 1113 (e.g. when the wireless receiver is facing the substrate 1112 with the one or more antennae 1113), wireless energy may be transferred from the substrate 1112 with the one or more antennae 1113 to the wireless receiver, where the wireless receiver is connected or connectable to the electronic device(s) that requires charging. The wireless receiver may be integrated into a knapsack worn by the person, an article of clothing, such as a back pocket located on a vest or jacket worn by the person, etc. EXEMPLARY METHOD OF MAINTAINING AN IMAGE STREAM OF AN OBSERVABLE SCENE USING A

PLURALITY OF MOBILE UNCREWED ROBOTS:

[0216] Reference is now made to Figure 9, illustrating an exemplary method 900 of maintaining an image stream of an observable scene using a plurality of mobile uncrewed robots. The method 900 may be performed by computing device 100. However, it will be understood that the method 900 may be performed by any computing device in communication with the mobile uncrewed robot(s) (and in some cases the system for providing wireless power) without departing from the present teachings.

[0217] A mobile uncrewed robot with a camera is generating an image stream of an observable stream. A battery life of the mobile uncrewed robot is low, requiring recharging.

[0218] An indication or information that the mobile uncrewed robot(s) 300 requires recharging is receiving at step 910. The information may be a value corresponding to a percentage of battery life for the mobile uncrewed robot. The information may be a string of characters formulating a word or code corresponding to an indication that recharging is required for the mobile uncrewed robot.

[0219] In some embodiments, battery status data may be continuously or periodically received from the mobile uncrewed robot (e.g. an indication of a percentage or ratio of battery life). When the battery status data indicates that the battery life of the mobile uncrewed robot is below a given threshold, a determination may be made that the mobile uncrewed robot requires recharging.

[0220] Location information may also be received from the mobile uncrewed robot that is generating the image stream of the observable scene (e.g. GPS coordinates, real-time kinematic positioning (RTK) information, etc.)

[0221] One or more commands are then sent to activate a charged (e.g. fully charged) mobile uncrewed robot at step 920. The charged mobile uncrewed robot may be at a location in proximity to the current location of the mobile uncrewed robot requiring recharging. The mobile uncrewed robot that is charged may be stationed at a system for providing wireless power (e.g. system 200). However, it will be understood that the charged mobile uncrewed robot may be at a location other than the system for providing wireless power as described herein (such as a power source for recharging mobile uncrewed robots using wired power, a base where an operator may manually replace the batteries of the mobile uncrewed robot, etc.)

[0222] One or more commands are then generated to cause the mobile uncrewed robot to navigate to a position of the mobile uncrewed robot requiring recharging at step 930. Navigation may be performed by plotting a trajectory from a position of the charged mobile uncrewed robot (e.g. through GPS coordinates, RTK information, etc.) to the position of the mobile uncrewed robot requiring recharging. Obstacles may be identified either through use of a digital map or top- down view of the area in which the charged mobile uncrewed robot is navigating, through an analysis of images captured by the camera of the charged mobile uncrewed robot (e.g. through object recognition), through radar to identify objects in front of the mobile uncrewed robot, etc.

[0223] As the charged mobile uncrewed robot reaches the position of the mobile uncrewed robot requiring recharging, the charged mobile uncrewed robot generates an image stream of the observable scene also captured by the mobile uncrewed robot requiring recharging.

[0224] The image stream received by an external server or data server, initially from the mobile uncrewed robot requiring recharging, and then from charged the mobile uncrewed robot, may be combined sequentially in order to provide one continuous image stream of the observable scene despite the requirement to change between mobile uncrewed robots due to the battery life of the mobile uncrewed robots. As such, a continuous image stream is provided, thereby avoiding losing information of the observable scene resulting from an absence of information on the observable scene while a mobile uncrewed robot is recharging.

[0225] A command is generated to cause the mobile uncrewed robot requiring recharging to navigate to a source of wireless power such as the system for providing wireless power as described herein (or a power source or base for purposes of changing the battery). Navigation may be determined from the position of the mobile uncrewed robot requiring recharging, and the position of the power source for purposes of recharging the mobile uncrewed robot requiring recharging. Obstacles may be identified either through use of a digital map or a top-down view of the area in which the charged mobile uncrewed robot is navigating, through an analysis of images captured by the camera of the charged mobile uncrewed robot (e.g. through object recognition), through radar to identify objects in front of the mobile uncrewed robot, etc.

