Robot vertical energy storage device enclosure and system

Abstract

An energy storage device enclosure (300) is disclosed. The energy storage device enclosure may include a protective cover (206) and a case (202) that includes compartments (203) and mounting points (302, 304, 306, 308) for various systems of a robotic system. The robotic system may be mounted directly to the energy storage device enclosure. Additionally, a computer system (400) may be attached to the energy storage device (204) to form a duct path (402), which may serve as a primary cooling interface for simultaneously cooling the energy storage device (412) and computer electronics (411).

Description

[Technical Field]

[0001] [CROSS-REFERENCE TO RELATED APPLICATIONS] All applications for which a claim of foreign or domestic priority is identified in an Application Data Sheet or PCT application filed with this application are incorporated herein by reference pursuant to 37 CFR 1.57 and Rules 4.18 and 20.6. This application claims priority to U.S. Provisional Patent Application No. 63 / 378,006, filed September 30, 2022, the disclosure of which is incorporated herein by reference in its entirety for all purposes.

[0002] The present disclosure relates to energy storage devices, and more particularly to energy storage devices, designs and compartments for robotic applications. [Background technology]

[0003] Electrochemical energy storage systems are widely used to power electronic, electromechanical, electrochemical, and other useful devices. Lithium-ion batteries are one of the most common examples of electrochemical energy storage systems, and their popularity is due to their high energy density compared to other electrochemical energy storage systems. Over the past decade, the use of lithium-ion batteries has expanded from consumer electronics to other fields, including the automotive and robotics industries. Lithium-ion batteries consist of four main components: a cathode electrode, an anode electrode, an electrolyte, and a separator. At least part of the success of lithium-ion batteries can be attributed to the development of high-energy-density electrodes.

[0004] Embodiments of the present disclosure and their advantages are best understood by referring to the following detailed description, wherein like reference numerals are used to identify like elements shown in one or more of the drawings, and it should be understood that these designations are for the purpose of illustrating embodiments of the present disclosure and are not intended to limit the disclosure. Summary of the Invention

[0005] For purposes of summarizing the invention and its advantages over the prior art, certain objects and advantages of the invention are described herein. Not all such objects or advantages may be achieved in a particular embodiment of the invention. Thus, for example, one skilled in the art will recognize that while the invention may be embodied or performed to achieve or optimize one advantage or advantages as taught herein, other objects or advantages that may be taught or suggested herein will not necessarily be achieved.

[0006] In one aspect, an energy storage device housing is disclosed. The energy storage device housing includes a protective cover and a case, the case including a compartment, a pelvic attachment point, an arm attachment point, and a neck attachment point.

[0007] In another aspect, an energy storage device system is disclosed. The energy storage device system includes an energy storage device housing and an energy storage device disposed within the compartment. In some embodiments, the energy storage device system further includes energy storage device electronics.

[0008] In another aspect, a robot is disclosed that includes an energy storage device housing or energy storage device system, a leg system with a pelvis mount point attached to the pelvis attachment point by a pelvis fastener, an arm system with an arm mount point attached to the arm attachment point by an arm fastener, and a head system with a neck mount point attached to the neck attachment point by a neck fastener.

[0009] In some embodiments, the pelvis mount point is directly attached to the pelvis mount point, the arm mount point is directly attached to the arm mount point, and the neck mount point is directly attached to the neck mount point. In some embodiments, at least one of the pelvis mount point and the pelvis mount point, the arm mount point and the arm mount point, and the neck mount point and the neck mount point includes a spacer disposed therebetween. In some embodiments, the pelvis fasteners, the arm fasteners, and the neck fasteners are each independently selected from the group consisting of screws, bolts, nails, rivets, anchors, adhesives, snaps, heat stakes, welds, and combinations thereof. In some embodiments, the energy storage device housing is configured to substantially withstand a bending moment due to a load of at least about 20 kg. The energy storage device housing is configured to substantially withstand a bending moment due to a load of at least about 20 kg.

[0010] In some embodiments, the energy storage device housing further comprises a computer mounting point.

[0011] In another aspect, a housing-computer system is disclosed that includes an energy storage device housing and a computer system having a computer mount point attached to a computer mount point by a computer fastener.

