Patent Application
20210315155
The present invention relates to a docking station for use with an autonomous tool and a method of guiding an autonomous tool towards a docking station, wherein the autonomous tool is particularly, although not exclusively, an autonomous lawn mower.
Increasingly hectic lifestyles combined with a shortage of labour are some of the primary contributors to the growing popularity of, and increasing reliance on, autonomous tools worldwide. Autonomous tools have both commercial and personal applications, minimising the need for user intervention while operating effectively and efficiently.
Autonomous tools are battery powered and need to be recharged on a regular basis. Docking stations act as a convenient point for the autonomous tool to return to after completion of its tasks whilst also doubling as a recharging point if and when necessary. Improved docking stations for use with autonomous tools are desired.
In the light of the foregoing background, it is an object of the present invention to provide a docking station for use with an autonomous tool which eliminates or at least alleviates at least one of the above technical problems.
The above object is met by the combination of features of the main claim; the sub-claims disclose further advantageous embodiments of the invention.
One skilled in the art will derive from the following description other objects of the invention. Therefore, the foregoing statements of object are not exhaustive and serve merely to illustrate some of the many objects of the present invention.
In accordance with a first aspect of the present invention, there is provided a docking station for use with an autonomous tool comprising:
In an embodiment of the first aspect, the guiding module is extended from the docking module and comprises at least one guiding member.
In an embodiment of the first aspect, the guiding module comprises a pair of guiding members with a first end adjacent to the docking module and a second end opposed.
In an embodiment of the first aspect, the at least one guiding member or the pair of guiding members is arranged to guide the movement of the autonomous tool towards the docking module such that the autonomous tool is received by the docking module.
In an embodiment of the first aspect, the pair of guiding members are extended from the docking module in a parallel manner.
In an embodiment of the first aspect, the pair of guiding members are extended from the docking module in a non-parallel manner.
In an embodiment of the first aspect, the pair of guiding members converge as they approach the docking module such that the second ends of the pair of guiding members are spaced further apart than the first ends of the pair of guiding members.
In an embodiment of the first aspect, the at least one guiding member is a guide rail.
In an embodiment of the first aspect, the first end of the guiding members are connected to form a substantially U-shaped guiding member.
In an embodiment of the first aspect, the first end of the guiding members are connected to form a substantially V-shaped guiding member.
In an embodiment of the first aspect, the docking module further comprises a signal generating module the signal emitted by which is received by a signal detecting module of the autonomous tool.
In accordance with a second aspect of the present invention, there is provided an autonomous lawn mower comprising:
In an embodiment of the second aspect, the guiding module is extended from the docking module and comprises one or more guiding members.
In an embodiment of the second aspect, the one or more guiding members is arranged to guide the movement of the autonomous lawn mower towards the docking module such that the autonomous lawn mower is received by the docking module.
In an embodiment of the second aspect, the guiding module comprises a pair of guiding members with a first end adjacent to the docking module and a second end opposed.
In an embodiment of the second aspect, the pair of guiding members are extended from the docking module in a parallel manner.
In an embodiment of the second aspect, the pair of guiding members are extended from the docking module in a non-parallel manner.
In an embodiment of the second aspect, the pair of guiding members converge as they approach the docking module.
In an embodiment of the second aspect, the first end of the guiding members are connected to form a substantially U-shaped guiding member.
In an embodiment of the second aspect, the first end of the guiding members are connected to form a substantially V-shaped guiding member.
In an embodiment of the second aspect, the docking module further includes a signal generating module the signal emitted by which is received by a signal detecting module of the autonomous lawn mower.
In accordance with a third aspect of the present invention, there is provided a method of guiding an autonomous tool towards a docking station, the docking station including: a docking module for detachably receiving the autonomous tool, and a guiding module for guiding the movement of the autonomous tool towards the docking module, wherein the autonomous tool, upon the termination of the movement, is received by the docking module at a predetermined position and orientation, the method comprising the steps of:
In an embodiment of the third aspect, the method further includes step (a1), before step (a), of retrieving the position of the docking module relative to the autonomous tool.
In an embodiment of the third aspect, the method further includes step (a2), following step (a1), of deriving a path for the movement of the autonomous tool towards the docking module.
In an embodiment of the third aspect, the guiding module is extended from the docking module and comprises at least one guiding member.
In an embodiment of the third aspect, the guiding module comprises a pair of guiding members with a first end adjacent to the docking module and a second end opposed.
In an embodiment of the third aspect, the pair of guiding members are extended from the docking module in a parallel manner.
In an embodiment of the third aspect, the pair of guiding members are extended from the docking module in a non-parallel manner.
