Autonomous machine for docking with a docking station and method for docking

An autonomous robot is designed for docking in a docking station. The autonomous robot is configured such that it will locate the docking station and dock therein, before its battery power is exhausted. The docking is such that the autonomous robot is automatically charged, such that its batteries will be fully powered for the subsequent operation.

TECHNICAL FIELD

The present invention is directed to autonomous machines, such as robots, these robots typically designed to perform tasks such as vacuum cleaning, lawnmowing, floor sweeping and maintenance. In particular, the present invention is directed to methods and systems for docking these autonomous machines in docking stations.

BACKGROUND

Autonomous machines and devices, such as autonomous robots, have been designed for performing various industrial and domestic functions. These domestic functions include vacuum cleaning, lawn mowing, floor sweeping and maintenance. By extending robots to these domestic functions, the person or user employing these robots has increased free or leisure time, as they do not have to expend the time required to perform the aforementioned tasks manually.

These autonomous robots typically operate in accordance with various computer programs that are part of the operating systems. Additionally, many of these autonomous robots are battery powered, and need to be charged once they are out of battery power. Additionally, if out of battery power, these autonomous robots typically stop where the power ran out and may be troublesome to locate or in difficult places to reach.

As a result, the autonomous robot must be located and manually brought to the charging unit, typically an electrical outlet. These processes require the user taking the time to perform them. Additional time is wasted as the user typically must wait a few hours before the robot is recharged, so it can start fresh again with fully charged batteries.

SUMMARY

The present invention improves on the contemporary art as it provides an autonomous robot, a docking station and a method for docking the robot therein. The autonomous robot is configured such that it will dock at this docking station located at a known location, before its battery power is exhausted. The docking is such that the autonomous robot is automatically charged, such that its batteries will be fully powered for the subsequent operation.

An embodiment of the invention is directed to an autonomous robot. This robot has a system for moving it over a surface, a power system for providing power to it, and including at least one sensor for detecting power levels, and a control system in communication with the moving system, and the power system. The control system has a processor, for example a microprocessor, programmed to: monitor the power level of the power system; initiate a docking process for the robot to return to a docking station when the power level has fallen to a first a predetermined level; and continue the docking process by causing the robot to move toward the docking station. This robot can be used for multiple functions, for example, vacuum cleaning and lawn mowing.

Another embodiment of the invention is also directed to an autonomous robot. This robot includes a system for moving the robot over a surface, at least one sensor (e.g., a receiver, typically an infrared (IR) light receiver) for detecting a signal from a docking station, a power system for providing power to the robot, the power system including at least one sensor for detecting power levels; and a control system in communication with the moving system, the at least one sensor for detecting the docking station signal, and the power system. The control system includes a processor, for example, a microprocessor, programmed to: monitor the power level of the power system; initiate a docking process for the robot to return to a docking station when the power level has fallen to or below a first predetermined level; and continue the docking process. The processor is programmed to continue the docking process by: receiving at least one signal from the at least one sensor that a signal for a docking station has been detected; and responding to the received at least one signal by causing the movement system to move the robot toward the docking station. This robot can be used for multiple functions, for example, vacuum cleaning and lawn mowing.

Another embodiment is directed to a docking station for an autonomous robot. The docking station has at least one transmitter for transmitting a docking beam, the docking beam including at least a first portion of a first range and a second portion of a second range; and at least one contact member configured for receiving a corresponding contact member on a robot in a docking contact. The docking station also has a charging system for transporting electricity to the robot when the docking contact is made.

Another embodiment is directed to a method for docking an autonomous robot in a docking station. The autonomous robot that performs this method, also performs functions such as vacuum cleaning, lawn mowing, etc. This method includes monitoring battery voltage of the robot, initiating docking of the robot in the docking station when the battery voltage has been detected to have fallen to at least a first predetermined level, locating at least one signal for the docking station, and moving the robot toward the docking station. The locating the docking station signal and moving the robot toward the docking station continue while the battery voltage remains between the first predetermined level and a second predetermined level, the second predetermined level less than the first predetermined level. Should the battery voltage fall to at least the second predetermined level, the robot will stop. This method also includes ceasing robot movement once the robot has docked in the docking station and a docking contact between the robot and the docking station is established. This docking contact is typically a physical contact as well as an electrical contact, allowing electricity to be passed from the docking station to the robot, for charging its battery or batteries when the robot is at rest and docked in the docking station. Additionally, the locating at least one signal for the docking station includes two signal detections. First, the robot seeks and detects a signal from the docking station for a first time, and then detects the signal from the docking station for a second time, typically confirming the location of the docking station.