[0012] In some embodiments, the computer build point is directly attached to the computer mounting point. In some embodiments, a ductway is disposed between the energy storage device enclosure and the computer system. In some embodiments, the energy storage device enclosure further comprises a plurality of heat sink fins disposed within the ductway. In some embodiments, the computer system further comprises a computer heat sink disposed within the ductway. In some embodiments, the ductway further comprises an outer duct wall. In some embodiments, the ductway further comprises an inner duct wall. In some embodiments, the enclosure-computer system further comprises a fan disposed at an inlet of the ductway. In some embodiments, the enclosure-computer system further comprises an air flow vent disposed at an outlet of the ductway. In some embodiments, the location of the air flow vent is selected from a minor side surface, a minor top surface, and combinations thereof of the enclosure-computer system.

[0013] In another aspect, a robot is disclosed that includes a housing and computer system, an energy storage device disposed in a compartment, and a leg system that includes a pelvis mount point attached to a pelvis attachment point by a pelvis fastener.

[0014] These and other embodiments are described in more detail below. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 illustrates a front perspective view of a robot with an energy storage device enclosure, according to some embodiments.

[0016] [Figure 2] FIG. 1 is a rear perspective exploded view of an energy storage device system including an energy storage device housing, according to some embodiments.

[0017] [Figure 3A]FIG. 1 illustrates a front perspective view of an energy storage device housing and attachment points, according to some embodiments.

[0018] [Figure 3B] FIG. 1 is a front perspective view of the interior of an energy storage device enclosure, according to some embodiments.

[0019] [Figure 4A] FIG. 10 illustrates a front perspective view of an energy storage device housing attached to a leg system according to some embodiments.

[0020] [Figure 4B] FIG. 10 is a front perspective view of a housing for an energy storage device attached to an arm system, according to some embodiments.

[0021] [Figure 4C] FIG. 12 is a front perspective view of a housing for an energy storage device attached to a head system, according to some embodiments.

[0022] [Figure 4D] FIG. 1 illustrates a front view of a robot with an energy storage device enclosure, according to some embodiments.

[0023] [Figure 4E] FIG. 1 illustrates a side view of a robot with an energy storage device enclosure, according to some embodiments.

[0024] [Figure 5A] 1 is a cross-sectional side view of a housing and computer system according to some embodiments.

[0025] [Figure 5B] FIG. 1 is a front perspective exploded view of a housing and computer system according to some embodiments.

[0026] [Figure 5C]FIG. 1 is a rear perspective exploded view of a housing and computer system according to some embodiments.

[0027] [Figure 5D] 1 is a cross-sectional front view of a housing and computer system according to some embodiments.

[0028] [Figure 6A] 1 is a cross-sectional side view of a housing and computer system according to some embodiments.

[0029] [Figure 6B] FIG. 1 is a front perspective exploded view of a housing and computer system according to some embodiments.

[0030] [Figure 6C] FIG. 1 is a front perspective view of a housing and computer system according to some embodiments.

[0031] [Figure 7A] FIG. 1 illustrates a front perspective view of a portion of a robot having side vents, according to some embodiments.

[0032] [Figure 7B] FIG. 1 illustrates a front perspective view of a portion of a robot having a top vent, according to some embodiments. DETAILED DESCRIPTION OF THE INVENTION

[0033] Described herein are energy storage device enclosures, energy storage device systems, and enclosure-computer systems. The energy storage device enclosure not only holds the energy storage device within its compartment, but may also form the torso of a robot to structurally support and transfer loads from elements of the attached robot body segment (e.g., head, neck, arms, pelvis, legs). In this manner, the energy storage device enclosure may provide an energy storage device held in a manner protected from mechanical abuse and thermal runaway, in addition to being structurally designed to handle loads from the robot body segment and additional loads and load transfers.

[0034] In some additional aspects, an enclosure-computer system formed from a computer system attached to an energy storage device enclosure can form a duct path therebetween that can act as a primary cooling interface for simultaneously cooling the energy storage device and the computer electronics.