[0226] In some instances, when the system for providing wireless power is mounted onto a mobile vehicle, the mobile uncrewed robots may circle the mobile vehicle to provide a view of the area around the vehicle, enabling the detection of sources of danger, injured individuals to be rescued, etc. The mobile uncrewed robots may land onto the system for providing wireless power for purposes of recharging the mobile uncrewed robot. The mobile uncrewed robot may then leave the system for providing wireless power, and continue to patrol the surroundings around the mobile vehicle.

[0227] It would be understood that in some instances a task performed by the mobile uncrewed robot exceeding the battery charge of the mobile uncrewed robot may be prolonged by employing the method 900. E.g. the mobile uncrewed robot acting as a telecommunication relay, performing mechanical tasks like maintenance and repairs.

[0228] EXEMPLARY METHOD FOR ASSISTING A SYSTEM FOR PROVIDING WIRELESS POWER WITH THE RECHARGING OF THE MOBILE UNCREWED ROBOT(S):

[0229] Reference is now made to Figure 10, illustrating an exemplary method 1000 for assisting a system for providing wireless power as described herein of one or more mobile uncrewed robots. The method 1000 may be performed by computing device 100. However, it will be understood that the method 1000 may be performed by any computing device as described herein in communication with the system for providing wireless power without departing from the present teachings.

[0230] Information is received regarding an approaching mobile uncrewed robot at step 1010. In some instances, credentials of the approaching mobile uncrewed robot may be received for authentication. The approaching mobile uncrewed robot may transmit an identifier unique to the mobile uncrewed robot or passcode identifying the approaching mobile uncrewed robot. The identifier or passcode may be encrypted. Upon determining that the approaching mobile uncrewed robot has permission for wireless charging by the system for providing wireless power, a command may be generated to enable wireless charging once the approaching mobile uncrewed robot contacts the flat pad of the system for providing wireless power. If the approaching mobile uncrewed robot does not have permission for wireless charging, a command may instead be issued to disable wireless charging by the system for providing wireless power despite the mobile uncrewed robot directly or indirectly contacting the flat pad of the system for providing wireless power. Despite the verification of the identity of the approaching mobile uncrewed robot enabling or disabling wireless charging, user input may be received (e.g. using an external computing device) to permit or disable wireless charging regardless of the outcome of the authentication of the identity of the mobile uncrewed robot.

[0231 ] The received information regarding the approaching of the mobile uncrewed robot may be position information of the approaching mobile uncrewed robot (e.g. GPS coordinates, RTK information). The received information may be the result of object recognition performed on an image stream of surroundings of the system for providing wireless power, generated by one or more cameras (e.g. RGB cameras, infrared cameras) located in proximity of, or connected or integrated to, the system for providing wireless power.

[0232] In some instances, when a determination is made that the mobile uncrewed robot is in proximity of the system for providing wireless power (e.g. one meter or less from the system for providing wireless power), a command may be generated to control navigation of the approaching mobile uncrewed robot, for purposes of positioning the mobile uncrewed robot directly or indirectly on the system for providing wireless power, at step 1020. The determination of the mobile uncrewed robot being in proximity of the system for providing wireless power may be performed using the position information of the approaching mobile uncrewed robot. The determination of the mobile uncrewed robot being in proximity of the system for providing wireless power may be performed using one or more position sensors, in proximity to, connected to, or integrated to, the system for providing wireless power (such as RGB camera(s), infrared camera(s), magnetometer(s), etc.) The one or more position sensors may also be positioned on the mobile uncrewed robot. The one or more position sensors may also be positioned on the mobile vehicle.