Another embodiment of the invention is directed to a method for docking an autonomous robot in a docking station. The autonomous robot that performs this method, also performs functions such as vacuum cleaning, lawn mowing, etc. This method includes monitoring battery voltage of the robot; initiating docking of the robot in the docking station when the battery voltage has been detected to have fallen to at least a first predetermined level; locating at least one signal for the docking station and confirming that the at least one signal for the docking station has been located, and moving the robot toward the docking station. The locating and confirming the docking station signal and moving the robot toward the docking station occur while the battery voltage remains between the first predetermined level and a second predetermined level, the second predetermined level less than the first predetermined level. Otherwise, should the battery voltage drop to at least the second predetermined level, the robot ceases movement. This method also includes ceasing robot movement once the robot has docked in the docking station and a docking contact between the robot and the docking station is established. This docking contact is typically a physical contact as well as an electrical contact, allowing electricity to be passed from the docking station to the robot, for charging its battery or batteries when the robot is at rest and docked in the docking station.

DETAILED DESCRIPTION OF THE DRAWINGS

FIGS. 1 and 2show an apparatus20or platform of the present invention, that is an autonomous machine or autonomous robot. The apparatus20is such that it can be received by a docking station100. In this docking station100, the apparatus20will return to it once its task is complete, for orderly control and arrangement of the apparatus20. While in this docking station100, various functions can occur, such as battery recharging and the like.

The apparatus20typically includes a body22, supported by a chassis24, that supports various mechanical and electrical components, and systems involving these components. The body22and chassis24ride on wheels26,28rollers or the like, that with the related electronics, components and systems, as detailed below, as well as combinations thereof, form a movement system for the apparatus20(for moving the apparatus20over a surface or the like).

There are at least two oppositely disposed wheels26at the sides of the apparatus20, each driven by motors (M)30(independent of each other), to allow for steering of the apparatus20. There is also typically one non-motorized or passive wheel28, typically at the rear of the apparatus20, used to measure distance, direction and the like.

These motors (M)30are typically computer controlled, by a control system40, typically processor (microprocessor) based. The motorized26and/or non-motorized28wheels may be part of a navigation system42, a drive system44, steering system46, with the passive wheel28part of a distance measuring/odometry system48. All of the aforementioned systems are integrated and typically part of and controlled by the control system40, and allow for movement of the apparatus20as well as performing the processes and methods detailed below.

The apparatus20is typically powered by batteries50, typically rechargeable, that form part of a power system52, that is electrically coupled to the control system40. Battery voltage sensors (BVS)50a, typically for each battery50, are also part of the power system52. The forward and typical direction of movement for the apparatus20is indicated by the arrow53.

The apparatus20also includes sensors, for example, for obstacle detection, obstruction detection, boundary detection, proximity detection to objects and/or boundaries. These sensors form a sensor system56, that is coupled to the control system40and are under the control thereof.

The apparatus20also includes a payload58, coupled to the control system40. This payload58can be designed for various tasks. For example, the payload can be a system suitable for vacuum cleaning, but can also be designed for lawn mowing, surface cleaning, floor sweeping and the like.

Turning also toFIG. 2, The apparatus20includes front62a,62b, lateral64a,64b, and rear66, receivers, that typically function as sensors. These receivers62a,62b,64a,64b,66are exemplary, and more and/or fewer receivers are also permissible. The receivers are for example, infra-red (IR) light receivers and placed into the apparatus20similar to the aforementioned sensors, and typically form part of the sensor system56, that is coupled to the control system40.

The apparatus20also includes docking contacts68, typically at its rear. These docking contacts68are typically metal or other magnetic or electrically conducting materials. These docking contacts68are electrically coupled to the control system40, for example, through the power system52. Voltage sensors (DVS)69, typically for each of the docking contacts68, and electrically coupled to the docking contacts68and the control system40, are also typically part of the power system52.

For example, one such autonomous machine or robot, suitable as the apparatus20here, including its components and systems, and operational and work modes, including scanning patterns, is detailed in commonly owned U.S. Patent Application Publication No. 20030060928 A1, entitled: Robotic Vacuum Cleaner, this document incorporated by reference herein. The apparatus20is also suitable for operational and/or work modes, including scanning patterns, such as those detailed in commonly owned PCT International Application No. PCT/IL99/00248 (WO 99/59042), entitled Area Coverage With An Autonomous Robot, and U.S. Pat. No. 6,255,793, both of these documents incorporated by reference herein. While the apparatus20shown is a robotic vacuum cleaner, detailed above, any autonomous machine, robot or the like, that performs functions including lawn mowing, surface cleaning and the like, can be utilized.

