# US 11,114,894 B2 · Apparatus system and method of wireless robot charging > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,114,894 B2 - Document ID: US11114894B2 - Status: Granted - Kind: B2 - Application number: 16/418,310 - Filed: 2019-05-21 - Published: 2019-11-28 - Granted: 2021-09-07 - Earliest claimed: 2018-05-25 - Assignees: Sony Interactive Entertainment Inc. - Applicants: Sony Interactive Entertainment Inc. - Inventors: Oliver George Hume; Robert Keith John Withey; Michael Eder - Web page: https://patentgrep.com/patent/US11114894B2 ## CPC - H02J 50/10: using inductive coupling - B25J 19/0045: {Contactless power transmission, e.g. by magnetic induction} - B25J 19/005: {using batteries, e.g. as a back-up power source} - H02J 7/04: Regulation of charging current or voltage - H02J 50/12: of the resonant type - H02J 50/40: using two or more transmitting or receiving devices (H02J50/50 takes precedence) - H02J 50/402: {the two or more transmitting or the two or more receiving devices being integrated in the same unit, e.g. power mats with several coils or antennas with several sub-antennas} - H02J 50/90: involving detection or optimisation of position, e.g. alignment - H02J 7/90: Regulation of charging or discharging current or voltage - Y02T 10/70: Energy storage systems for electromobility, e.g. batteries - Y02T 10/7072: Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors - Y02T 90/14: Plug-in electric vehicles - H02J: ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract A charging apparatus for wireless charging of one or more robotic devices includes a power transmitting unit having a plurality of conducting wires each configured to carry a respective alternating current signal and to generate a time-varying magnetic flux when the conducting wire carries the alternating current signal, a processor configured to detect a presence or an absence of an induction coil of a robotic device within a predetermined distance of a conducting wire and to generate control data based on the result of the detection, and a control unit configured to control at least one of an amplitude and a frequency of each respective alternating current signal supplied to each of the conducting wires based on the control data, where the control unit is configured to increase at least one of an amplitude and a frequency of an alternating current signal supplied to a conducting wire in response to control data indicating the presence of the induction coil within the predetermined distance of the conducting wire. ## Claims ### Claim 1 A charging apparatus for wireless charging of one or more robotic devices, comprising: a power transmitting unit comprising a plurality of conducting wires each configured to carry a respective alternating current signal and to generate a time-varying magnetic flux when the conducting wire carries the alternating current signal; a processor configured to detect a presence or an absence of an induction coil of a robotic device within a predetermined distance of a conducting wire and to generate control data based on the result of the detection; and a control unit configured to control at least one of an amplitude and a frequency of each respective alternating current signal supplied to each of the conducting wires based on the control data, wherein the control unit is configured to increase at least one of an amplitude and a frequency of an alternating current signal supplied to a conducting wire in response to control data indicating the presence of the induction coil within the predetermined distance of the conducting wire, wherein: the plurality of conducting wires comprises one or more planar tiles configured to be connected to one or more other planar tiles when arranged on substantially the same plane, each planar tile comprises at least a portion of at least a first conducting wire extending in a first direction and at least a portion of at least a second conducting wire extending in a second direction, and each planar tile comprises circuitry having either a first configuration or a second configuration in dependence upon a number of other planar tiles connected to the planar tile. ### Claim 2 (depends on 1) A charging apparatus according to claim 1, wherein the plurality of conducting wires comprises one or more conducting wires extending in a first direction and one or more conducting wires extending in a second direction, the first direction and the second direction defining a plane on which the conducting wires are arranged. ### Claim 3 (depends on 1) A charging apparatus according to claim 1, wherein the processor is configured to detect the presence or the absence of the induction coil within the predetermined distance of the conducting wire based on an analysis of the alternating current signal carried by the conducting wire. ### Claim 4 (depends on 1) A charging apparatus according to claim 1, wherein each conducting wire comprises one or more primary coils each configured to generate the time-varying magnetic flux when the conducting wire carries the alternating current signal. ### Claim 5 (depends on 4) A charging apparatus according to claim 4, wherein for each conducting wire the one or more primary coils are disposed at one or more portions of the conducting wire that are proximate to another conducting wire of the plurality of conducting wires. ### Claim 6 (depends on 5) A charging apparatus according to claim 5, wherein the control unit is configured to increase at least one of an amplitude and a frequency of an alternating current signal supplied to a first conducting wire in response to control data indicating the presence of the induction coil within the predetermined distance of the first conducting wire and to decrease at least one of an amplitude and a frequency of an alternating current signal supplied to a second conducting wire in response to control data indicating the absence of the induction coil within the predetermined distance of the second conducting wire. ### Claim 7 (depends on 1) A charging apparatus according to claim 1, wherein the processor is configured to generate the control data indicating the presence of the induction coil within the predetermined distance of the conducting wire in response to detecting the presence of the induction coil within the predetermined distance of the conducting wire for a period of time exceeding a predetermined time threshold. ### Claim 8 (depends on 1) A charging apparatus according to claim 1, comprising: a plurality of radio frequency identification readers in communication with the processor, wherein each radio frequency identification reader is disposed proximate to one or more portions of the conducting wire that are proximate to another conducting wire of the plurality of conducting