[0233] For purposes of navigating the mobile uncrewed robot onto the system for providing wireless power, location information on the mobile uncrewed robot may be received at step 1040. The position information may include GPS coordinates, RTK information, etc. The position information may be generated by one or more cameras (e.g. RGB cameras, infrared cameras) located in proximity of, or connected or integrated to, the system for providing wireless power, where object recognition is performed on an image stream capturing the mobile uncrewed robot. The position information may also include pose information of the mobile uncrewed robot, generated by one or more gyroscope and/or accelerometers located on the mobile uncrewed robot, where the pose of the mobile uncrewed robot may be determined from the readings received from the one or more gyroscope and/or accelerometers. The position information may also be generated from one or more magnetometers located on or in proximity of the system for providing wireless power, or located on the mobile uncrewed robot.

[0234] A position of the mobile uncrewed robot is determined at step 1040 from the position information.

[0235] Navigation commands are then generated and transmitted to the mobile uncrewed robot for causing the mobile uncrewed robot to navigate to a given position for wireless charging at step 1050. A verification of vacancy may be performed prior to navigating the mobile uncrewed robot to determine if a charging station on the system for providing wireless power is vacant. For instance, if the system for providing wireless power possesses three resonators, each resonator occupying a portion of the flat pad, the system for providing wireless power possesses three charging stations. A vacant charging station is not occupied by a mobile uncrewed robot (e.g. that is being charged).

[0236] A determination of occupancy of the charging stations of the system for providing wireless power may be performed. For instance, a determination of occupancy may be performed by measuring a weight of the object positioned over a resonator, the weight indicative of the presence of a mobile uncrewed robot. In another example, a determination of occupancy may be performed by determining a proximity of the mobile uncrewed robot (e.g. through use of a short- range wireless connection, such as Bluetooth™, etc.)

[0237] In some instances, where each charging station is occupied by a mobile uncrewed robot, a command may be generated to cause a mobile uncrewed robot currently occupying a charging station to leave the charging station, thereby freeing the charging station for the mobile uncrewed robot requiring recharging.

[0238] Commands are generated to cause the mobile uncrewed robot to navigate to the vacant charging station of the system for providing wireless power. A trajectory may be plotted from the determined position of the mobile uncrewed robot and the position of the vacant charging station (e.g. using one or more cameras of the mobile uncrewed robot, the one or more position sensors, etc.) Markings or symbols, such as a QR code (as shown in Figures 6 and 7), may be used to help navigate and position the mobile uncrewed robot over the charging station of the system for providing wireless power.

[0239] The navigation of the mobile uncrewed robot onto the charging station of the system for providing wireless power may be performed or further performed using one or more of the following:

- one or more gyroscopes of the mobile uncrewed robot;

- one or more accelerometers of the mobile uncrewed robot;

- one or more magnetometers of the mobile uncrewed robot and/or the system for providing wireless power;

- GPS coordinates of the mobile uncrewed robot and/or GPS coordinates of the system for providing wireless power;

- RTK information of the mobile uncrewed robot and/or RTK information of the system for providing wireless power;

- one or more ground-facing cameras of the mobile uncrewed robot and/or one or more ground-facing cameras of the system for providing wireless power, combined with objecttracking to determine position of the mobile uncrewed robot and/or the charging station of the system for providing charging (e.g. using ground image triangulation); - one or more star-facing cameras of the mobile uncrewed robot and/or one or more starfacing cameras of the system for providing wireless power with object-tracking to determine position of the mobile uncrewed robot and/or the charging station of the system for providing charging (e.g. using star image triangulation);

- using barometer readings generated by a barometer;

- using WiFi, radio frequency or other electromagnetic wave triangulation;

- using ultrasound readings;

- using a laser to measure distance;

- image recognition with artificial intelligence;

- an artificial-intelligence-based algorithm, running at a computing device interacting with the system for providing wireless power for estimating a position of the mobile uncrewed robot and/or an artificial-intelligence-based algorithm, running on a computing device on the mobile uncrewed robot or interacting with the uncrewed mobile robot for estimating a position of the charging station of the system for providing wireless power, etc.

[0240] In some instances, navigation of the mobile uncrewed robot onto the charging station of the system for providing wireless power is performed using one or more of dot projection, using readings from a radar, using readings from a lidar, etc. to detect a position of the mobile uncrewed robot with respect to the system for providing wireless power.

