System for delivering wireless power from a mobile uncrewed robots and method of use thereof

Abstract

A wireless power transmission system for transmitting wireless power sourced from a battery carried by a mobile uncrewed robot comprising a personal battery for powering the mobile uncrewed robot; it has a battery that is one of the personal battery and an external battery; a wireless transmitter connected to the battery; and a fastening system for connecting the wireless power transmission system to the mobile uncrewed robot, wherein the wireless power transmission system is transportable by the mobile uncrewed robot to a location for wirelessly charging a receiver device requiring charging at the location; method of use thereof.

Description

SYSTEM FOR DELIVERING WIRELESS POWER FROM A MOBILE UNCREWED ROBOTS AND METHOD OF USE THEREOF

[0001] The present application claims priority from U.S. provisional patent application No.63 / 791,013, filed on April 18, 2025, 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 timeconsuming 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 j am), 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 solutiontakes 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 conductivematting 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 (0) 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 Rheinmentall™). 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 aflat 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 thetransparent 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 dotprojection; 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 theflexible 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 aprocessing 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 mobileuncrewed 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.

[0066] Another broad aspect is a wireless power transmission system for transmitting wireless power sourced from a battery carried by a mobile uncrewed robot comprising a personal battery for powering the mobile uncrewed robot, including a battery that is one of the personal battery and an external battery; a wireless transmitter connected to the battery; and a fastening system for connecting the wireless power transmission system to the mobile uncrewed robot, wherein the wireless power transmission system is transportable by the mobile uncrewed robot to a location for wirelessly charging a receiver device requiring charging at the location.

[0067] In some embodiments, one or more portions of the wireless transmitter may be configured to fold to reach a first configuration, and can unfold to reach a second configuration that is different from the first configuration, wherein the wireless transmitter may be configured to transmit wireless power in the first configuration or in the second configuration.

[0068] In some embodiments, a surface area of the wireless transmitter may be greater than the surface area of the base of the battery and the one or more portions, of the wireless transmitter, approach sides of the battery in the first configuration, and the one or more portions, of the wireless transmitter, extend away from the sides of the battery in the second configuration.

[0069] In some embodiments, the wireless transmitter may be flat in the second configuration.

[0070] In some embodiments, the battery may be the external battery.

[0071] In some embodiments, the wireless transmitter may be adjacent to a face of the external battery.

[0072] In some embodiments, the wireless transmitter may be adjacent to a surface of the mobile uncrewed robot.

[0073] In some embodiments, the wireless transmitter may be connected to the personal battery for powering the mobile uncrewed robot, and wherein the wireless transmitter may be configured to selectively draw power from the personal battery.

[0074] In some embodiments, the external battery may be connected to the personal battery for powering the mobile uncrewed robot, and wherein the mobile uncrewed robot may be configured to selectively draw power from the external battery to power the mobile uncrewed robot, thereby reducing power available to the receiver device from the external battery.

[0075] In some embodiments, the battery may be the personal battery for powering the mobile uncrewed robot.

[0076] In some embodiments, the fastening system may include a plurality of apertures.

[0077] In some embodiments, the fastening system may include a docking system with a plurality of grooves for joining to the mobile uncrewed robot.

[0078] In some embodiments, the wireless transmitter may be made of two or more subsystems, and wherein at least one of the two or more sub-systems may be at a different location, on the mobile uncrewed robot or the battery, from another of the two or more sub-systems.

[0079] In some embodiments, the mobile uncrewed robot may be a drone, and wherein the wireless power transmission system may be adapted to be a payload for the drone.

[0080] In some embodiments, the wireless transmitter may be arranged to be located at a base of the battery.

[0081] In some embodiments, the mobile uncrewed robot may be an uncrewed ground vehicle, and wherein the wireless power transmission system may be adapted to be a payload for the uncrewed ground vehicle.

[0082] In some embodiments, the wireless transmitter may be arranged to be located at a base of the uncrewed ground vehicle.

[0083] In some embodiments, wherein the system includes a shielding system that shields the wireless transmitter.

[0084] In some embodiments, the shielding system may include ferrite.

[0085] In some embodiments, the wireless transmitter may be a wireless transceiver, configured to transmit and receive wireless power.

[0086] In some embodiments, the wireless transmitter may further act as a wireless receiver for receiving wireless power.

[0087] Another broad aspect is a mobile uncrewed robot comprising the wireless power transmission system as described herein.

[0088] Another broad aspect is a method of supplying wireless power to a receiver device requiring charging at a target location. The method includes carrying with a mobile uncrewed robot a battery that is connected to a wireless transmitter to the target location; and transmitting wireless power to the receiver device via the wireless transmitter sourcing power from the battery.

[0089] In some embodiments, the method may include powering the battery wirelessly at a charging station using a wireless receiver connected to the battery.

[0090] In some embodiments, the transmitting of wireless power may occur following the mobile uncrewed robot is positioned on an array of resonators receiving the wireless power fromthe wireless power transmitter, the array of resonators conducting the wireless power, received from the transmitter, to the receiver device.

[0091] In some embodiments, the transmitter of wireless power may be made of an array of resonators.

[0092] In some embodiments, the mobile uncrewed robot may be a drone, and wherein the battery and wireless transmitter may be combined as a payload of the drone, the payload fastened to the drone carrying the payload in flight, the drone joined to a surface of the battery and the wireless transmitter joined to a surface of the battery.

[0093] In some embodiments, the battery may be a personal battery for powering the mobile uncrewed robot.

[0094] In some embodiments, the receiver device may include one of a meteorological device; a telecommunication device; and a camera.

[0095] In some embodiments, the receiver device may be mobile.

[0096] In some embodiments, the receiver device may be static.

[0097] In some embodiments, a surface area of a surface to receive power of the receiver device may be greater than a surface area of the wireless transmitter.

[0098] In some embodiments, a surface area of a surface to receive power of the receiver device may be smaller or equal than a surface area of the wireless transmitter.

[0099] Another broad aspect is an adapter for wireless charging of a mobile uncrewed robot via a source of wireless power. The adapter includes a fastener for joining the adapter to the mobile uncrewed robot; an antenna 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 selectively providing the direct current to the mobile uncrewed robot and to a battery joined to the mobile uncrewed robot.

[0100] In some embodiments, the adapter may include a housing containing the AC / DC converter, wherein the fastener is integrated into the housing.

[0101] In some embodiments, the housing may be the fastener by clamping onto a portion of the mobile uncrewed robot.

[0102] In some embodiments, the housing may clamp onto a battery of the mobile uncrewed robot.

[0103] In some embodiments, the power output may include a mechanical or software switch that is configured cause a supply or cut a supply of power to the mobile uncrewed robot, wherein an entirety of the power may be supplied to the battery when the supply of power to the mobile uncrewed robot is cut by the mechanical or software switch.

[0104] In some embodiments, the antenna may be connected in parallel with the mobile uncrewed robot and the battery.

[0105] Another broad aspect is a foldable system for transmitting or receiving wireless power for charging a device. The system includes a substrate comprising folds defining panels; and one or more antennas joined to the substrate, the one or more antennas configured for transmitting or receiving wireless power, wherein the foldable system is storable by changing to a storage configuration by folding the substrate along the folds.

[0106] In some embodiments, the system may include one or more slits located along one or more of the folds, wherein the folding is facilitated by the one or more slits.

[0107] In some embodiments, a surface area of the substrate may be equal to dimensions of one panel of the panels when the foldable system is in the storage configuration.

[0108] In some embodiments, the one or more antennas may be one or more transmitting antennas, each panel of the panels including one or more transmitting antenna of the one or more transmitting antennas.

[0109] In some embodiments, wherein the one or more antennas may include one or more receiving antennas, each panel of the panels comprising one ore more receiving antenna of the one or more receiving antennas.

[0110] In some embodiments, the one or more antennas may include one or more receiving antennas and one or more transmitting antennas.

[0111] In some embodiments, the one or more antennas may include a transceiver antenna.

[0112] In some embodiments, the substrate may be flexible.

[0113] In some embodiments, the substrate may be fabric and wherein the one or more antennas may be a conductive cable.

[0114] In some embodiments, the substrate may be made from rubber.

[0115] In some embodiments, the system may include a printed circuit board joined to the substrate and connected to one or more of the one or more antennas, wherein the printed circuit board may not be positioned on the folds to not damage the printed circuit board and the one or more of the one or more antennas joined thereto when the substrate is folded for storage.

[0116] In some embodiments, at least two of the one or more antennas may overlap.

[0117] Another broad aspect is a method of storing a flexible system for wirelessly receiving or wirelessly transmitting power, the flexible system including one or more antennas joined to a flexible substrate, the one or more antennas further connected to one or more printed circuit boards and to a transmitter or receiver system. The method includes folding the flexible substrate along a length or width of the flexible substrate, wherein the one or more printed circuit boards are notlocated on a fold line defined by the folding of the flexible substrate along the length of the flexible substrate; and rolling the folded substrate along the other of the length or width of the flexible substrate that is orthogonal with the length of the flexible substrate, wherein the folded substrate is rolled around the transmitter or receiver system.