[0035] One or more aspects of the present application relate to improved techniques for autonomous or semi-autonomous operation of machines, commonly referred to as robots or robotic machines (collectively referred to herein as autonomous). In one or more embodiments, a robot may be configured or optimized to perform one or more tasks typically performed by human labor. In some applications, the robot may be humanoid in appearance, at least partially physically resembling a human or human labor. In other applications, the robot may not be constrained to humanoid characteristics in appearance.

[0036] Thus, robots may navigate real-world environments using vision-based sensor information. As can be appreciated, humans can navigate within various environments and perform detailed tasks using their vision and deep understanding of their real-world surroundings. For example, humans can quickly identify objects (e.g., walls, boxes, machines, tools, etc.) and use these objects to inform navigation / movement (e.g., walking, running, avoiding collisions, etc.) and perform manipulation tasks (e.g., picking up objects, using machines / tools, moving between defined locations, etc.). Such robots can utilize the orientation, design, structure, and / or compartments of energy storage devices configured to not only power the robot and its equipment, but also assist the robot in performing tasks.

[0037] While the present specification includes descriptions of the orientation, design, structure, and / or compartments of energy storage devices in robots, it will be understood that these techniques may be applied to other machines. For example, the disclosures of energy storage devices, energy storage device enclosures, energy storage device systems, and / or enclosure-computer systems described herein may be used in part in ground vehicles, aircraft, etc. Furthermore, in some embodiments, reference to robots may be limited to a particular type of environment, such as a built environment, a factory, a commercial facility, a domestic facility, a public area, a safety and protection environment, etc.

[0038] FIG. 1 illustrates an exemplary robot 100. The robot 100 may include one or more electric motors that cause movement of one or more actuators or manipulated joints. The electric motors may include, for example, induction motors, permanent magnet motors, etc. The robot 100 is also shown to include an energy storage system 102, which is shown disposed within a chest 104 of the robot 100. The robot 100 is at least partially covered by an exterior shell 106. The energy storage system 102 includes an energy storage housing that holds at least one energy storage device. As shown in FIG. 1, the torso, arms, and neck of the robot 100 are directly integrated into the energy storage housing of the energy storage system 102. The energy storage device may include one or more energy storage (e.g., battery) packs, each of which may include multiple energy storage devices that may be used to power the robot and its devices (e.g., electric motors), as known to those skilled in the art.

[0039] Figure 2 illustrates an energy storage system 200 that may be incorporated into a robot, such as robot 100 of Figure 1. Energy storage system 200 includes a case 202 with a compartment 203, a vertically oriented energy storage pack 204, and a protective cover 206. Vertically oriented energy storage pack 204 includes a plurality of cells 208, cooling, electrical and / or strengthening elements 210, and electronic elements 212. Case 202 and protective cover 206 together may be referred to as an energy storage enclosure.

[0040] In some embodiments, both the anode and cathode of one or more of the plurality of cells 208 described above may be electrically connected to the electronic device 212 via the same side or a single plane of the cell. By way of example, exemplary types of storage cells and storage cell arrangements that may be utilized in at least one embodiment are described in U.S. Provisional Application No. 63 / 366,454, entitled "ENERGY STORAGE CELL," filed June 15, 2022. Another exemplary type of storage cell and storage cell arrangement that may be utilized in at least one embodiment is described in PCT Application No. PCT / US2021 / 051343, entitled "ENERGY STORAGE CELL," filed September 21, 2021. U.S. Provisional Application No. 63 / 366,454 and PCT Application No. PCT / US2021 / 051343 are incorporated herein by reference. Such orientations may aid in reducing manufacturing costs, minimizing the space occupied by the energy storage device system, and / or venting and directing gases. In some embodiments, the cooling and / or strengthening element 210 may include tubes and / or materials that aid in heat transfer from the energy storage device system 200. In some embodiments, the case 202 may include tubes and / or materials that aid in heat transfer from the energy storage device system 200, such as fins and / or heat sinks.

[0041] Figure 3A shows an energy storage device housing 300 that includes a pelvic attachment point 302, an arm attachment point 304, a neck attachment point 306, and a computer attachment point 308. Figure 3B shows an interior compartment of the energy storage device housing 300 that includes multiple energy storage devices 310 and energy storage device electronics 312.