[0241] In some instances, the system for providing wireless power may include two modes, a sleep mode and an active charging mode. In the sleep mode, the wireless power generated by one or more of the charging stations of the system for providing wireless power is low to none. In the active charging mode, the amount of wireless power generated by the charging station of the system for providing wireless power is sufficient to wirelessly charge a mobile uncrewed robot.

[0242] The sleep mode of the system for providing wireless power may enable the system for providing wireless power to conserve energy and/or to be less detectable by third parties as the system for providing wireless power outputs less energy.

[0243] As the mobile uncrewed robot approaches a charging station of the system for providing wireless power or rests on a charging station for providing wireless power, a command may be generated to cause the charging station on which the mobile uncrewed robot is positioned or the system for providing wireless power to switch from a sleep mode to the active charging mode at step 1060.

[0244] In some instances, a charging station of the system for providing wireless power may alternate between three modes:

- a sleep mode where no wireless power is provided;

- a standby mode where sufficient power is provided to enable a resonator of the system for providing wireless power to communicate with a transmitter of the power source of the system for providing wireless power, but insufficient for wirelessly charging a mobile uncrewed robot; and

- an active mode where sufficient power is provided to wirelessly charge a mobile uncrewed robot.

[0245] The system for providing wireless power then charges the mobile uncrewed robot positioned directly or indirectly thereon.

[0246] When the mobile uncrewed robot leaves the charging station of the system for providing wireless power, a command may be generated to cause the charging station or the system for providing wireless power to switch from the active charging mode to the sleep mode or to the standby mode.

[0247] In some instances, the switching from an active charging mode to a sleep mode or standby mode may be performed following a detection of a threat or a third-party surrounding the system for providing wireless power (e.g. detected using one or more of the position sensors, or when a signal is transmitted from an external computer to the system for providing wireless power indicating that a threat is in proximity).

[0248] In some instances, a selection may be made regarding a charging speed of the mobile uncrewed robot contacting directly or indirectly the system for providing wireless power. For instances, a faster charging selection may impact the battery life, but can quickly charge the mobile uncrewed robot for use, while a slower charging selection may preserve the life cycles of the battery life while taking longer for the battery of the mobile uncrewed robot to be fully charged. A selection of an appropriate charging speed may be determined based on the needs of use of the mobile uncrewed robot(s), including the number of mobile uncrewed robots available for use at a same time (e.g. if two mobile uncrewed robots may be charging simultaneously, and only one has to be in-use, where a slower charging option may be selected; or if only two mobile uncrewed robots are available, where one is in-use and the other mobile uncrewed robot is charging, requiring a faster charging option).

[0249] It will be understood that when an area has multiple systems for providing wireless power, a mobile uncrewed robot may rest on different systems for providing wireless power during the course of an operation (e.g. by navigating to the system for providing wireless power that is closest to the position of the mobile uncrewed robot, or with less obstacles between the mobile uncrewed robot and the system for providing wireless power).

[0250] Therefore, the mobile uncrewed robot may travel from one system for providing wireless power to another, thereby increasing the total distance travelled by recharging at different systems for providing wireless power at different locations, e.g. without having to return to a main base for charging.

[0251] In some instances, the system for providing wireless power may be positioned on a vehicle, thereby moving with the vehicle in order to facilitate positioning of the system for providing wireless power.

[0252] Although the invention has been described with reference to preferred embodiments, it is to be understood that modifications may be resorted to as will be apparent to those skilled in the art. Such modifications and variations are to be considered within the purview and scope of the present invention.

[0253] Representative, non-limiting examples of the present invention were described above in detail with reference to the attached drawing. This detailed description is merely intended to teach a person of skill in the art further details for practicing preferred aspects of the present teachings and is not intended to limit the scope of the invention. Furthermore, each of the additional features and teachings disclosed above and below may be utilized separately or in conjunction with other features and teachings.

[0254] Moreover, combinations of features and steps disclosed in the above detailed description, as well as in the experimental examples, may not be necessary to practice the invention in the broadest sense, and are instead taught merely to particularly describe representative examples of the invention. Furthermore, various features of the above-described representative examples, as well as the various independent and dependent claims below, may be combined in ways that are not specifically and explicitly enumerated in order to provide additional useful embodiments of the present teachings.