[0118] In some embodiments, the one or more printed circuit boards may avoid the bend radiuses of the flexible substrate when rolled around the transmitter or receiver system.

[0119] In some embodiments, a length of the one or more printed circuit boards may be parallel with the fold line.

[0120] In some embodiments, the antennas may have a polygonal shape, and wherein the one or more printed circuit boards may be located on a side of the polygonal shape that is closest to the transmitter or receiver system, and positioned on a half of the side that is closest to the transmitter or receiver system.

[0121] Another broad aspect is a network of flexible systems for transmitting or receiving wireless power interconnected by one or more wireless transmitter, receiver or transceiver systems, comprising a plurality of flexible systems, wherein each of the flexible systems includes a flexible substrate; and one or more antennas joined to the flexible substrate, the one or more antennas configured for transmitting, receiving or transceiver wireless power, wherein the flexible system is storable by rolling the flexible substrate.

[0122] Another broad aspect is a flexible system for receiving or transceiving wireless power for charging a device, including a flexible substrate; and one or more antennas joined to the flexible substrate, the one or more antennas configured for receiving, transmitting or transceiving wireless power, wherein the flexible system is storable by changing to a storage configuration by rolling the flexible substrate.Brief Description of the Drawings

[0123] 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:

[0124] 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;

[0125] 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);

[0126] Figure 3A is a drawing of an exemplary adapter for providing wireless power to a dronefrom a wireless power source, the adapter mounted to an exemplary drone;

[0127] Figure 3B is a drawing of a perspective view of an exemplary adapter for providing wireless power;

[0128] 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;

[0129] Figure 3D is a drawing of a front view of an exemplary wireless power transmission system that is a payload for transmitting wireless power at a location using an exemplary drone;

[0130] Figure 3E is a drawing of a top view of an exemplary wireless power transmission system that is a payload for transmitting wireless power at a location using an exemplary drone;

[0131] Figure 4A is a drawing of a cross-sectional view of an exemplary flexible system for providing wireless power;

[0132] Figure 4B is a drawing of a top view of an exemplary foldable system for transmitting or receiving wireless power transfer;

[0133] Figure 4C is a drawing of a cross-sectional view of an exemplary foldable system, in the process of being folded, for transmitting or receiving wireless power transfer;

[0134] Figure 4D is a drawing of a cross-sectional view of an exemplary foldable system, in the fully folded configuration, for transmitting or receiving wireless power transfer;

[0135] Figure 4E is a drawing of a cross-sectional view of an exemplary flexible system in the fully rolled configuration;

[0136] Figure 4F is a drawing of a cross-sectional view of an exemplary flexible system in the configuration of being fully rolled around its transmitter circuit;

[0137] Figure 4G is a drawing of a top view of an exemplary flexible system to transmit or received wireless power through the use of multiple antennas;

[0138] Figure 4H is a drawing of a cross-sectional view of an exemplary flexible system to transmit or receive wireless power transfer, in the configuration of being fully rolled around its circuit and where the tuning circuits are specifically aligned for a position around the circuit;

[0139] Figure 5A is a drawing of an exemplary system for providing wireless power mounted to a ground vehicle;

[0140] Figure 5B is a drawing of an isometric view of an exemplary system for providing wireless power;

[0141] 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;

[0142] 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;

[0143] Figure 8 is a picture of an exemplary system for providing wireless power mounted to a ground vehicle;

[0144] 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;

[0145] Figure 10 is a flowchart diagram of an exemplary method for assisting with the wireless charging of one or more mobile uncrewed robots;

[0146] Figure 11 is a drawing of an exemplary system for providing wireless power; and

[0147] Figure 12 is a drawing of an exemplary system for providing wireless power that is inserted into a protective pocket;

[0148] Figure 13A is a block diagram of an exemplary robot connected to an exemplary wireless power receiver system;

[0149] Figure 13B is a block diagram of an exemplary robot connected to an exemplary wireless power receiver system that receives wireless power from a transmitter system;

[0150] Figure 13C is a block diagram of an exemplary robot connected to an exemplary wireless power receiver system through an interconnection system;

[0151] Figure 13D is a block diagram of an exemplary robot connected to an exemplary wireless power receiver system through an interconnection system that is connected only to the robot battery;

[0152] Figure 13E is a block diagram of an exemplary robot connected to an exemplary wireless power transmitter system;

[0153] Figure 13F is a block diagram of an exemplary robot connected to an exemplary wireless power transmitter system with a transmitter battery;

[0154] Figure 13G is a block diagram of an exemplary robot connected to an exemplary wireless power transmitter system that can swap its transmitter battery at a first location, then deliver and transmit wireless power for a device / sensor, to a second location;

[0155] Figure 13H is a block diagram of an exemplary robot connected to an exemplary wireless power transceiver system that can received wireless power at a first location, then deliver and transmit wireless power for a device / sensor, to a second location;

[0156] Figure 131 is a block diagram of an exemplary robot connected to an exemplary wirelesspower transceiver system with a transmitter circuit and antenna, and a receiver circuit and antenna;

[0157] Figure 13 J is a block diagram of an exemplary robot connected to an exemplary wireless power transceiver system with a transceiving circuit, a transmitter antenna, and a receiver antenna;

[0158] Figure 13K is a block diagram of an exemplary robot connected to an exemplary wireless power transceiver system with a transceiver circuit and antenna; and

[0159] Figure 13L is a block diagram of an exemplary robot connected to an exemplary wireless power transceiver system with a transmitter circuit, a receiver circuit and a transceiving antenna.Detailed Description

[0160] 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.

[0161] 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.

[0162] 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.”

[0163] 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.

[0164] 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 clearlydictates otherwise.

[0165] 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.

[0166] 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.

[0167] 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.

[0168] DEFINITIONS:

[0169] 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 ondifferent 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.

[0170] 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.

[0171] 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.

[0172] 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.

[0173] 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.

[0174] 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.

[0175] 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:1f = -2ny[LC

[0176] 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.

[0177] This tuning frequency is in contrast with the operating frequency of the system which is the frequency at which the power is sent wirelessly.

[0178] 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 (K^ > 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.

[0179] 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.

[0180] 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. KLJ> 0). This is in contrast to the same kind of components that are connected in series instead which makes those components have acumulatively (addition) coupled electromagnetic field (if the coupling coefficient is positive, i.e. KLJ> 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.

[0181] 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. KLJ> 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. Kij > 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.

[0182] 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”.

[0183] 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 (i) and the chirality (K).

[0184] For the structure to be a metamaterial, the structure displays global properties of negative permeability (e < 0 ) and of negative permittivity (i < 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).

[0185] 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 singlenegative metamaterial, isotropic metamaterial or anisotropic metamaterial.

[0186] 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.

[0187] 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, a robot, 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 orwalker, 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), FPV drone, numerically controlled drone, analogically controlled drone, 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, NATO UAS class 1, class 2 and class 3, any general consumer drone, etc. It will be understood that the teachings of the present disclosure may be used with any robot, including the robots listed herein under the definition of “mobile uncrewed robot”.

[0188] 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.

[0189] By “TX”, this combination of characters refers to transmission (of data or power), transmitting, transmitter, transmit, emission, emitting, emitter or emit, 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). The “TX system” can be made of TX antenna, TX circuit and other sub-systems.

[0190] By “RX”, it is meant as receiving or receiver (of data or power), 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). The “RX system” can include a RX antenna, a RX circuit and other sub-systems.

[0191] By “TRX”, it is meant a transceiver (of data or power) which is an antenna or circuit that can transmit and receive either data and / or power. The “TRX system” can include a TRX antenna, a TRX circuit and other sub-systems.

[0192] By “MX”, it is meant a circuit, component or any element that can selectively select between multiple channels.

[0193] By “DC” and “AC”, it is meant as Direct Current and Alternative Current respectively.

[0194] By “DC / AC”, it is meant a converter from DC to AC. The DC / AC may include, but is not limited to, a power amplifier Class A, B, AB, C, D, E, F or other forms of passive or active, synchronous power amplifier.

[0195] By “AC / DC”, it is meant as a converter from AC to DC. The AC / DC may include, but is not limited to, a rectifier, a half bridge rectifier, a full bridge rectifier, a passive or active synchronous gates used as rectifier, single-phase half-wave rectifier, single-phase full-waverectifier, three-phase half-wave rectifier, three-phase full-wave rectifier, three-phase bridge rectifier, and class E rectifier.

[0196] By “DC / DC”, it is meant as a converter from DC to DC, to change, but not limited to, the voltage, amperage, ripple frequency, resistance, residual reactance, or isolation between the input and the output of the stage.

[0197] By “AC / AC”, it is meant a converter from a form of AC to another form of AC, to change, but not limited to, the voltage, amperage, frequency, resistance, reactance or isolation between the input and the output of the stage.