[0042] FIG. 4A shows energy storage device housing 300 attached to leg system 314. Leg system includes pelvis section 315, pelvis mount section 316 attached to the upper end of pelvis section 315, pelvis mount point 318 located at the upper end of pelvis mount section 316, and legs 317A and 317B attached to the lower end of pelvis section 315. Pelvis mount point 318 is shown in FIG. 4A as being configured to attach to pelvis attachment point 302. Energy storage device housing is also shown with arm attachment spacers 320 positioned on arm attachment points 304.

[0043] Figure 4B shows the energy storage device housing 300 attached to the leg system 314 and to an arm system including a left arm 324A and a right arm 324B. Each arm 324A and 324B includes an arm mount point 326 configured to attach to the arm mount point 304 via a spacer mount point 322. Figure 4C shows the energy storage device housing 300 attached to arms 342A and 342B and to a head system 328. The head system 328 includes a neck mount point 330 configured to attach to the neck mount point 306.

[0044] Figure 4D shows a front view of robot 340, with leg system 314, arms 324A and 324B, and head system 328 attached to energy storage device housing 300. Figure 4D shows robot 340 standing on leg system 314 with arms 324A and 342B extending horizontally from its sides. Figure 4E shows a left side view of robot 340 of Figure 4D, with robot 340 standing on leg system 314 with arms 324A and 342B extending horizontally forward.

[0045] In some embodiments, the energy storage unit housing is attached to the pelvis system, the arm system, the head system, and / or the leg system. In some embodiments, the energy storage unit housing is attached directly to the pelvis system, the arm system, the head system, and / or the leg system. In some embodiments, the energy storage unit housing comprises one or more attachment points configured to attach directly or indirectly to other components or systems of the robot through the use of fasteners. In some embodiments, the attachment points are configured to directly attach the pelvis system, the pelvis mount, the arm system, the arm mount, the head system, the heat mount, the leg system, and / or the leg mount. In some embodiments, attachment points directly attached to robotic components or systems comprise spacers disposed therebetween. In some embodiments, the fasteners comprise screws, bolts, nails, rivets, anchors, adhesives (e.g., glue), snaps (e.g., plastic snaps), heat stakes (e.g., plastic heat stakes), welds, and combinations thereof.

[0046] In some embodiments, the robot's pelvis is the root of the kinematic chain. In some embodiments, all or substantially all components (e.g., head, neck, torso, or energy storage device housing, pelvis, legs), attachment points, and / or mounts in the kinematic chain are as stiff as possible to reduce end effector deflection and / or avoid excited mode frequencies. In some embodiments, a load on the robot's arms can cause shear forces and bending moments to be applied to the torso or energy storage device housing. Thus, in some embodiments, the torso or energy storage device housing provides structural support that withstands or substantially withstands bending moments due to loads of about, at least, or at least about 0.5 kg, 1 kg, 2 kg, 5 kg, 10 kg, 20 kg, 30 kg, 40 kg, 50 kg, 75 kg, 100 kg, 150 kg, or 200 kg, or any range of values ​​therebetween.

[0047] 5A shows a cross-sectional side view of an enclosure-computer system 400 including an energy storage device enclosure 400A attached to a computer system 400B, thereby forming a duct path 402 between the energy storage device enclosure 400A and the computer system 400B. The computer system 400B includes the energy storage device enclosure 400A and a fan 404 adjacent an inlet of the duct path 402, the fan 404 configured to pass air through the duct path 402 along an air flow path 406. The energy storage device enclosure 400A includes heat sink fins 408 disposed within the duct path 402, and the computer system 400B includes a computer heat sink 410 disposed within the duct path 402, configured to absorb heat from both the multiple energy storage devices 412 within the energy storage device enclosure 400A and the computer electronics 411 of the computer system 400B before the air along the air flow path 406 exits the enclosure-computer system 400.

