Robotic Charging Dock Alignment Using Codes and Magnetic Coupling
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Solution Overview
Problem
Autonomous robots operating in large, feature-poor spaces face challenges in accurately positioning themselves to couple with charging docks due to localization errors and sensor drift, which can accumulate, making it difficult to recharge effectively.
Innovation Solution
A charging dock system with symmetrical surfaces, slanted surfaces, and computer-readable codes guides robots to align with charging pads, while a collector module with magnets and springs ensures precise coupling, and a hall effect sensor calibrates the robot's position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional charging docks without alignment features are used, then the device complexity is reduced, but the robot cannot accurately position itself due to localization errors and sensor drift
Solution Approach 1:
The patent introduces computer-readable codes as an intermediary element between the robot's localization system and the charging dock. These codes serve as a reference that the robot can detect and use to calculate its position and orientation relative to the dock, enabling accurate positioning without requiring complex active sensors or markers on the dock itself.
Solution Approach 2:
The patent replaces mechanical alignment features (such as physical guides, rails, or shaped interfaces) with an optical/computer vision-based system. The robot uses its camera or sensor to detect the computer-readable codes and computationally determines its alignment, substituting a mechanical alignment system with a software-based positioning solution.
2Measurement precision
If additional alignment targets or markers are added to the charging dock, then positioning accuracy improves, but the ease of operation decreases due to human intervention requirements
Solution Approach 1:
The patent enables the robot to autonomously locate and align with the charging dock using computer-readable codes that the robot's own sensors can detect. The system is self-service in that the robot independently determines its position and orientation without requiring human operators to place markers or provide alignment assistance, maintaining full autonomous operation.
Solution Approach 2:
The computer-readable codes serve multiple functions: they provide positioning information, orientation reference, and docking alignment guidance all in a single element. This multi-functionality eliminates the need for separate alignment targets or markers, simplifying the system while maintaining autonomous operation.
3Measurement precision
If symmetrical surfaces and computer-readable codes are added to the charging dock, then the robot can accurately determine its position and orientation, but the manufacturing precision requirements increase
Solution Approach 1:
The patent incorporates computer-readable codes during the charging dock manufacturing process itself, rather than adding them later as separate alignment aids. By pre-affixing the codes to the dock surface during initial manufacturing, the system ensures consistent positioning without requiring high-precision post-manufacturing adjustments or installations.
Solution Approach 2:
The computer-readable codes provide a digital reference pattern that can be precisely reproduced and detected by the robot's sensor. Instead of requiring complex physical alignment features with tight manufacturing tolerances, the system uses a detectable optical pattern that can be accurately read and processed computationally, reducing the impact of minor manufacturing variations.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables robots to accurately couple with charging docks despite localization imperfections, calibrates sensors, and ensures safe charging without additional targets or human intervention.
Implementation Method 1
a hall effect sensor calibrates the robot's position
Implementation Method 2
a collector module with magnets and springs ensures precise coupling
Data Source
AI summary
Systems and methods for charging power supplies of robotic devise are disclosed herein. A charging dock includes a first surface comprising at least one axis of symmetry defining aligned with a normal approach angle of the robot, two or more charging pads configured to transfer charge and are disposed on a first outer surface of the charging dock, at least one or more slanted surfaces, wherein each of the one or more slanted surfaces are slanted with respect to the first outer surface, and at least one or more computer readable codes affixed to at least one of the one or more slanted surfaces and a flat surface of the charging dock in a position of the charging dock that is transverse to the normal approach angle.