[0198] 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. The TX circuit may contain, but is not limited to, a DC / AC stage, a DC / DC stage, an AC / AC stage, DC filtering stage, AC filtering stage, a tuning stage, a stage to vary impedance, a power combining stage, computing chips and sub circuit, wire or wireless communication stage, internal or external sensors, etc. The RX circuit may contain, but is not limited to, a AC / DC stage, a DC / DC stage, an AC / AC stage, DC filtering stage, AC filtering stage, a tuning stage, a stage to vary impedance, a power combining stage, computing chips and sub circuit, wire or wireless communication stage, internal or external sensors, etc. The TRX circuit may contain, but is not limited to, any component and stage dedicated to a TX circuit, any component and stage dedicated to a RX circuit, and / or component and stage that can do both the functions of a TX circuit and a RX circuit. All of the variations of “circuit” may also include shielding components, such as, but not limited to, ferrite materials, ferrite beads, filtering stage, a faraday cage, metal cage, from its internal electromagnetic interference, or the outside electromagnetic interference.

[0199] By “TX WPT system”, it is meant as the combination of at least 1 TX ANT, 1 TX circuit, and may, in some implementations, also include a power source. By “RX WPT system”, it is meant the combination of at least 1 RX ANT, 1 RX circuit, and in some embodiments, also include a device BAT (or some variation of energy storage) and a device. By TRX WPT system, it is meant the combination of at least 1 TRX ANT, 1 TRX circuit, and. in some embodiments, also include a power source, a device BAT and a device.

[0200] 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, radio antenna, wireless power transfer antenna, transceiver antenna, resonator, coil, loop, toroid, spiroid, spiral, Archimedean spiral, flat spiral, helix and solenoid, or any other geometry or pattern of conductive materials. It can refer to, but not limited to, the whole electromagnetic spectrum, electric antenna, such as forthe RF range, photonics, visible spectrum light interacting systems or ionising antennas. The word “antenna” can be shortened to “ANT”, such as in the block diagrams of the figures. For the power block diagrams, ANT can have a TX ANT, a RX ANT and / or a TRX ANT. The TRX ANT may contain, but not limited to, any component, stage and sub antennas dedicated for a TX ANT, for a RX ANT, and / or component, stage and sub antennas that can do both the functions for a TX ANT and a RX ANT. All of the variations of “ANT” may also include shielding components that can selectively shield from harmful frequencies, from harmful components of the electromagnetic field spectrum, magnetic field, electric field, while redirecting or not blocking desired portions of the electromagnetic field spectrum and its individual fields. The shielding components can be, but not limited to, ferrite materials, ferrite beads, filtering stage, a faraday cage, metal cage, from its internal electromagnetic interference, or the outside electromagnetic interference.

[0201] By “BAT”, it is meant a battery or any other type of energy storage component or system. The BAT can be with or without a battery management system (“BMS”).

[0202] By “engine”, it is meant, but not limited to, a chemical engine, a fuel engine, a combustion engine, or an electric engine.

[0203] By “flying system”, it is meant, but not limited to, propellers, wings, jet engine, rocket engine, ionic trusters, or plasma truster. By “jet engine”, it is meant, but not limited to, a general flying system engine, a turbojet, a turbofan, a turboprop, a turboshaft, a piston engine with prop, a prop engine, centrifugal engine, open rotor engine, scramjet, ramjet, or other variation.

[0204] By “wheels”, it is meant, but not limited to, a general car wheel, and airless wheel, a mecanum wheel, an omni wheel, omnidirection wheel, holonomic wheel, or any other wheel variation.

[0205] By “continuous track”, it is meant, but not limited to, tracked treads, chain track, tank tread, tank tracks, caterpillar tread, or any other tracked vehicle system such as a construction and hydraulic vehicle.

[0206] By “payload”, it is meant, but not limited to, any system that is not required for a robot or moving system to operate, typically that can be detached from the robot, that is used for a robot to perform a specific mission or operation. A payload may include, but is not limited to, a battery, a scientific system, a camera, a telecommunication system, a sensor, a power management system, or a mechanical, electrical or other system that is to be moved.

[0207] EXEMPLARY ARCHITECTURE FOR WIRELESS CHARGING OF ONE OR MOR MOBLE UNCREWED ROBOTS:

[0208] 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 threemobile 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.

[0209] 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.

[0210] 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.

[0211] 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.)

[0212] EXEMPLARY COMPUTING DEVICE FOR ASSISTING A SYSTEM FOR PROVIDING WIRELESS POWER:

[0213] 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.

[0214] 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.

[0215] 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 multi core, or distributed (e.g. a multi-processor).

[0216] 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.

[0217] 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.

[0218] The processor 102, the memory 101 and the I / O interface(s) 106 may be linked via bus connections.

[0219] 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), amicrophone (for capturing speech or sounds from the user), an eye tracker, a motion detector, etc.

[0220] 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.

[0221] 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.

[0222] 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.

[0223] 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.

[0224] In some instances, the computing device 100 may be integrated to the system for providing wireless power 200.

[0225] 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.

[0226] EXEMPLARY ADAPTER FOR A MOBILE UNCREWED ROBOT FOR ENABLING WIRELESS CHARGING OF THE MOBILE UNCREWED ROBOT:

[0227] 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.

[0228] The adapter 250 includes a receiving antenna 251 that can receive wireless power 1350 when in an engineered distance to a source of wireless power 200 (also interchangeably called a transmitter or a transmitter of wireless power). Depending on the mechanical dimensions of the adapter 250 and the robot on which it is attached to, the receiving antenna 251 might directly mechanically touch or might be at a distance from the surface that can provide the wireless power 1350. The surface that can provide the wireless power 1350 includes the source of wireless power 200 and might include a flat pad over the resonator(s).

[0229] It will be readily understood that the present teachings with regard to the receiving antenna 251 can be extended to a transmitting antenna (such as the TX antenna 1311 of Figure 13E), a transceiving antenna (such as the TRX antenna 1331 of Figure 13K), or incorporate a receiving antenna (such as the RX antenna 1321 of Figure 131) and a transmitting antenna (such as the TX antenna 1311 of Figure 131) at the same time in the adapter 250.

[0230] The adapter 250 includes an alternating current / direct current (AC / DC) converter 252 (can also be called RX circuit 1322 when the RX circuit only has the AC / DC converter functionality). The AC / DC converter 252 receives the alternating current from the receiving antenna 251, and converts the alternating current into direct current (DC). The RX circuitry 1322 includes an AC / DC converter, and may also include an AC and / or DC filtering stages, a DC / DC converter, processors, sensors, other communication antennas, an internal battery, etc.

[0231] The adapter 250 includes one or more connectors 254, where power, data, or power and data can go through the one or more connectors 254 of the adapter 250. The connector 254 receives the direct current (DC) from the AC / DC converter 252, and provides the power to the mobile uncrewed robot 300 (i.e. either to the battery of the drone 301, the operating hardware of the drone 302, or to both). The embodiment shown in Figure 3A shows that the AC / DC converter 252 is connected to two connectors 254, where one connector 254 is connected to the robot battery 301 (also called robot BAT 301), and where the other connector 254 is connected to the robot 302 itself. The use of two connectors 254 enable the AC / DC converter 252 to send the power to the robot 302, to the robot BAT 301 or to both at the same time. This configuration also enables the robot BAT 301 to send the power of the robot BAT 301 to the robot 302.

[0232] In some instances, a housing 256 may mechanically integrate some or all the elements of the adapter 250, the receiving antenna 251, the AC / DC converter 252 and the one or more connector 254. In some instances, some or all the elements of the adapter 250 may be integrated into the mobile uncrewed robot 300, where the AC / DC converter 252 may be integrated into a housing of the mobile uncrewed robot 300.

[0233] For greater clarity, the reference numeral 302 refers to the mobile system of the mobile uncrewed robot 300 without its battery 301. The mobile uncrewed robot 300 includes the battery 301 and the mobile system 302 (also called robot 302 herein). The mobile system 302 may include (but is not limited to), a computing system, external and internal sensors, camera, communication antennas, engine or electric motor, a propelling system (such as legs, rotor, wings, different jet engine, wheels or continuous track) , a mechanical structure and an electrical structure.

[0234] 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 mobileuncrewed 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.

[0235] The one or more connectors 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 robot 302, as shown in Figure 3C.

[0236] The fastener 253 may also secure the receiving antenna 251. The receiving antenna 251 may be positioned opposite to the housing 256 of the AC / DC converter 252. The receiving antenna 251, the housing 256 of the AC / DC converter 252 and the side ligaments 257 may form the basket of the fastener 253.

[0237] It will be understood that the adapter 250 illustrated in Figures 3A-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.)

[0238] In some instances, the system for providing wireless power may transmit a command for ending transmission of power and / or data from the robot battery 301 to the robot 302, where communication of data and / or power between the adapter 250 and the robot 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 robot battery 301 to the robot 302.

[0239] EXEMPLARY TRANSMITTER SYSTEM FOR A MOBILE UNCREWED ROBOT:

[0240] Reference is now made to Figures 3D and 3E, illustrating an exemplary transmitter system for use with 2 different models of mobile uncrewed robot 300. Figure 3D shows a front view of an exemplary first model of a mobile uncrewed robot 300 and Figure 3E shows a top view of an exemplary second model of a mobile uncrewed robot 300.