[0048] 5B and 5C show the energy storage device enclosure 400A and computer system 400B of the enclosure / computer system 400 of FIG. 5A separated from each other. The surface of the energy storage device enclosure 400A configured to mate with the computer system 400B includes a computer mounting point 415, a pair of heat sink fins 408, and a pair of inner duct walls 414 along the path of the heat sink fins 408. The pair of heat sink fins 408 begins at the bottom end of the energy storage device enclosure 400A and terminates at the top end of the energy storage device enclosure 400A. The computer system 400B includes a pair of fans 404, a computer heat sink 410, and a computer cover 416. The computer cover 416 is configured to mate with the surface of the energy storage device enclosure 400A and includes a computer mounting point 417 and a pair of outer duct walls 418. Energy storage device enclosure 400A is configured to attach to computer system 400B by attaching (e.g., with fasteners) computer mounting points 415 to computer mount points 417, such that outer duct wall 418 of computer cover 416 and inner duct wall 414 of energy storage device enclosure 400A form ductway 402 of Figure 5A. Figure 5C shows energy storage device enclosure 400A without a protective cover (i.e., case), with multiple energy storage devices 412 and energy storage device electronics 420 disposed within the compartment.

[0049] FIG. 5D shows a cross-sectional front view of the enclosure / computer system 400, showing the pair of fans 404, airflow path 406, heat sink fins 408, computer heat sink 410, inner duct wall 414, outer duct wall 418, and computer cover 416 of FIGS. 5A-5C.

[0050] 6A shows a side cross-sectional view of enclosure-computer system 500 including energy storage device enclosure 500A attached to computer system 500B, whereby enclosure duct path 522A and computer duct path 522B are formed between energy storage device enclosure 400A and computer system 400B. Computer system 500B includes fan 508 adjacent to the energy storage device enclosure 500A and the inlets of enclosure duct path 522A and computer duct path 522B, fan 508 configured to pass air through enclosure duct path 522A and computer duct path 522B. The energy storage device enclosure includes heat sink fins disposed within energy storage device enclosure 500A, computer system 400B includes computer heat sink 520 and heat distribution system 518 (e.g., vapor chamber and / or copper pads) disposed within computer duct path 522B, and fan 508 directs air through enclosure duct path 522A and computer duct path 522B, the air absorbing heat from both multiple energy storage devices 524 within energy storage device enclosure 500A and computer electronics 506 of computer system 500B before exiting the top of enclosure computer system 500.

[0051] FIG. 6B shows the energy storage device enclosure 500A and computer system 500B of the enclosure / computer system 500 of FIG. 6A separated from each other, while FIG. 6C shows the energy storage device enclosure 500A and computer system 500B attached to form the enclosure / computer system 500. The surface of the energy storage device enclosure 500A configured to mate with the computer system 500B includes a pair of heat sink fins 502 and a pair of outer duct walls 504 that generally follow the path of the heat sink fins 502, with the heat sink fins 502 starting at the bottom end of the energy storage device enclosure 500A and terminating at the top end of the energy storage device enclosure 500A. The computer system 500B includes computer electronics 506, a pair of fans 508, and a computer cover 512. The computer cover 512 is configured to mate with the surface of the energy storage device enclosure 500A and includes an airflow vent 510 at the top end of the computer system 500B. The energy storage device enclosure 500A is configured to be attached to the computer system 500B such that the outer duct wall 504 of the energy storage device enclosure 500A and the air flow vents 510 of the computer system 500B form the enclosure duct path 522A and the computer duct path 522B of FIG. 6A.

[0052] 7A shows a portion of a robot 600A including an energy storage unit housing 602A, a computer system 604A mounted on the front of the energy storage unit housing 602A, a pair of fans 606A mounted on the computer system 604A, a portion of an arm 610A mounted on the energy storage unit housing 602A, a side airflow vent 608A, and an exterior shell 612A that substantially covers the robot 600A. The side airflow vent 608A is configured to exhaust air drawn in by the fans 606A out the side of the robot 600A below the arm 610A. An exemplary housing-computer system that may include such a side airflow vent may be the housing-computer system 400 of FIGS. 5A-5D.