wires, and wherein the processor is configured to detect the presence or absence of a radio frequency identification chip of the robotic device within the predetermined distance of the conducting wire based on a signal obtained from at least one radio frequency identification reader. ### Claim 9 (depends on 1) A charging apparatus according to claim 1, wherein the first direction and the second direction are substantially orthogonal with respect to each other and on substantially the same plane, and a positioning of each of the respective planar tiles is mutually interchangeable. ### Claim 10 (depends on 1) A charging apparatus according to claim 1, wherein the processor is configured, based on the result of the detection, to predict a motion of the induction coil with respect to the power transmitting unit and to generate corresponding control data. ### Claim 11 (depends on 2) A charging apparatus according to claim 2, wherein the plurality of conducting wires comprises at least a third conducting wire extending in the first direction and a fourth conducting wire extending in the second direction, the first conducting wire and the third conducting wire being separated by a first predetermined distance and the second conducting wire and the fourth conducting wire being separated by a second predetermined distance, the first predetermined distance being greater than or equal to the second predetermined distance in a manner such that the plurality of wires define a grid. ### Claim 12 A wirelessly chargeable robotic device, comprising: a power receiving unit comprising at least one conducting wire comprising at least one induction coil configured to wirelessly receive power transmitted by a charging apparatus; and a chargeable battery connected to the power receiving unit and configured to store the received power, wherein the charging apparatus includes: a power transmitting unit comprising a plurality of conducting wires each configured to carry a respective alternating current signal and to generate a time-varying magnetic flux when the conducting wire carries the alternating current signal; a processor configured to detect a presence or an absence of an induction coil of a robotic device within a predetermined distance of a conducting wire and to generate control data based on the result of the detection; and a control unit configured to control at least one of an amplitude and a frequency of each respective alternating current signal supplied to each of the conducting wires based on the control data, wherein the control unit is configured to increase at least one of an amplitude and a frequency of an alternating current signal supplied to a conducting wire in response to control data indicating the presence of the induction coil within the predetermined distance of the conducting wire, wherein: the plurality of conducting wires comprises one or more planar tiles configured to be connected to one or more other planar tiles when arranged on substantially the same plane, each planar tile comprises at least a portion of at least a first conducting wire extending in a first direction and at least a portion of at least a second conducting wire extending in a second direction, and each planar tile comprises circuitry having either a first configuration or a second configuration in dependence upon a number of other planar tiles connected to the planar tile. ### Claim 13 (depends on 12) A wirelessly chargeable robotic device according to claim 12, wherein the power receiving unit is disposed within either a wheel or a lower limb of the robotic device. ### Claim 14 A method of wirelessly charging one or more robotic devices, comprising: supplying a respective alternating current signal to each conducting wire of a plurality of conducting wires and generating a time-varying magnetic flux when a conducting wire carries the alternating current signal; detecting a presence or an absence of an induction coil of a robotic device within a predetermined distance of a conducting wire; generating control data based on the result of the detection; controlling at least one of an amplitude and a frequency of each respective alternating current signal supplied to each conducting wire of the plurality of conducting wires based on the control data; and increasing at least one of an amplitude and a frequency of an alternating current signal supplied to a conducting wire in response to control data indicating the presence of the induction coil within the predetermined distance of the conducting wire, wherein: the plurality of conducting wires comprises one or more planar tiles configured to be connected to one or more other planar tiles when arranged on substantially the same plane, each planar tile comprises at least a portion of at least a first conducting wire extending in a first direction and at least a portion of at least a second conducting wire extending in a second direction, and each planar tile comprises circuitry having either a first configuration or a second configuration in dependence upon a number of other planar tiles connected to the planar tile. ### Claim 15 A non-transitory, computer readable storage medium containing computer software which, when executed by a computer, causes the computer to carry out a method of wirelessly charging one or more robotic devices actions, the method comprising: supplying a respective alternating current signal to each conducting wire of a plurality of conducting wires and generating a time-varying magnetic flux when a conducting wire carries the alternating current signal; detecting a presence or an absence of an induction coil of a robotic device within a predetermined distance of a conducting wire; generating control data based on the result of the detection; controlling at least one of an amplitude and a frequency of each respective alternating current signal supplied to each conducting wire of the plurality of conducting wires based on the control data; and increasing at least one of an amplitude and a frequency of an alternating current signal supplied to a conducting wire in response to control data indicating the presence of the induction coil within the predetermined distance of the conducting wire, wherein: the plurality of conducting wires comprises one or more planar tiles configured to be connected to one or more other planar tiles when arranged on substantially the same plane, each planar tile comprises at least a portion of at least a first conducting wire extending in a first direction and at least a portion of at least a second conducting wire extending in a second direction, and each planar tile comprises circuitry having either a first configuration or a second configuration in dependence upon a number of other planar tiles connected to the planar tile.