[0241] The exemplary transmitter system includes a transmitter battery 1303 (also called TX BAT 1303) that is connected to a transmitting circuit 1110 (also called TX circuit 1110 or TX circuit 1312) and a transmitting antenna 1311 (also called TX ANT 1311 ) for transmitting wireless power.The TX circuit 1110 may be present, including a power amplifier, connecting the TX battery 1303 to the wireless transmitting antenna 1311. The transmitter system includes fastening components for joining the transmitter system, or parts of the transmitter system, to the mobile uncrewed robot 300.

[0242] The transmitter system may include a shielding system (e.g. an electromagnetic shield, a ferrite), also called TX shield 1314, located between the TX BAT 1303, or robot BAT 301, and the wireless transmitter antenna 1311, and between the transmitter circuit 1110 and the transmitter antenna 1311, for reducing or preventing interference with the wireless transmitter. It will be understood that the shielding system can be placed between any electromagnetically interfering material and the wireless power transfer antenna(s).

[0243] The transmitter system may include a housing for containing the TX BAT 1303, the TX circuit lllO and / orthe TX antenna 1311.

[0244] The TX BAT 1303 may be an external battery (distinct from the personal robot battery 301 that is for powering the mobile uncrewed robot 300) that is carried by the mobile uncrewed robot 300 (e.g. as a payload). In some instances, the TX BAT 1303 is also the personal robot battery 301 of the mobile uncrewed robot 300 used for powering the mobile uncrewed robot 300.

[0245] In some embodiments, when the transmitter wireless power transfer system 1310 (also called TX WPT System 1310) has an external battery to the mobile uncrewed robot 300, the TX WPT system 1310 and / or the TX Bat 1303, may also be connected to the personal robot battery 301 of the mobile uncrewed robot 300 through the optional electrical connection 1305. When the external battery 1303 of the transmitter system is empty, the transmitter system may then draw power from the personal robot battery 301 of the mobile uncrewed robot 300 to transmitting power wirelessly via the wireless transmitter. In some instances, the mobile uncrewed robot 300 or the transmitter system may determine a quantity of power required to cause the mobile uncrewed robot 300 to return from a current location to a base for charging, and the excess power stored in the personal robot battery 301 may be dedicated for use by the transmitter system for transmitting wireless power.

[0246] The TX antenna 1311 may be a coiled wire joined to a substrate, where the TX antenna 1311 is configured to transmit wireless power at a given frequency (the TX battery 1303 may be connected to an inverter that converts direct current received from the TX battery 1303 to alternating current at a given frequency).

[0247] The one or more fastening components may include one or more apertures (e.g. located on the housing of the transmitter system), one of more hooks, one or more clips, one or more protrusions for receiving one or more loops, one or more straps, one or more docking systems (e.g.including a series of grooves for fiting into corresponding mating protrusions), one or more apertures, etc.

[0248] In some embodiments, the mobile uncrewed robot 300 may be a drone, and the transmiter adapter system 1300 (including a TX WPT system 1310 and may include a TX BAT 1303) may be a payload carried by the drone (where the payload is picked up and connected to an underside of the drone).

[0249] In some embodiments, the mobile uncrewed robot 300 may be a mobile uncrewed ground vehicle, and the wireless transmiter may be a payload carried by the mobile uncrewed ground vehicle.

[0250] The payload may be in one sub-assembly, where the batery, the TX circuit and TX antenna are in one mechanical assembly, or the payload may be in more than one sub-assembly. In some embodiments, the mobile uncrewed robot 300 may be a mobile uncrewed ground vehicle, where the external TX batery 1303 is atached to the top of the mobile uncrewed ground vehicle, where the TX antenna 1311 is atached to the underside of the mobile uncrewed ground vehicle, and where the mobile uncrewed ground vehicle can transfer wireless power to a receiver device at a location on the ground.

[0251] The transmiter adapter system 1300 may be shaped as a column (e.g. a cylinder or prism), where the TX batery 1303 is positioned on top, in the middle or under of the TX antenna 1311 (e.g. with a TX shield 1314 - shield system - positioned between the TX batery 1303 and the TX antenna 1311, and between the TX circuit 1312 and TX antenna 1311). The external TX batery 1303 may have a cylindrical shape.

[0252] In some instances, a surface area of the TX antenna 1311 may be less than or equal to the surface area of a base of the TX batery 1303 that is adjacent to the TX WPT system 1310.

[0253] In some instances, the surface area of the wireless TX antenna 1311 may be greater than the surface area of the base of the TX batery 1303 that is adjacent to the wireless transmitting circuit 1110 and TX antenna 1311. In these instances, end portions of the TX antenna 1311 that extend beyond the surface area of the base of the TX battery 1303 that is adjacent to the wireless transmitting circuit 1110 may be configured to fold upwards, such that the end portions of the TX antenna 1311 are next to a side wall of the TX battery 1303, when the transmiter system is in transport or is stored. When the transmiter system is deployed for transmiting wireless power, the end portions of the TX antenna 1311 may extend away from the side wall of the TX batery 1303, the entirety of the surface area of the TX antenna 1311 forming a flat surface that extends beyond the surface area of the base of the TX battery 1303.

[0254] The TX antenna 1311 may alternative between two configurations (e.g. one compactconfiguration, one deployed configuration), where e.g. the TX antenna 1311 is adapted to transmit power in a first configuration, and the TX antenna 1311 is adapted for storage and / or transport and / or in a dormant or off mode in a second configuration.

[0255] In some embodiment, the TX antenna 1311 is folded to reduce the volumetric footprint of the complete system or payload, in such a way to enhance the aerodynamic characteristics, the maneuverability, reduce risk of the system to tangle with environment objects while in transport, etc.

[0256] In some embodiment, the total area of the TX antenna 1311, when fully deployed, is contained within the area defined by the leg of the mobile uncrewed robot 300 (such as shown in Figure 3D).

[0257] In some embodiment, the total area of the TX antenna 1311, when fully deployed, is not contained within the area defined by the leg of the mobile uncrewed robot 300 (such as shown in Figure 3E).

[0258] EXEMPLARY STORABLEYSTEM FOR PROVIDING WIRELESS POWER:

[0259] Reference is now made to Figure 4A to 4H, illustrating an exemplary system 400 for providing wireless charging, where the system 400 may be flexible to be rolled up for transport, storage, etc., and can shape to an irregular surface (e.g. uneven ground).

[0260] The system 400 includes a substrate 402 and an antenna 401 (for acting as a transmitter of wireless power) mounted thereon.

[0261] The substrate 402 may be a flexible sheet of material, such as fabric or rubber. The shape of the antenna 401 on the substrate 402 may vary depending on the use and desired properties of the antenna for purposes of wireless power transmission. In some instances, the substrate 402 may be rigid, where the system 400 may be folded e.g. for storage.

[0262] As such, the substate 402, when flexible, enables the system 400 to be rolled up (e.g. for storage).

[0263] The antenna 401 (can be a TX antenna 1311, a RX antenna 1321 or a TRX antenna 1331) may also be made from a material which is flexible or pliable.

[0264] The shape and dimensions of the substrate 402 may vary and depend on the require application of the system 400.

[0265] In some instances, the system 400 may include a plurality of antennas 401, e.g., mounted side-by-side, onto the substrate 402.

[0266] The antenna 401 may be separated and / or connected to the substrate 402 using an electrical cable.

[0267] In some embodiments, the substrate 402 and the antenna 401 may be in an enclosure(e.g. a flexible fabric sleeve) to further protect the substrate 402 and the antenna 401 from rugged environments.

[0268] In some instances, as shown in Figure 4B to Figure 4D, the system 400 may include folds 404 dividing the system 400 into panels 403 (e.g. of equal size; of different size) to reduce the footprint of the system 400 for storage by folding the system 400 along the folds. It will be understood that the panels 403 do not have to be flexible, wherein the system 400 may be rigid, but includes folds 404 for reducing the footprint of the system 400 when folded along the folds 404.

[0269] In some embodiments, parts of the system 400 may be flexible, where other parts of the system 400 are rigid.

[0270] In some embodiments, the system 400 may include one or more slits running along a length of one or more of the folds 404. The system 400 may fold with the help of the slits along the folds 404 for storage. Similarly, the system 400 may be unfolded along the folds 403 for deployment.

[0271] A slit may run along an entire length of a panel 403, on the fold 404 located between two panels 403. Some slits may be orthogonal with other slits. It will be understood that the location and number of the slits may depend on the manner in which the system 400 is to be folded, the number of panels 403 of the system 400, the dimensions of the panels 403 of the system 400, etc.

[0272] In some instances, each of the panels 403 of the system 400 may include an antenna 401 (for acting as a transmitter, receiver or transceiver) joined to the substrate 402. In some instances, an antenna 401 may run across multiple panels 403 of the system 400. In some instances, the antennas 401 joined to the substrate 402 may overlap with one another.

