Autonomous robot auto-docking and energy management systems and methods

Patent metadata

Field	Value
Publication number	US-9550294-B2
Application number	US-201514946999-A
Country	US
Kind code	B2
Filing date	Nov 20, 2015
Priority date	Jan 21, 2004
Publication date	Jan 24, 2017
Grant date	Jan 24, 2017

Abstract

A method for energy management in a robotic device includes providing a base station for mating with the robotic device, determining a quantity of energy stored in an energy storage unit of the robotic device, and performing a predetermined task based at least in part on the quantity of energy stored. Also disclosed are systems for emitting avoidance signals to prevent inadvertent contact between the robot and the base station, and systems for emitting homing signals to allow the robotic device to accurately dock with the base station.

First claim

What is claimed is:

1. An autonomous cleaning robot, comprising:
an undercarriage;
a motive system configured to propel the undercarriage across a ground surface;
an energy storage unit supported by the undercarriage and configured to be charged while the robot is positioned at a base charging station; and
a navigational control system configured to autonomously:
control the motive system to direct the robot about a room, while mapping the room with respect to objects as points of reference;
return the robot to the base charging station before completing a cleaning task in the room, in response to detecting a need to recharge the energy storage unit;
dock the robot to the base charging station upon return;
recharge the energy storage unit with the robot docked; and then to
control the motive system to direct the robot to continue to clean the room.

2. The autonomous cleaning robot of claim 1 , wherein the control system is configured to track a cleaning route of the robot and monitor an amount of the room remaining to be cleaned.

3. The autonomous cleaning robot of claim 1 , wherein the control system is configured to use a known position of the base charging station as a point of reference in mapping the room.

4. The autonomous cleaning robot of claim 1 , wherein the control system is configured to determine, through use of route-tracking subroutines while controlling the motive system to direct the robot about the room, which portion of the room still requires cleaning.

5. The autonomous cleaning robot of claim 4 , wherein the control system is configured to direct the robot to the portion of the room still requiring cleaning, following recharging the energy storage unit.

6. The autonomous cleaning robot of claim 1 , wherein the robot is configured to control charging at the base charging station by only partially charging the energy storage unit before leaving the base charging station to continue cleaning the room.

7. The autonomous cleaning robot of claim 6 , wherein the robot is configured to leave the base charging station and continue to clean the room upon determining that the energy storage unit has reached a minimum amount of stored energy necessary to complete the cleaning task in the room.

8. The autonomous cleaning robot of claim 1 , wherein the control system is configured to return the robot to the base charging station before completing the cleaning task in the room, in response to a quantity of energy remaining in the energy storage unit falling to a predetermined threshold.

9. The autonomous cleaning robot of claim 8 , wherein the navigational control system is configured to direct the robot to the base charging station by seeking a base station homing signal.

10. The autonomous cleaning robot of claim 8 , wherein the robot is configured to determine the quantity of energy in the energy storage unit using at least one of coulometry and operating time.

11. The autonomous cleaning robot of claim 1 , wherein the robot is configured to disable a cleaning function while returning to the base charging station.

12. The autonomous cleaning robot of claim 1 , wherein the energy storage unit comprises a battery.

13. The autonomous cleaning robot of claim 1 , wherein the energy storage unit comprises electrical contacts arranged to automatically make electrical contact with the base charging station upon docking of the robot.

Assignees

• Irobot Corp

Inventors

• Cohen David A
• Ozick Daniel N
• Vu Clara
• Lynch James
• Mass Philip R

Classifications

• H02J7/65 Primary

  against overtemperature · CPC title

• H02J7/751

  concerning the insertion or the connection of the batteries · CPC title

• H02J7/731

  specially adapted for holding portable devices containing batteries (H02J7/751 takes precedence) · CPC title

• H02J7/685

  using connection detecting circuits (H02J7/68 takes precedence) · CPC title

• H02J7/96

  in response to battery voltage · CPC title