[0053] 7B shows a portion of a robot 600B including an energy storage device housing 602B, a computer system 604B mounted on the front of the energy storage device housing 602B, a pair of fans 606B mounted on the computer system 604B, a portion of an arm 610B mounted on the energy storage device housing 602B, an upper airflow vent 608B, and an exterior shell 612B that substantially covers the robot 600B. The upper airflow vent 608B is configured to exhaust air drawn in by the fans 606B from the upper rear side of the robot 600B behind the head of the robot 600B. An exemplary housing-computer system that may include such a side airflow vent may be the housing-computer system 500 of FIGS. 6A-6C.

[0054] In some embodiments, a surface of the energy storage device housing configured to mate with a computer system is a major surface. In some embodiments, a surface of the energy storage device housing configured to mate with a computer system is a front or back surface. For example, in some embodiments, the surface is a major front surface of the energy storage device housing. In some embodiments, a surface of the computer system (e.g., a computer cover) configured to mate with the energy storage device housing is a major surface. In some embodiments, a surface of the computer system (e.g., a computer cover) configured to mate with the energy storage device housing is a major surface. For example, in some embodiments, the surface (e.g., a computer cover) is a major back surface of the computer system.

[0055] In some embodiments, the robot includes 1, 2, 3, 4, 5, or 6 or more fans. In some embodiments, the robot includes 1, 2, 3, 4, 5, or 6 or more duct paths. In some embodiments, the duct paths are vertically separated into a housing duct path and a computer duct path. In some embodiments, the duct paths are not vertically separated. In some embodiments, the robot includes 1, 2, 3, 4, 5, or 6 or more vents. In some embodiments, the robot includes 1, 2, 3, 4, 5, or 6 or more heat sinks. In some embodiments, the duct paths include a plurality of heat sink fins (e.g., 2, 3, 4, 5, 6, 10, 15, 20, 25, 50, 75, or 100). In some embodiments, the fans and / or duct vents are located at the top, bottom, left, right, front, and / or rear of the robot's fuselage, the housing, the computer system and / or the energy storage device housing, or any combination thereof. In some embodiments, the fan and / or duct vents are located on or near a major or minor surface of the robot's body, the housing / computer system and / or the energy storage device housing, or any combination thereof. In some embodiments, the heat sink fins and / or duct path length are substantially straight or curved. In some embodiments, inner and / or outer duct walls may be located on the energy storage device housing, the computer system (e.g., computer cover), or any combination thereof. In some embodiments, the housing / computer system does not include an inner duct wall.

[0056] In some embodiments, the energy storage device housing is attached to the computer system. In some embodiments, the energy storage device housing is attached directly to the computer system. In some embodiments, the energy storage device housing comprises one or more attachment points configured for direct or indirect attachment to other components or systems of the robot through the use of fasteners. In some embodiments, the attachment points are configured for direct attachment to the computer system. In some embodiments, attachment points attached directly to the computer system of the robot include a spacer disposed therebetween. In some embodiments, the fasteners include screws, bolts, nails, rivets, anchors, adhesives, welds, snaps (e.g., plastic snaps), heat stakes (e.g., plastic heat stakes), and combinations thereof.

[0057] In some embodiments, the energy storage system may help protect the energy storage device (e.g., from impact, water, and / or normal operation), may function as a structural support element for the robot's fuselage and / or body (e.g., withstand structural loads), or a combination thereof. In some embodiments, the energy storage system may function as structural support, such that additional support structures (e.g., beams) are not required and / or may be eliminated altogether. Thus, in some embodiments, the energy storage system may help reduce cost and weight.

[0058] In some embodiments, the energy storage device enclosure, case, and / or protective cover is configured to protect the energy storage device and / or structural supports. In some embodiments, the shape and / or orientation of the energy storage device, energy storage device enclosure, case, and / or protective cover is configured to protect the energy storage device and / or structural supports. In some embodiments, the energy storage device enclosure is configured to serve as the primary structural support for the robot's torso and / or body. In some embodiments, the robot's torso and / or body does not include additional primary structural components. In some embodiments, the structural support and / or primary structural support provides protection from mechanical damage, meets safety requirements for the energy storage device, provides structural support for the pelvis, arms, head, main robot computer, and / or other equipment directly integrated into the energy storage device system or torso, and / or withstands and transfers dynamic loads from the upper body to the pelvis and legs to maintain balance and maximize stiffness for precise positioning of the robot.