[0273] In some instances, the system 400 may include one or more printed circuit boards (PCB) connected to one or more of the antennas 401. In order to avoid damaging the PCB and / or the antenna(e) 401 joined thereto when the system 400 is folded for storage, the PCB may be located at a distance (e.g. more than one cm, more than two cm, etc.) from a fold 404 of the system 400, where the system 400 is to be folded along that fold 404 for storage. As the PCB is not located directly next to the fold, the position of the PCB with respect to the fold results in reduced strain applied to the PCB and to the antenna(e) 401 joined thereto when folding of the system 400 (e.g. for storage).

[0274] In some instances, as shown in Figure 4E and Figure 4F, the system 400 may include a flexible substrate 402 that is able to be rolled on itself to reduce the surface area, such as for storage. In some embodiment, the flexible substrate 402 may be rolled around the transmitter circuit 1110, to further make the system 400 compact and to prevent yielding a too small bend radius (that can break the substrate 402 or make reduce the integrity of the system 400 over time due to wear anduse) of the substrate 402.

[0275] In some instances, as shown in Figure 4G, the flexible system 400 may include a flexible substrate 1112 (or called a substrate 402 in Figures 4E, 4F and 4H), a pocket or sleeve 1150, a TX circuit 1110, 6 TX antennas 1113 arranged in an array of 2 by 3, side-by-side and without overlap, 6 tuning circuits 405 attached to their individual TX antenna 1113, a power controller 1111, that can enable the power for wireless power transmission to go to each individual TX antenna 1113, and a fold line 406. The TX antennas 1113 may be electric cables stitched to a flexible substrate that is fabric. The tuning circuits 405 may be placed on a side of the TX antennas 1113 that is closer to the TX circuit 1110 and the power controller 1111. The tuning circuits 405 may be placed on a side of the TX antennas 1113 and at specific positions within that side so it is farther from the fold line 406 to reduce the risk of damage from the bending (especially between the electric cable soldered to the tuning circuit 405). The flexible substrate 1112 may fold, along a length or width of the flexible substrate 1112, at the fold line 406 (positioned at a point along a length or width of the flexible substrate 1112), then be rolled around the TX circuit 1110. The tuning circuits 405 may have two dimensions that are not equal to each other, and be in a specific orientation and placed on their individual TX antenna 1113, so that they land on a better place around the TX circuit 1110 when rolled (away from the bend radius, to limit the stress from bend radius), as is partially shown in Figure 4H.

[0276] In some embodiments, the TX circuit 1110, is instead a RX circuit, and the TX antennas 1113 are instead RX antennas. In some embodiments, the flexible system 400 may contain a combination of a TX circuit 1110, a RX circuit 1110, TRX circuit 1110, TX antennas 1113, RX antennas 1113 and TRX antennas 1113, so that the flexible system 400 is able to both receive and transmit wireless power. In some embodiments, the flexible system 400 may contain a circuit 1110 that can perform both the function of TX and RX (TRX), and antennas 1113 that perform both functions of a TX and RX (TRX), so that the flexible system 400 is able to both receive and transmit wireless power.

[0277] In some embodiments, a network of systems 400 may be provided, where the systems 400 are interconnected by one or more wireless transmitter, receiver or transceiver systems. Within the network, each of the systems 400 is referred to as a sub-system of the network.

[0278] EXEMPLARY SYSTEM FOR PROVIDING WIRELESS POWER TO ONE OR MORE MOBILE UNCREWED ROBOTS:

[0279] 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.

[0280] 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.

[0281] 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.

[0282] 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 500 onto which the system 200 is mounted, etc. The power source 204 may optionally be coupled to a transmitter (and in some cases an DC / AC 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.

[0283] 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. Reference is also made to International PCT patent application No. PCT / CA2024 / 051193, incorporated herein by reference.

[0284] 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.

[0285] 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).

[0286] 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 mobileuncrewed 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.

[0287] 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.

[0288] In some instances, the QR code may include one or more colours, or one or more shades of colour.

[0289] 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).

[0290] 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).

[0291] 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.

[0292] 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.

[0293] 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 uncrewedrobot(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.

[0294] 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.

[0295] 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).

[0296] 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.

[0297] In some instances, the housing 205 may include a magnetic shield cage or a ferrite cage. In some instances, the resonators 201 may include TX shield 1314. The system for providing wireless power 200 may then rest on a metal plate, shielded by the magnetic shield cage, the ferrite cage or the TX shield 1314.

[0298] 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.)

[0299] In some embodiments, the system 200 includes a fastener 207 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 thefastener 207.

[0300] 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.

[0301] In some instances, the fastener 207 may be a magnet.

[0302] In some examples, the magnet may be an electromagnet (where current can be fed through the electromagnet for generating a magnetic field).

[0303] 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).

[0304] 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, interactswith the fastener 207, thereby securing the mobile uncrewed robot(s) 300 joined thereto to the flat pad 202.

[0305] 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.

[0306] 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.

[0307] 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.

[0308] In some instances, the system 200 may be integrated to the land vehicle 500.

[0309] 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.

[0310] 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.

[0311] A fastener may be used to connect and secure the system 200 to a mobile vehicle 500.

[0312] As the system for providing wireless power 200 can be solid state and does not require direct electric contact between the resonators 201 and the receivers of the mobile uncrewed robots 300, the system 200 is reliable due to its compactness and lack of moving parts, and can therefore work through water, snow, sand, dirt, etc.

[0313] The system for providing wireless power 200 may enable charging of multiple mobile uncrewed robots simultaneously, and of different models.

[0314] The system for providing wireless power 200 may be mounted onto a variety of different mobile vehicles 500.

[0315] 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.)

[0316] Moreover, as the system for providing wireless power 200 may be mounted onto amobile 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.

[0317] ANOTHER EXEMPLARY SYSTEM FOR WIRELESSLY CHARGING ONE OR MORE MOBILE UNCREWED ROBOTS:

[0318] Reference is now made to Figure 11, illustrating another exemplary system 1100 for wirelessly charging one or more mobile uncrewed robots 300.

[0319] The system 1100 has one or more antennas 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.

[0320] The one or more antennas 1113 are joined to the substrate 1112. In some instances when there are more than one antenna 1113, the antennas 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 antennas 1113 may be placed side by side, without overlap (not shown). In some instances, some of the antennas 1113 may overlap, while the other antennas 1113 may not overlap. The antennas 1113 may be of the same dimensions, or may be of different dimensions. The antennas 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 antennas 1113 may overlap with one another.

[0321] The antenna 1113 may be made of a flexible, or rigid material. The antenna 1113 is a conductive fdament 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 1110, and transmits power wirelessly to a mobile uncrewed robot 300 positioned on the substrate 1112.

[0322] The one or more antennas 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.

[0323] The number of antennas 1113 located on the substrate 1112 may vary. For instance, there may be two or more antennas 1113 located on the substrate 1112. For instance, there may be four or more antennas 1113 located on the substrate 1112. For instance, there may be six or more antennas 1113 located on the substrate 1112. There may be 2, 4, 5, 6, 7, 8, 10, etc. antennas 1113located on the substrate 1112.

[0324] The substrate 1112 may be made from a flexible material, a rigid material, a semi-rigid material, a rigid and flexible material (where some part of the material is rigid and another part is flexible), etc. The one or more antennas 1113 are joined to the substrate. When the substrate 1112 is flexible (and the antennas 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, rubber, silicone, a plastic polymer, etc.

[0325] The transmitter system 1110 receives power from a power source 1170 (e.g. a battery, an electrical socket or outlet, a solar panel, etc.) and transmits same, either directly or indirectly (e.g. the power from the power source 1170 is converted to high frequencies by the DC / AC of the transmitter system 1110), to the one or more antennas 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.

[0326] 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.

[0327] 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).

[0328] As shown in Figure 12, the system 1100 may be inserted into a protective pocket 1150. The pocket 1150 (also called housing 1150 or sleeve 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 orhardware.

[0329] 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.

[0330] As such, the system 1100, with its optional pocket 1150, 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, or the optional pocket 1150, 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.

[0331] 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 through an optional wired connection, which thereby enables an operator to wirelessly communicate with the system 1110 and the mobile uncrewed robot 300.

[0332] 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.

[0333] The communication radio 1160 may also communicated with the adapter 250 mounted to the mobile uncrewed robot 300.

[0334] 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.

[0335] In some instances, the substrate 1112 with the one or more antennas 1113 may bearranged 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 antennas 1113 are arranged along the wall of the cylindrically-shaped substrate 1112.

[0336] In some instances, the substrate 1112 with the one or more antennas 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 antennas 1113 (e.g. when the wireless receiver is facing the substrate 1112 with the one or more antennas 1113), wireless energy may be transferred from the substrate 1112 with the one or more antennas 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 rucksack worn by the person, an article of clothing, such as a back pocket located on a vest or jacket worn by the person, etc.

[0337] EXEMPLARY METHOD OF MAINTAINING AN IMAGE STREAM OF AN OBSERVABLE SCENE USING A PLURALITY OF MOBILE UNCREWED ROBOTS:

[0338] 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.

[0339] 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.

[0340] 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.

[0341] 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.

[0342] 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.)

[0343] 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.)