Claims

What is claimed is:

1. A system for providing wireless power to one or more mobile uncrewed robots, the system fastened or configured to be fastened to a mobile vehicle, comprising: a flat pad defining a charging area for the one or more mobile uncrewed robots; a power source; one or more resonators, above or below the flat pad; and a transmitter for receiving power from the power source, and transmitting wireless power to the one or more resonators; wherein the flat pad is adapted to be accessible by the one or more mobile uncrewed robots, and wherein the one or more mobile uncrewed robots receive wireless power from the one or more resonators while the one or more uncrewed robots are directly or indirectly contacting the flat pad.

2. The system in accordance with claim 1, further comprising a housing, the housing comprising a seal for blocking an opening, and wherein the flat pad is contained within the housing, the flat pad accessible by the one or more mobile uncrewed robots through the opening.

3. The system in accordance with claim 2, the housing further comprising a Faraday cage, or ferrite cage.

4. The system in accordance with any one of claims 1 to 3, wherein the system is for wireless charging of one or more drones, the one or more mobile uncrewed robots including the one or more drones.

5. The system in accordance with any one of claims 1 to 4, wherein the power source is a battery.

6. The system in accordance with any one of claims 1 to 4, wherein the power source is a wire for receiving power from the mobile vehicle.

7. The system in accordance with any one of claims 1 to 6, further comprising a fastener next to the flat pad for preventing the one or more mobile uncrewed robots from slipping from the flat pad when the mobile vehicle is moving.

8. The system in accordance with claim 7, wherein the fastener is one or more of: a net; a hook and loop fastener; and a sticky surface.

9. The system in accordance with claim 7, wherein the fastener comprises a magnet.

10. The system in accordance with claim 9, wherein the magnet is an on / off permanent magnet.

11. The system in accordance with claim 9, wherein the magnet is an electromagnet.

12. The system in accordance with any one of claims 1 to 11, wherein the flat pad comprises on a surface one or more QR codes, the one or more QR codes for assisting with an aligning of the one or more mobile uncrewed robots with respect to the one or more resonators once the one or more mobile uncrewed robots are directly or indirectly contacting the flat pad.

13. The system in accordance with claim 12, wherein at least one of the one or more QR codes is concealed within a pattern.

14. The system in accordance with claim 12, wherein at least one of the one or more QR codes includes a colour.

15. The system in accordance with claim 12, wherein at least one of the one or more QR codes is a nested QR code.

16. The system in accordance with claim 12, the flat pad further comprising a transparent film, and wherein a configuration of pixels of at least one of the one or more QR codes can be modified using the transparent film or one or more light sources located under the transparent film.

17. The system in accordance with any one of claims 1 to 16, further comprising a separator, positioned under the one or more resonators and the flat pad, such that the one or more resonators is positioned between the separator and the flat pad, the separator for creating space between the mobile vehicle and the one or more resonators.

18. The system in accordance with claim 17, wherein the separator is a hollow box.

19. A mobile vehicle comprising the system for providing wireless power to one or more mobile uncrewed robots in accordance with any one of claims 1 to 18.

20. The mobile vehicle in accordance with claim 19, wherein the system is integrated into the mobile vehicle.

21. The mobile vehicle in accordance with claim 19, where the system is fastened onto the mobile vehicle.

22. The mobile vehicle in accordance with claim 19, wherein the mobile vehicle is a land vehicle.

23. The mobile vehicle in accordance with claim 22, wherein the land vehicle is remote- controlled.

24. A system for management of wireless charging, on a flat pad of a system for providing wireless power, of one or more mobile uncrewed robots using a source of wireless power, comprising: a processor; memory comprising program code that, when executed by the processor, causes the processor to: receive information relating to a presence of an approaching mobile uncrewed robot requiring wireless recharging; generate a command to control navigation of the mobile uncrewed robot; receive location information of the mobile uncrewed robot generated by one or more position sensors; and based from the location information, determine a location of the mobile uncrewed robot and generate a plurality of navigation commands to cause a displacement of the mobile uncrewed robot to position the mobile uncrewed robot on the flat pad for wireless charging of the mobile uncrewed robot.