[0059] In some embodiments, the energy storage device system and / or the energy storage device enclosure are configured to provide thermal management of the robotic computer system and / or the energy storage device. In some embodiments, the energy storage device further includes a thermal management system. In some embodiments, the energy storage device system including the thermal management system leverages the thermal conductivity and structure of the energy storage device enclosure to reduce the physical volume of the package, increase assembly speed, reduce costs, reduce components, and / or improve product reliability.

[0060] In some embodiments, the energy storage device enclosure, case, and / or protective cover is a material that provides structural support and / or includes a material that enables thermal management of the energy storage device and / or computer system. In some embodiments, the material includes ceramic, glass, aluminum, silver, copper, gold, silicon, tungsten, iron, carbon, alloys thereof (e.g., steel), and combinations thereof. In some embodiments, the material is aluminum.

[0061] In some embodiments, the electronic elements and / or computing electronics include a printed circuit board assembly (PCBA). In some embodiments, the electronic elements and / or computing electronics include temperature monitoring elements, voltage monitoring elements, balancing elements, multi-level passive and active fusion, a power distribution bus (e.g., power distribution to multiple, individually controlled, monitored, and fusible buses), a power conversion bus (e.g., power conversion to a low-voltage communication bus), charge management elements, power distribution elements, and combinations thereof. In some embodiments, the electronic elements and / or computing electronics do not include a power distribution controller. In some embodiments, the electronic elements are configured to allow the limbs, computing electronics (e.g., the main robot computer system), and / or the head to be directly electrically connected to an energy storage device. All of the processes described herein may be embodied and fully automated via software code modules executed by a computing system including one or more computers or processors. The code modules may be stored on any type of non-transitory computer-readable medium or other computer storage device. Some or all of the methods may be embodied in dedicated computer hardware.

[0062] Many other variations beyond those described herein will be apparent from this disclosure. For example, depending on the embodiment, certain operations, events, or functions of any of the algorithms described herein may be performed in a different order, or may be added, merged, or entirely omitted (e.g., not all acts or events described may be necessary to implement an algorithm). Furthermore, in certain embodiments, operations or events may be performed simultaneously rather than sequentially, for example, via multithreading, interrupt processing, or multiple processors or processor cores, or other parallel architectures. Furthermore, different tasks or processes may be performed by different machines and / or computing systems that can function together.

[0063] The various example logic blocks, modules, and engines described in connection with the embodiments disclosed herein may be implemented or performed by a machine such as a processing unit or processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A processor may be a microprocessor, but in alternative examples, a processor may be a controller, microcontroller, or state machine, combinations thereof, or the like. A processor may include electrical circuitry configured to process computer-executable instructions. In another embodiment, a processor includes an FPGA or other programmable device that performs logical operations without processing computer-executable instructions. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors in combination with a DSP core, or any other such configuration. Although described herein primarily with respect to digital technology, a processor may also include primarily analog components. For example, some or all of the signal processing algorithms described herein may be implemented in analog circuitry or mixed analog-digital circuitry. The computing environment may include any type of computer system, including, but not limited to, computer systems based on microprocessors, mainframe computers, digital signal processors, portable computing devices, device controllers, or computational engines within appliances, to name a few.

[0064] Conditional language such as "can, could, might, may," and the like, unless otherwise specified, is understood in its commonly used context to indicate that certain embodiments include certain features, elements, and / or steps, while other embodiments do not. Thus, such conditional language is not intended to imply that features, elements, and / or steps are generally required in any way for one or more embodiments, or that one or more embodiments necessarily include logic for determining whether or not those features, elements, and / or steps should be included in or performed in a particular embodiment, with or without user input or prompting.

[0065] Disjunctive language, such as the phrase "at least one of X, Y, or Z," is understood in its commonly used context, unless otherwise indicated, to indicate that an item, term, etc. can be either X, Y, or Z, or any combination thereof (e.g., X, Y, and / or Z). Thus, such disjunctive language is generally not intended to, and should not, imply that a particular embodiment requires that at least one of X, at least one of Y, or at least one of Z, respectively, be present.