[0344] 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.

[0345] 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.

[0346] 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.

[0347] 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 radarto identify objects in front of the mobile uncrewed robot, etc.

[0348] 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.

[0349] 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.

[0350] EXEMPLARY METHOD FOR ASSISTING A SYSTEM FOR PROVIDING WIRELESS POWER WITH THE RECHARGING OF THE MOBILE UNCREWED ROBOT(S):

[0351] 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.

[0352] 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 mobileuncrewed robot.

[0353] 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.

[0354] 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.

[0355] 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.

[0356] A position of the mobile uncrewed robot is determined at step 1040 from the position information.

[0357] Navigation commands are then generated and transmitted to the mobile uncrewed robotfor 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).

[0358] 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.)

[0359] 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.

[0360] 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.

[0361] 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 forproviding 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 mobile uncrewed robot for estimating a position of the charging station of the system for providing wireless power, etc.

[0362] 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.

[0363] 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.

[0364] 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.

[0365] As the mobile uncrewed robot approaches a charging station of the system for providingwireless 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.

[0366] 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.

[0367] The system for providing wireless power then charges the mobile uncrewed robot positioned directly or indirectly thereon.

[0368] 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.

[0369] 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).

[0370] 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 areavailable, where one is in-use and the other mobile uncrewed robot is charging, requiring a faster charging option).

[0371] 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).

[0372] 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.

[0373] 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.

[0374] EXEMPLARY SYSTEM FOR WIRELESSLY CHARGING ONE OR MORE MOBILE UNCREWED ROBOTS, AT ONE OR MORE REMOTE LOCATION

[0375] Reference is now made to Figures 13A to 13C, showing block diagrams illustrating an exemplary receiver system 1320 to receive wireless power 1350 for a mobile uncrewed robot 300. The mobile uncrewed robot 300 includes a personal robot battery (“robot BAT”) 301 and the robot 302 itself (with its computing system, sensors, telecommunication, engine, camera and circuit, etc., but without any energy storage system). In some embodiments, the robot BAT 301 may have one electric connection or more than one electric connection, where one electric connection connects to the robot 302, and the other electric connection port 303 can be used to charge the battery. The word “electric connection” and “electric connection port” are used interchangeably herein depending on if the present disclosure refers to the electric cable, electric signal or electric power, or to the port on which the cable, signal or power is connected to. If the electric connection cable, signal or power is connected in between the different blocks in the block diagrams of the figures, it is not always specifically identified, only in some cases where there is an extra or optional connection port, e.g. from an outside charging station or wall outlet, is it referred as the “electric connection port 303”. In some instances, the robot BAT 301 may contain its own battery management system (“BMS”). In some instances, the electric connection may be for electric power and / or data transfer. In the Figures following Figure 13A, a single line is used between the blocks in the block diagrams, where the connection line indicates that power or data individually, or both power and data, can move between the different blocks, with their separated electric conductors orboth through the same conductors. It will be understood that the data can also be integrated within the power line themselves instead of having their separate electric cables. The exemplary receiver system 1320 may contain a receiver antenna (“RX ANT”) 1321, a receiver circuit (“RX circuit”) 1322 and a RX shield 1324 (typically made with ferrite material for a WPT resonator). The RX shield 1324 is not shown in latter figures / block diagrams but it is implied that a shield may be added to the systems illustrated in those block diagrams, for TX system 1310 (the shield for a TX is more specifically called a TX shield 1314) and RX system 1320 (the shield for a RX is more specifically called a RX shield 1324). The RX circuit 1322 is connected in parallel (both power and data) to both the robot BAT 301 and the robot 302.

[0376] Figure 13B shows the same exemplary mobile uncrewed robot 300 (made of the robot BAT 301 and the robot 302 itself) and receiver system 1320 (made of the RX ANT 1321 and RX circuit 1322) that receives wireless power 1350 from the wireless power transmitting system (“TX WPT system”) 1310. The TX system 1310 is made of a power source 1170, a TX circuit 1312 and a TX antenna (“TX ANT”) 1311. The power source 1170 can be a wall outlet, the electric grid, a generator, a battery, a solar panel, wind turbine or any other source that can give or generate power. The TX circuit 1312 converts the electrical energy from the power source 1170 into the type of energy that the TX ANT 1311 requires (typically the TX circuit 1312 include at a minimum a DC / AC). The robot BAT 301 has an extra electric connection port 303 (as seen with the dashed line arrow) connected to it, to indicate an optional connection to the robot BAT 301. Some robot models include multiple electric connections, while other models have only one electric connection.

[0377] Figure 13C shows an exemplary mobile uncrewed robot 300 (made of robot BAT 301 and the robot 302 itself) and a receiver system 1320 that receives wireless power 1350. The receiver system 1320 is made of the RX ANT 1321, the RX circuit 1322 and the interconnection system (or box) 1340. The interconnection box 1340 connects the receiver system 1320 to the mobile uncrewed robot 300, can further provide an extra electric connection port 303 (as seen with the dashed line arrow), can electrically disconnect the robot BAT 301 and / or the robot 302 from the rest of the system, and / or can send a software command to the robot BAT 301 and / or robot 302 to cause the robot BAT 301 and / or the robot 302 to disconnect or turn off. The interconnection system 1340 and the RX circuit 1322 can be two separate electronic circuits or be merged into one circuit. It will be readily understood that the implementations of Figure 13C may be included along with other implementations disclosed herein.

[0378] Figure 13D shows an exemplary mobile uncrewed robot 300 (made of the robot BAT 301 and the robot 302 itself) and receiver system 1320 that receives wireless power 1350, where the receiver system 1320 is only electrically connected to the robot BAT 301. In this exemplaryconfiguration, the receiver system 1320 includes a RX ANT 1321 and a RX circuit 1322. This exemplary configuration forces all of the electrical power, from the wireless power 1350, to go through the robot BAT 301. The robot BAT 301 then sends the electrical power to the robot 302. This exemplary configuration may further include an optional interconnection system 1340 that replicates the electric connector of the robot BAT 301 and can disconnect the receiver system 1320 from the mobile uncrewed robot 300. The optional interconnection system 1340 would enable the electric connection from the receiver system 1320 and from the optional connection port 303. In this exemplary configuration, the electric power received from the receiver system 1320 would typically travel through the internal battery management system (“BMS”), where if the receiver system 1320 was instead connected between the robot BAT 301 and mobile uncrewed robot 300, the electric power would not necessarily need to go through the internal BMS.

[0379] Figure 13E shows an exemplary mobile uncrewed robot 300 (made of the robot BAT 301 and the robot 302 itself) and TX WPT system 1310 that transmit wireless power 1350 when on a desired location that can receive wireless power transfer. The TX WPT system 1310 is made of a TX circuit 1312 and a TX ANT 1311. In some embodiments, the TX WPT system 1310 can be an added pay load to a mobile uncrewed robot 300, and in other embodiments, the TX WPT system 1310 is natively integrated within the mobile uncrewed robot 300. In this exemplary configuration, the TX WPT system 1310 is connected in parallel to the robot BAT 301 and to the robot 302, and uses the electrical power from the robot BAT 301 to send wireless power 1350 to the desired location. This exemplary configuration may further include an optional second electric connection port 303 to the robot BAT 301.

[0380] Figure 13F shows an exemplary mobile uncrewed robot 300 (made of the robot BAT 301 and the robot 302 itself) and transmitter adapter system 1300 that transmits wireless power 1350 when on a desired location that can receive wireless power transfer. The transmitter adapter system 1300 is made of a TX BAT 1303, a TX circuit 1312, an optional TX shield 1314 (typically made with ferrite material for a WPT resonator) and a TX ANT 1311. The TX circuit 1312 with the TX ANT 1311, and the optional TX shield 1314, compose the TX WPT system 1310. In some embodiments, the transmitter adapter system 1300 can be an added payload (and mechanically attached) to a mobile uncrewed robot 300, and in other embodiment it is natively integrated within the mobile uncrewed robot 300. In this exemplary configuration, the transmitter adapter system 1300 uses the electrical power from the TX BAT 1303 to send wireless power 1350 at the desired location. In some embodiments, the TX BAT 1303 and robot BAT 301 can exchange electrical power through the optional electrical connection 1305. This configuration can enable the mobile uncrewed robot 300 to use the energy from the TX BAT 1303 to deliver wireless power 1350 to amore distant location but reduces the wireless power 1350 that can be delivered at that location, or this configuration can enable the mobile uncrewed robot 300 to deliver more wireless power 1350 to the remote location if the mobile uncrewed robot 300 does not require all of its power to come back to its recharging station or handler. Some embodiments may include an optional electric connection port 303 to the robot BAT 301, and / or an optional electric connection port 303 to the TXBAT 1303.