25. The system in accordance with claim 24, further comprising the one or more position sensors.

26. The system in accordance with claim 25, wherein the one or more position sensors includes a RGB camera.

27. The system in accordance with claim 25, wherein the one or more position sensors includes an infrared camera.

28. The system in accordance with any one of claims 24 to 27, where the memory further includes program code that, when executed by the processor, causes the processor to: cause the source of wireless power to transition from a sleep mode or a standby mode to an active power mode when the mobile uncrewed robot is in proximity of the flat pad, wherein a power output in the active power mode is greater than a power output in the sleep mode or the standby mode.

29. The system in accordance with claim 28, wherein the causing the transition between the sleep power mode to the active power mode occurs following a detection of the mobile uncrewed robot in proximity of the system for providing wireless power.

30. The system in accordance with any one of claims 24 to 29, wherein the location is determined from one or more of: dot projection;

GPS coordinates;

RTK information; barometer readings; radar readings; and lidar readings.

31. The system in accordance with any one of claims 24 to 30, wherein the location information is obtained via one or more of: a RGB camera; an infrared camera; a gyroscope; an accelerometer; and a magnetometer.

32. A method of maintaining a seamless image stream of an observable scene using a plurality of mobile uncrewed robots each including a camera, comprising: receiving information that a first mobile uncrewed robot of the plurality of mobile uncrewed robots, at a first location, with the camera of the first mobile uncrewed robot generating an image stream capturing the observable scene, requires recharging of a power source powering the first mobile uncrewed robot; generating a command to cause a second mobile uncrewed robot of the plurality of mobile uncrewed robots charged using a source of wireless power to navigate to the first location; and generating a command to cause the first mobile uncrewed robot to navigate to a site for wireless charging once the second mobile uncrewed robot has reached the first location, a camera of the second mobile uncrewed robot generating an image stream capturing the observable scene that is continuous with the image stream capturing the observable scene generated by the camera of the first mobile uncrewed robot.

33. The method in accordance with claim 32, wherein the site for wireless charging is the source of wireless power.

34. The method in accordance with claim 32 or claim 33, wherein the plurality of mobile uncrewed robots are drones.

35. An adapter for wireless charging of a drone via a source of wireless power, comprising: a fastener for joining the adapter to the drone; an antenna for directly or indirectly contacting the source of wireless power and for receiving wireless power from the source of wireless power; an AC / DC converter connected to the antenna configured to convert the alternating current received from the antenna into direct current; and a power output for providing the direct current to the drone for powering the drone.

36. The adapter in accordance with claim 35, further comprising a housing containing the AC / DC converter, wherein the fastener is integrated into the housing.

37. The adapter in accordance with claim 36, wherein the housing is the fastener by clamping onto a portion of the drone.

38. The adapter in accordance with claim 37, wherein the housing clamps onto a battery of the drone.

39. The adapter in accordance with any one of claims 34 to 38, wherein the power output is connectable to the drone to provide direct current to both a battery of the drone and directly to the drone for powering the drone.

40. A flexible system for providing wireless power for charging a device, comprising: a flexible substrate; and a transmitter antenna joined to the flexible flat substrate, the transmitter antenna configured for transmitting wireless power.

41. The flexible system in accordance with claim 40, wherein the flexible substrate is a fabric and wherein the transmitter antenna is a conductive cable.

42. The flexible system in accordance with claim 40, wherein the flexible substrate is made from rubber.

43. A system for maintaining a seamless image stream of an observable scene using a plurality of mobile uncrewed robots each including a camera, comprising: a processor; and memory comprising program code that, when executed by the processor, causes the processor to: receive information that a first mobile uncrewed robot of the plurality of mobile uncrewed robots, at a first location, with the camera of the first mobile uncrewed robot generating an image stream capturing the observable scene requiring recharging of a power source powering the first mobile uncrewed robot; generate a command to cause a second mobile uncrewed robot of the plurality of mobile uncrewed robots charged using a source of wireless power to navigate to the first location; and generate a command to cause the first mobile uncrewed robot to navigate to a site for wireless charging once the second mobile uncrewed robot has reached the first location, a camera of the second mobile uncrewed robot generating an image stream capturing the observable scene that is continuous with the image stream capturing the observable scene generated by the camera of the first mobile uncrewed robot.