[0066] Any process descriptions, elements, or blocks in the flow diagrams described herein and / or shown in the accompanying drawings should be understood as potentially representing a module, segment, or portion of code that includes one or more executable instructions for implementing a particular logical function or element in the process. Those skilled in the art will understand that alternative implementations are included within the scope of the embodiments described herein, and that, depending on the functionality involved, elements or functions may be omitted or performed in a different order than that shown or described, such as substantially simultaneously or in reverse order.

[0067] Unless otherwise specified, articles such as "a" or "an" should generally be construed to include one or more listed items. Thus, phrases such as "a device configured to" are intended to include one or more listed devices. Such one or more listed devices may also be collectively configured to carry out the stated recitation. For example, "a processor configured to carry out recitations A, B, and C" may include a first processor configured to carry out recitation A working in conjunction with a second processor configured to carry out recitation B and C.

[0068] It should be emphasized that many variations and modifications may be made to the above-described embodiments, and elements of those embodiments should be understood to be part of other acceptable examples, and all such modifications and variations are intended to be included within the scope of this disclosure.

Claims

1. A protective cover and A case, the case comprising: Compartments and a pelvic attachment point; an arm attachment point; a case including a neck attachment point; 1. An energy storage device housing comprising:

2. The energy storage device enclosure of claim 1 ; an energy storage device disposed within the compartment; An energy storage device system comprising:

3. The energy storage unit system of claim 2 further comprising energy storage unit electronics.

4. The energy storage device housing according to claim 1 or the energy storage device system according to claim 2 or 3; a leg system including a pelvic mount point attached to said pelvic attachment point by a pelvic fastener; an arm system including an arm installation point attached to the arm attachment point by an arm fastener; a head system including a neck mount point attached to the neck attachment point by a neck fastener; A robot equipped with:

5. 5. The robot of claim 4, wherein the pelvis mount point is directly attached to the pelvis attachment point, the arm mount point is directly attached to the arm attachment point, and the neck mount point is directly attached to the neck attachment point.

6. 6. The robot of claim 4, wherein at least one of the pelvis insertion point and the pelvis attachment point, the arm insertion point and the arm attachment point, and the neck insertion point and the neck attachment point includes a spacer disposed therebetween.

7. 7. The robot of claim 4, wherein the hip fasteners, the arm fasteners, and the neck fasteners are each independently selected from the group consisting of screws, bolts, nails, rivets, anchors, adhesives, snaps, heat stakes, welds, and combinations thereof.

8. 8. The robot of claim 4, wherein the energy storage device enclosure is configured to substantially withstand bending moments due to a load of at least about 20 kg.

9. The energy storage device enclosure of claim 1 further comprising a computer mounting point.

10. The energy storage device housing according to claim 9 ; a computer system having a computer mount point attached to said computer mount point by a computer fastener; A housing / computer system comprising:

11. 11. The enclosure and computer system of claim 10, wherein the computer mount point is directly attached to the computer attachment point.

12. The enclosure and computer system of claim 10 or 11, wherein a duct path is disposed between the energy storage device enclosure and the computer system.

13. The enclosure and computer system of claim 12 , wherein the energy storage device enclosure further comprises a plurality of heat sink fins disposed within the duct path.

14. 14. The enclosure and computer system of claim 12 or 13, wherein the computer system further comprises a computer heat sink disposed within the duct path.

15. The enclosure and computer system of claim 12 , wherein the duct path further comprises an outer duct wall.

16. 16. The enclosure and computer system of claim 12, wherein the duct path further comprises an inner duct wall.

17. The enclosure-computer system according to claim 12 , further comprising a fan disposed at an entrance of the duct path.

18. The enclosure-computer system according to claim 12 , further comprising an air flow vent disposed at an outlet of the duct path.

19. 19. The chassis / computer system of claim 12, wherein the location of the air flow vent is selected from a minor side surface, a minor top surface, and a combination thereof of the chassis / computer system.

20. 20. The housing / computer system according to claim 10, an energy storage device disposed within the compartment; a leg system including a pelvic mount point attached to the pelvic attachment point by a pelvic fastener; A robot equipped with:

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