[0381] Figure 13G shows an exemplary power delivery robot 1361, that includes the mobile uncrewed robot 300 (made of the robot BAT 301 and the robot 302 itself), a TX BAT 1303 and a TX WPT system 1310 that can transmit wireless power 1350 when located at a desired location that can receive wireless power transfer. The TX WPT system 1310 is made of a TX circuit 1312 and a TX ANT 1311. The transmitter adapter system 1300 is composed of the TX BAT 1303 and the TX WPT system 1310. The mobile uncrewed robot 300 can go to a base station 1360 and swap (identified with arrows 1351) its empty TX BAT 1303 to a fully charged TX BAT 1303. This example can be achieved by human handling or with another dedicated robotic system such as a robot arm that can remove the empty TX BAT 1303 and put a fully charge one instead. The mobile uncrewed robot 300 can move (identified with the arrow 1352) to a chosen location to deliver wireless power 1350 to a receiver device system 1362 at that desired location. In this exemplary embodiment, the receiver device system 1362 consists of a RX WPT system 1320 (containing a RX ANT 1321 and a RX circuit 1322), a device power source 313 (such as a solar panel, a generator, etc.), a device BAT 311 and a receiver device or sensor 312. The RX WPT system 1320 and the device power source 313 are both connected to the device BAT 311. In this configuration, the receiver device / sensor 312 can be powered by its own power source 313 and receive supplementary power from a RX WPT system 1320 when the power delivery robot 1361 provides wireless power 1350 at the desired location. An example may be a camera or a telemetric relay in a remote location, that is generally powered by solar panels, but in the case there is a too small amount of sunlight for an extended time, the receiver device / sensor 312 could receive the energy required to continue functioning through wireless power delivery. Some embodiments may include an optional electric connection port 303 to the robot BAT 301, and / or an optional electric connection port 303 to the TX BAT 1303. In some embodiments, the TX BAT 1303 and robot BAT 301 can exchange electrical power through the optional electrical connection 1305.

[0382] Figure 13H shows a similar exemplary configuration of a power delivery robot 1361 as Figure 13G, but where the mobile uncrewed robot 300 (made of the robot BAT 301 and the robot 302 itself) is equipped with a TX BAT 1303 and a transceiver (“TRX WPT”) system 1330 instead of only a TX WPT system 1310. In this exemplary configuration, the base station 1360 is comprisedof a power source 1170 and a TX WPT system 1310. The mobile uncrewed robot 300 equipped with the TRX WPT system 1330 can receive wireless power 1350 from the TX WPT system 1310 when at the base station 1360. At this location, the TRX WPT system 1330 is in a RX mode, where it receives wireless power 1350. The mobile uncrewed robot 300 can then move (identified with the arrow 1352) to a second location to deliver wireless power 1350 for the device / sensor 312 with wireless power transfer. At this second location, the TRX WPT system 1330 is in a TX mode where it transmits wireless power 1350 to the RX WPT system 1320 of the device / sensor 312. The RX WPT system can than conduct that electric power, deliver by the power delivery robot 1361, to the device BAT 311 and / or directly to the device / sensor 312. This cycle can be repeated as many times as required for the mission and function of the device / sensor 312 and depending on the capabilities of the mobile uncrewed robot 300 (such as the maximum range and the allowable weight of the payload). This exemplary configuration enables a fully automated system, that may be more reliable than a robot arm to swap batteries (no moving part except the mobile uncrewed robot 300 that need to move 1352 to a dedicated second location). Combined with different WPT technologies, the energy delivery and wireless power transfer can work in rugged conditions, such as snow, dirt, sand, rain, etc. Some embodiments may include an optional electric connection port 303 to the robot BAT 301, and / or an optional electric connection port 303 to the TX BAT 1303. In some embodiments, the TX BAT 1303 and robot BAT 301 can exchange electrical power through the optional electrical connection 1305.

[0383] Both exemplary mobile uncrewed robots 300 of Figures 13G and 13H can deliver wireless power 1350 to one or more device / sensor 312 at one or more locations depending on the electric charge of the TX BAT 1303 and the robot BAT 301.

[0384] Figure 131 shows an exemplary power delivery robot 1361 made of a mobile uncrewed robot 300 (made of the robot BAT 301 and the robot 302 itself), a TX BAT 1303 and a TRX WPT system 1330 that can transmit and receive wireless power 1350. In this exemplary configuration, the TRX WPT system 1330 is composed of a RX circuit 1322, a RX ANT 1321, a TX circuit 1312 and a TX ANT 1311. The RX circuit 1322 and the RX ANT 1321 are made to receive the wireless power 1350, then convert it and conduct it to the TX BAT 1303 and / or to the robot BAT 301, through the electrical connection 1305. The TX BAT 1303 can further have an electrical connection 1305 to the robot BAT 301, so one battery can send energy to the other depending on the use case. The TX circuit 1312 and the TX ANT 1311 are made to transmit the wireless power 1350. Some embodiments may include an optional electric connection port 303 to the robot BAT 301, and / or an optional electric connection port 303 to the TX BAT 1303.

[0385] Figure 13J shows an exemplary power delivery robot 1361 made of a mobile uncrewedrobot 300 (made of the robot BAT 301 and the robot 302 itself), a TX BAT 1303 and a TRX WPT system 1330 that can transmit and receive wireless power 1350. The TRX WPT system 1330 is composed of a TRX circuit 1332, aRX ANT 1321, aTX ANT 1311. The TRX circuit 1332 and the RX ANT 1321 are made to receive the wireless power 1350, then convert the wireless power 1350 and conduct the converted power to the TX BAT 1303 and / or the robot BAT 301, through the electrical connection 1305. The TX BAT 1303 can further have an electrical connection 1305 to the robot BAT 301, so one battery can send energy to the other depending on the use case. The TRX circuit 1332 and the TX ANT 1311 are made to transmit the wireless power 1350. Some embodiments may include an optional electric connection port 303 to the robot BAT 301, and / or an optional electric connection port 303 to the TX BAT 1303.

[0386] Figure 13K shows an exemplary power delivery robot 1361 made of a mobile uncrewed robot 300 (made of the robot BAT 301 and the robot 302 itself), a TX BAT 1303 and a TRX WPT system 1330 that can transmit and receive wireless power 1350. The TRX WPT system 1330 is composed of a TRX circuit 1332 and a TRX ANT 1331. The TRX circuit 1332 and the TRX ANT 1331 can perform both functions of receiving and transmitting the wireless power 1350. When the TRX circuit 1332 and TRX ANT 1331 receive wireless power 1350, it then converts it and conducts it to the TX BAT 1303 and / or the robot BAT 301, through the electrical connection 1305. The TX BAT 1303 can further have an electric connection 1305 to the robot BAT 301, so one battery can send energy to the other depending on the use case. Some embodiments may include an optional electric connection port 303 to the robot BAT 301, and / or an optional electric connection port 303 to the TX BAT 1303.

[0387] Figure 13L show an exemplary power delivery robot 1361 made of a mobile uncrewed robot 300 (made of the robot BAT 301 and the robot 302 itself), a TX BAT 1303 and a TRX WPT system 1330 that can transmit and receive wireless power 1350. The TRX WPT system 1330 is composed of a RX circuit 1322, a TRX ANT 1331 and a TX circuit 1312. The RX circuit 1322 and the TRX ANT 1331 are made to receive the wireless power 1350, then convert it and conduct it to the TX BAT 1303 and / or the robot BAT 301, through the electrical connection 1305. The TX BAT 1303 can further have an electric connection 1305 to the robot BAT 301, so one battery can send energy to the other depending on the use case. The TX circuit 1312 and the TRX ANT 1331 are made to transmit the wireless power 1350. Some embodiments may include an optional electric connection port 303 to the robot BAT 301, and / or an optional electric connection port 303 to the TX BAT 1303.

[0388] It will be understood that it is generally more complex to achieve a TRX circuit 1332 and TRX ANT 1331 instead of having two dedicated circuits and antennas, but if successful,providing a TRX circuit 1332 and a TRX ANT 1331 can greatly reduce the number of electric components, weight and volume required for the system.

[0389] 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.

[0390] 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.

[0391] 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 wireless power transmission system for transmitting wireless power sourced from a battery carried by a mobile uncrewed robot comprising a personal battery for powering the mobile uncrewed robot, comprising:a battery that is one of the personal battery and an external battery;a wireless transmitter connected to the battery; anda fastening system for connecting the wireless power transmission system to the mobile uncrewed robot,wherein the wireless power transmission system is transportable by the mobile uncrewed robot to a location for wirelessly charging a receiver device requiring charging at the location.

2. The wireless power transmission system according to claim 1, wherein one or more portions of the wireless transmitter are configured to fold to reach a first configuration, and can unfold to reach a second configuration that is different from the first configuration, wherein the wireless transmitter is configured to transmit wireless power in the first configuration or in the second configuration.

3. The wireless power transmission system according to claim 2, wherein a surface area of the wireless transmitter is greater than the surface area of the base of the battery and the one or more portions, of the wireless transmitter, approach sides of the battery in the first configuration, and the one or more portions, of the wireless transmitter, extend away from the sides of the battery in the second configuration.

4. The wireless power transmission system according to claim 3, wherein the wireless transmitter is flat in the second configuration.

5. The wireless power transmission system according to any one of claims 1 to 4, wherein the battery is the external battery.