In an embodiment of the third aspect, the pair of guiding members converge as they approach the detachable docking module such that the second ends of the pair of guiding members are spaced further apart than the first ends of the pair of guiding members.
In an embodiment of the third aspect, the first end of the guiding members are connected to form a substantially U-shaped guiding member.
In an embodiment of the third aspect, the first end of the guiding members are connected to form a substantially V-shaped guiding member.
In an embodiment of the third aspect, the docking module comprises a signal generating module the signal emitted by which is received by a signal detecting module of the autonomous tool.
Embodiments of the present invention will now be described, by way of example, with reference to the accompanying drawings in which:
In the claims which follow and in the preceding description of the invention, except where the context requires otherwise due to express language or necessary implication, the word “comprise” or variations such as “comprises” or “comprising” is used in an inclusive sense, i.e. to specify the presence of the stated features but not to preclude the presence or addition of further features in various embodiments of the invention.
Terms such as “horizontal”, “vertical”, “upwards”, “downwards”, “above”, “below” and similar terms as used herein are for the purpose of describing the invention in its normal in-use orientation and are not intended to limit the invention to any particular orientation.
Without wishing to be bound by theories, the inventors, through their own trials and experiments, devised that proper alignment and correct positioning or orientation of an autonomous tool with respect to a receiving docking station is of essence importance. Any misalignment or incorrect positioning or orientation may result in a bad electrical contact therebetween and in turn cause recharging issues. Inevitably, user manual handling may be the only available remedy action. As such, user experience is below satisfactory.
With reference to
The autonomous tool 100 may be any outdoor or indoor tool used for personal or commercial purposes which can operate autonomously or with minimal user intervention. Examples of autonomous tools 100 include, but are not limited to, any type of grass cutting device or lawn mower capable of autonomous operation. With reference to
In this example, the autonomous lawn mower 100 is arranged to operate on a lawn or grass grown surface so as to cut the grass. This action is commonly known as “mowing the lawn” and is often undertaken by gardeners and landscape workers to maintain a lawn surface. The term autonomous lawn mower 100 may also include any type of grass cutting device or lawn mower which can operate autonomously, that is, with minimum user intervention. It is expected that user intervention at some point is required to set up or initialize the mower 100 or to calibrate the mower 100 with specific commands, but once these procedures have been undertaken, the mower 100 is largely adapted to operate on its own until further commands are required or if servicing, calibration or error correction is required. Accordingly, autonomous lawn mowers 100 may also be known as automatic lawn mowers, self-driven lawn mowers, robotic lawn mowers or the like.
In this embodiment as shown in
Preferably, as shown in the embodiment of
The autonomous tool as described previously has been incorporated as an autonomous lawn mower in an example embodiment. With reference to
In this example, the autonomous tool 100 is dockable with a docking station 200. The docking station 200 includes a docking module 200 that detachably receives the autonomous tool 100 at a predetermined position and orientation 400. The docking station 200 can act as a parking bay for an autonomous tool 100 when it is, for example, not in use or when it has completed its operations. Docking with a docking station 200 also allows the autonomous tool 100 to recharge its battery if determined to be low, i.e. below a predetermined threshold. Therefore, in practice, the autonomous tool 100 may navigate around an operating area 414 completing its tasks, i.e. mowing a lawn, whereby it returns to the docking station 200 at an appropriate time, for example when the charge level of the battery is low or the tool 100 has completed its required tasks or is on standby mode until the next command is generated.
Preferably, the autonomous tool 100 is received by the docking module 200 at a predetermined position and orientation 400. In one example embodiment, the autonomous tool 100 may include a navigation system, for instance, using sensors 222FL, 222FR, 222R, for implementing suitable localization and mapping functionality to enable the autonomous tool 100 to navigate around a defined operating area 414 and return to its original position, in this case the location of the docking station 200, by following a boundary 410. The two front sensors 222FL, 222FR may be placed on either side of the boundary 410 ensure maximal adherence to the boundary and accurate navigation. The navigation system may in practice simply place the autonomous tool 100 in front of or near the docking station and not in the predetermined position and orientation 400 as needed for receipt by the docking module 200.
Advantageously, the guiding module 210 guides the autonomous tool 100 to the predetermined position and orientation 400 where it is received by the docking module 200. The guide module 210 therefore provides a tolerance or deviation that accounts for any inaccuracies or limitations of the resolutions of the sensors 222FL, 222FR, 222R in the navigation system and adjusts or alters the movement of the autonomous tool 100 to ensure that the autonomous tool 100 is positioned at the correct position, i.e. the predetermined position and orientation 400, for docking. Positional or orientation adjustment of the autonomous tool 100 may be needed, for example, for successful or accurate coupling of the tool 100 with a contact means 220 on the docking module 200 for recharging of the tool battery.