44. A method of managing wireless charging on a flat pad of one or more mobile uncrewed robots using a source of wireless power, comprising: receiving information relating to an approaching of a mobile uncrewed robot requiring wireless recharging; generating a command to control navigation of the mobile uncrewed robot; receiving location information of the mobile uncrewed robot generated by one or more position sensors; and based from the location information, determining a location of the mobile uncrewed robot and generate a plurality of navigation commands to cause a displacement of the mobile uncrewed robot to position the mobile uncrewed robot on the flat pad for wireless charging of the mobile uncrewed robot.

45. The method in accordance with claim 44, further comprising: causing the source of wireless power to transition from a sleep power mode to an active power mode when the mobile uncrewed robot is in proximity of the flat pad, wherein a power output in the active power mode is greater than a power output in the sleep mode.

46. The method in accordance with claim 45, wherein the causing the transition between the sleep power mode to the active power mode occurs following a detection of the mobile uncrewed robot in proximity of the flat pad.

47. A non-transitory computer-readable medium having stored thereon program instructions for managing wireless charging on a flat pad of one or more mobile uncrewed robots using a source of wireless power, the program instructions executable by a processing unit for: receiving information relating to an approaching of a mobile uncrewed robot requiring wireless recharging; generating a command to control navigation of the mobile uncrewed robot; receiving location information of the mobile uncrewed robot generated by one or more position sensors; and based from the location information, determining a location of the mobile uncrewed robot and generate a plurality of navigation commands to cause a displacement of the mobile uncrewed robot to position the mobile uncrewed robot on the flat pad for wireless charging of the mobile uncrewed robot.

48. The non-transitory computer-readable medium in accordance with claim 47, wherein the program instructions are further executable by the processing unit for causing the source of wireless power to transition from a sleep power mode to an active power mode when the mobile uncrewed robot is in proximity of the flat pad, wherein a power output in the active power mode is greater than a power output in the sleep mode.

49. The non-transitory computer-readable memory in accordance with claim 48, wherein the causing the transition between the sleep power mode to the active power mode occurs following a detection of the mobile uncrewed robot in proximity of the flat pad.

50. A non-transitory computer-readable medium having stored thereon program instructions for maintaining a seamless image stream of an observable scene using a plurality of mobile uncrewed robots each including a camera, the program instructions executable by a processing unit for: receiving information that a first mobile uncrewed robot of the plurality of mobile uncrewed robots, at a first location, with the camera of the first mobile uncrewed robot generating an image stream capturing the observable scene requiring recharging of a power source powering the first mobile uncrewed robot; generating a command to cause a second mobile uncrewed robot of the plurality of mobile uncrewed robots charged using a source of wireless power to navigate to the first location; and generating a command to cause the first mobile uncrewed robot to navigate to a site for wireless charging once the second mobile uncrewed robot has reached the first location, a camera of the second mobile uncrewed robot generating an image stream capturing the observable scene that is continuous with the image stream capturing the observable scene generated by the camera of the first mobile uncrewed robot.

51. A method of maintaining a continuous task using a plurality of mobile uncrewed robots, comprising: receiving information that a first mobile uncrewed robot of the plurality of mobile uncrewed robots, at a first location, performing a task, requires recharging of a power source powering the first mobile uncrewed robot; generating a command to cause a second mobile uncrewed robot of the plurality of mobile uncrewed robots charged using a source of wireless power to navigate to the first location; and generating a command to cause the first mobile uncrewed robot to navigate to a site for wireless charging once the second mobile uncrewed robot has reached the first location, wherein the task is performed by the second mobile uncrewed robot in a continuous fashion with respect to the task performed by the first mobile uncrewed robot.

52. The method as defined in claim 51, wherein the task is acting as a communication relay.