6. The wireless power transmission system according to claim 5, wherein the wireless transmitter is adjacent to a face of the external battery.

7. The wireless power transmission system according to claim 5, wherein the wireless transmitter is adjacent to a surface of the mobile uncrewed robot.

8. The wireless power transmission system according to any one of claims 5 to 7, wherein the wireless transmitter is connected to the personal battery for powering the mobile uncrewed robot, and wherein the wireless transmitter is configured to selectively draw power from the personal battery.

9. The wireless power transmission system according to any one of claims 5 to 8, whereinthe external battery is connected to the personal battery for powering the mobile uncrewed robot, and wherein the mobile uncrewed robot is configured to selectively draw power from the external battery to power the mobile uncrewed robot, thereby reducing power available to the receiver device from the external battery.

10. The wireless power transmission system according to any one of claims 1 to 4, wherein the battery is the personal battery for powering the mobile uncrewed robot.

11. The wireless power transmission system according to any one of claims 1 to 10, wherein the fastening system comprises a plurality of apertures.

12. The wireless power transmission system according to any one of claims 1 to 11, wherein the fastening system comprises a docking system with a plurality of grooves for joining to the mobile uncrewed robot.

13. The wireless power transmission system according to any one of claims 1 to 12, wherein the wireless transmitter is made of two or more sub-systems, and wherein at least one of the two or more sub-systems is at a different location, on the mobile uncrewed robot or the battery, from another of the two or more sub-systems.

14. The wireless power transmission system according to any one of claims 1 to 13, wherein the mobile uncrewed robot is a drone, and wherein the wireless power transmission system is adapted to be a payload for the drone.

15. The wireless power transmission system according to claim 14, wherein the wireless transmitter is arranged to be located at a base of the battery.

16. The wireless power transmission system according to any one of claims 1 to 13, wherein the mobile uncrewed robot is an uncrewed ground vehicle, and wherein the wireless power transmission system is adapted to be a payload for the uncrewed ground vehicle.

17. The wireless power transmission system according to claim 16, wherein the wireless transmitter is arranged to be located at a base of the uncrewed ground vehicle.

18. The wireless power transmission system according to any one of claims 1 and 17, further comprising a shielding system that shields the wireless transmitter.

19. The wireless power transmission system according to claim 18, wherein the shielding system comprises ferrite.

20. The wireless power transmission system according to any one of claims 1 to 19, wherein the wireless transmitter is a wireless transceiver, configured to transmit and receive wireless power.

21. The wireless power transmission system according to any one of claims 1 to 19, wherein the wireless transmitter, further comprising a wireless receiver for receiving wireless power.

22. The mobile uncrewed robot comprising the wireless power transmission system according to any one of claims 1 to 21.

23. A method of supplying wireless power to a receiver device requiring charging at a target location, comprising:carrying with a mobile uncrewed robot a battery that is connected to a wireless transmitter to the target location; andtransmitting wireless power to the receiver device via the wireless transmitter sourcing power from the battery.

24. The method according to claim 23, further comprising powering the battery wirelessly at a charging station using a wireless receiver connected to the battery.

25. The method according to any one of claim 23 and 24, wherein the transmitting of wireless power occurs following the mobile uncrewed robot is positioned on an array of resonators receiving the wireless power from the wireless power transmitter, the array of resonators conducting the wireless power, received from the transmitter, to the receiver device.

26. The method according to any one of claims 23 and 25, wherein the transmitter of wireless power is made of an array of resonators.

27. The method according to any one of claims 23 to 26, wherein the mobile uncrewed robot is a drone, and wherein the battery and wireless transmitter are combined as a payload of the drone, the payload fastened to the drone carrying the payload in flight, the drone joined to a surface of the battery and the wireless transmitter joined to a surface of the battery.

28. The method according to any one of claims 23 to 27, wherein the battery is a personal battery for powering the mobile uncrewed robot.

29. The method according to any one of claims 23 to 28, wherein the receiver device includes one of:a meteorological device;a telecommunication device; anda camera.

30. The method according to any one of claims 23 to 29, wherein the receiver device is mobile.

31. The method according to any one of claims 23 to 29, wherein the receiver device is static.

32. The method according to any one of claims 23 to 31, wherein a surface area of a surface to receive power of the receiver device is greater than a surface area of the wireless transmitter.

33. The method according to any one of claims 23 to 31, wherein a surface area of a surfaceto receive power of the receiver device is smaller or equal than a surface area of the wireless transmitter.

34. An adapter for wireless charging of a mobile uncrewed robot via a source of wireless power, comprising:a fastener for joining the adapter to the mobile uncrewed robot;an antenna 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; anda power output for selectively providing the direct current to the mobile uncrewed robot and to a battery joined to the mobile uncrewed robot.

35. The adapter according to claim 34, further comprising a housing containing the AC / DC converter, wherein the fastener is integrated into the housing.

36. The adapter according to claim 35, wherein the housing is the fastener by clamping onto a portion of the mobile uncrewed robot.

37. The adapter according to claim 36, wherein the housing clamps onto a battery of the mobile uncrewed robot.

38. The adapter according to any one of claims 34 to 37, wherein the power output further comprises a mechanical or software switch that is configured to cause a supply or cut a supply of power to the mobile uncrewed robot, wherein an entirety of the power is supplied to the battery when the supply of power to the mobile uncrewed robot is cut by the mechanical or software switch.

39. The adapter according to any one of claims 34 to 38, wherein the antenna is connected in parallel with the mobile uncrewed robot and the battery.

40. A foldable system for transmitting or receiving wireless power for charging a device, comprising:a substrate comprising folds defining panels; andone or more antennas joined to the substrate, the one or more antennas configured for transmitting or receiving wireless power,wherein the foldable system is storable by changing to a storage configuration by folding the substrate along the folds.

41. The foldable system according to claim 40, further comprising one or more slits located along one or more of the folds, wherein the folding is facilitated by the one or more slits.

42. The foldable system according to claim 40 or claim 41, wherein a surface area of the substrate is equal to dimensions of one panel of the panels when the foldable system is in thestorage configuration.

43. The foldable system according to any one of claims 40 to 42, wherein the one or more antennas are one or more transmitting antennas, each panel of the panels comprising one or more transmitting antenna of the one or more transmitting antennas.

44. The foldable system according to any one of claims 40 to 43, wherein the one or more antennas are to include one or more receiving antennas, each panel of the panels comprising one ore more receiving antenna of the one or more receiving antennas.

45. The foldable system according to any one of claims 40 to 44, wherein the one or more antennas comprises one or more receiving antennas and one or more transmitting antennas.

46. The foldable system according to any one of claims 40 to 45, wherein the one or more antennas comprises a transceiver antenna.

47. The foldable system according to any one of claims 40 to 46, wherein the substrate is flexible.

48. The foldable system according to claim 47, wherein the substrate is fabric and wherein the one or more antennas is a conductive cable.

49. The foldable system according to claim 47, wherein the substrate is made from rubber.

50. The foldable system according to any one of claims 40 to 49, further comprising a printed circuit board joined to the substrate and connected to one or more of the one or more antennas, wherein the printed circuit board is not positioned on the folds to not damage the printed circuit board and the one or more of the one or more antennas joined thereto when the substrate is folded for storage.

51. The foldable system according to any one of claims 40 to 50, wherein at least two of the one or more antennas overlap.

52. A method of storing a flexible system for wirelessly receiving or wirelessly transmitting power, the flexible system including one or more antennas joined to a flexible substrate, the one or more antennas further connected to one or more printed circuit boards and to a transmitter or receiver system, comprising:folding the flexible substrate along a length or width of the flexible substrate, wherein the one or more printed circuit boards are not located on a fold line defined by the folding of the flexible substrate along the length or width of the flexible substrate; androlling the folded substrate along the other of the length or width of the flexible substrate that is orthogonal with the length of the flexible substrate, wherein the folded substrate is rolled around the transmitter or receiver system.

53. The method according to claim 52, wherein the one or more printed circuit boards avoidthe bend radiuses of the flexible substrate when rolled around the transmitter or receiver system.

54. The method according to claim 52 or claim 53, wherein a length of the one or more printed circuit boards is parallel with the fold line.

55. The method according to any one of claims 52 to 54, wherein the antennas have a polygonal shape, and wherein the one or more printed circuit boards are located on a side of the polygonal shape that is closest to the transmitter or receiver system, and positioned on a half of the side that is closest to the transmitter or receiver system.

56. A network of flexible systems for transmitting or receiving wireless power interconnected by one or more wireless transmitter, receiver or transceiver systems, comprising a plurality of flexible systems, wherein each of the flexible systems comprises:a flexible substrate; andone or more antennas joined to the flexible substrate, the one or more antennas configured for transmitting, receiving or transceiver wireless power,wherein the flexible system is storable by rolling the flexible substrate.

57. A flexible system for receiving or transceiving wireless power for charging a device, comprising:a flexible substrate; andone or more antennas joined to the flexible substrate, the one or more antennas configured for receiving, transmitting or transceiving wireless power,wherein the flexible system is storable by changing to a storage configuration by rolling the flexible substrate.

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