The guiding member(s) 210 guide the movement of the autonomous tool 100 towards the docking module 200 such that the tool 100 is received by the docking module 200. The guiding members 210 advantageously minimise docking or recharging issues resulting from misalignment or incorrect positioning or orientation of the autonomous tool 100 with the docking module 200, thus increasing the efficiency of the tool and reducing the need for user intervention by minimising technical problems associated with docking issues.
In an example embodiment, the guiding module 210 is extended from the docking module 200 and includes at least one guiding member 210. The guiding module 210 may be permanently or detachably affixed to the docking module 200. Alternatively, the guiding module 210 may be positioned adjacent, but separately and not extending from, the docking module 200 and may be anchored to a surface such as the ground for support.
In a preferred embodiment the guiding module 210 includes a pair of guiding members 210 as illustrated in
In an alternative embodiment, the pair of guiding members 210 may be detachably integrated into one guiding member 210.
The pair of guiding members 210 provide a channel for guided movement of the autonomous tool 100 towards the docking module 200. With reference to
Preferably, the pair of guided members 210 converges as they approach the docking module 200 such that the second ends 260 of the pair of guiding members 210 are spaced further apart than the first ends 250 of the pair of guiding members 210. For example, the pair of guiding members 210 may be spaced furthest apart at the second ends 260 gradually reducing the spacing between them, i.e.
becoming less spaced apart, as they move towards the docking module 200 such that they are spaced closest together at the first end 250.
In one example embodiment, the first end 250 of the guiding members 210 are connected to form a substantially U-shaped guiding member 210 as shown in
In a further example embodiment, the first ends 250 of the guiding members 210 are connected to form a substantially V-shaped guiding member 210 as illustrated in
Alternatively, the pair of guided members 210 may extend from the docking module 200 in a parallel manner as shown in
In another example embodiment, the guided members 210 may be in the form of fencing that provides a guiding tunnel or channel for the autonomous tool 100 to move towards the docking module 200.
The guiding members 210 may, in an example embodiment, communicate with the autonomous tool 100 by generating a signal if the tool 100 comes into contact or hits the guiding member 210. The signal by the guiding member 210 would then be received by the autonomous tool 100 sensors 222FL, 222FR, 222R and processed by the controller such that appropriate navigational changes would be made to ensure correct alignment of the autonomous tool 100 with the docking module 200.
In one example embodiment, the docking module 200 includes a signal generating module 230 the signal emitted by which is received by a signal detecting module 240 of the autonomous tool 100. The signal may provide navigational markers as to the positioning of the autonomous tool 100 relative to the docking module 200 and aid in the alignment of the tool 100 with the docking module 200.
In an example embodiment, the autonomous lawn mower may include a signal detecting module 222 arranged to detect a signal representation of a navigational marker.
The navigation modules may include an odometry module to aid in ensuring the mower body 102 is received in the docking module 200.
Other additional navigation modules may also be implemented to communicate with the guiding module 210 and docking module 200 to adjust and align the mower body 102 with the docking module 200.
With reference to
Initially, the position of the docking module 200 relative to the autonomous tool 100 is retrieved at step 510 and a path for the movement of the autonomous tool 100 towards the docking module 200 is derived based on the relative position of the autonomous tool 100 or the docking module 200 at step 520. However, the derived path may be slightly misaligned with the docking module 200.
During the docking process, the movement of the autonomous tool towards the docking module 200 is guided by a guiding module 210 at step 530, and finally, upon the termination of the movement, the autonomous tool 100 would be located at a predetermined position and orientation 400 and received by the docking module 200 at step 540.
The exemplary embodiments of the present invention are thus fully described. Although the description referred to particular embodiments, it will be clear to one skilled in the art that the present invention may be practiced with variation of these specific details. Hence this invention should not be construed as limited to the embodiments set forth herein.
While the invention has been illustrated and described in detail in the drawings and foregoing description, the same is to be considered as illustrative and not restrictive in character, it being understood that only exemplary embodiments have been shown and described and do not limit the scope of the invention in any manner. It can be appreciated that any of the features described herein may be used with any embodiment. The illustrative embodiments are not exclusive of each other or of other embodiments not recited herein. Accordingly, the invention also provides embodiments that comprise combinations of one or more of the illustrative embodiments described above. Modifications and variations of the invention as herein set forth can be made without departing from the spirit and scope thereof, and, therefore, only such limitations should be imposed as are indicated by the appended claims.
Any reference to prior art contained herein is not to be taken as an admission that the information is common general knowledge, unless otherwise indicated.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/CN2018/108370 | 9/28/2018 | WO | 00 |