The apparatus20can also be controlled at least partially by control units and controllers, such as those detailed in commonly owned U.S. Pat. Nos. 6,339,735 and 6,493,613, both patents entitled: Method For Operating A Robot. Both of these patents are incorporated by reference herein.

The docking station100includes docking contacts110, that are typically metal, or other magnetic or electrically conducting material, and are typically spring mounted on the docking station100. These docking contacts110are configured to correspond with the docking contacts68on the apparatus20. Typically, these docking contacts110have smooth surfaces, so as to contact the corresponding docking contacts68of the apparatus20, when docking is achieved, and the apparatus20rests in the docking station100.

Also within this docking station100is one or more transmitters114. This transmitter(s)114is/are typically infra-red (IR) light transmitters. Transmissions from this transmitter114are for example, in the form of a docking beam120, for example in the IR frequency range. This docking beam120is formed of overlapping ranges121,122.

The first range121is the short range (shown in slanted lines), where continuous transmissions of a weak signal (weak beam), for example, approximately less then 50 cm, are emitted, for example, continuously, approximately 15 times per second. These transmissions are, for example, IR transmissions of a wavelength of approximately 920 nm at power levels to be detected by the apparatus20approximately 50 cm or less away from the docking station100. The second or long range122(shown in dots) transmissions include strong transmissions. For example, these transmissions include IR transmissions of approximately 920 nm, emitted at a power levels so as to be detectable by the apparatus at distances of up to approximately 10 meters away from the docking station100, and are made approximately 3–4 times a second.

FIGS. 3A and 3Bare a flow diagram of a process for docking of the apparatus20in the docking station100. This process is in hardware, software or combinations of both, and performed in the control system40of the apparatus, typically by the microprocessor therein. Initially, battery voltage is monitored continuously, at block202. This is typically done by any known monitoring program in the control system40and/or microprocessor thereof, that is electrically coupled to battery voltage sensors50a(in the power system52).

The movements of the apparatus20for docking are shown inFIGS. 4 and 5, and will be described in conjunction with this flow diagram.

Docking is initiated when battery voltage has reached or dropped below a predetermined level (first predetermined level), at block204. For example, the docking process will be initiated when the battery voltage, for example, as detected in the control system40, through sensors (voltage sensors50a) in the power system52, has dropped to or below (typically below) a predetermined or threshold voltage (a first predetermined or threshold voltage). For example, this predetermined or threshold voltage is 19 volts, indicative of the batteries50needing to be recharged.

If the battery voltage is above the predetermined or threshold voltage, the process returns to block202. If the battery voltage is at or below the predetermined threshold, the process moves to block206.

At block206, the docking beam120from the docking station100is sought by the apparatus20. Turning toFIG. 4, the docking beam120from the docking station100is now sought by the apparatus20. Here, the apparatus20performs a seek for the docking beam120. This “seek” typically includes the apparatus20operating in accordance with a random scan pattern, that is typically performed at a normal drive speed (and is illustrated, for example, by the pathway indicated by the pathway126).

Throughout this “seek” process, there may be stopping events, at block208and the battery voltage of the apparatus20is monitored, at block210, to see if it has fallen to or below (typically below) a predetermined or second threshold. These processes are contemporaneous, and their corresponding blocks in the flow diagram can be reversed.

The stopping event at block208, can occur if the bumper/wheels are stuck or if a stair has been detected, or other unexpected event, that is considered inadequate for further pursuing the beam location or would not allow the apparatus20to move in a straight course to the docking station100. If a stopping event has occurred, the process returns to block206.

Battery voltage is monitored, at block210. If the voltage has dropped at least to or below (and typically below) this second threshold, for example, 16 volts, the process moves to block211, where the apparatus control system40signals the apparatus20to stop. This stoppage in at the present location of the apparatus20. The stoppage is such that battery power has been exhausted to a level where a further battery discharge is not permissible and/or adequate operation of the apparatus20itself is no longer possible, then the apparatus20stops and shuts itself down completely to achieve a minimal level of power consumption.

If the battery voltage (as detected by the voltage sensors50aand signaled to the control system40) is above this second predetermined voltage, the process continues (from block210) to block212. The “seek” terminates when the docking beam120, typically a strong docking beam122, has been “seen”, at block212, so as to be detected by the at least one of the sensors62a,62b,64a,64band66, and subsequently located so as to be “registered” in the control system40of the apparatus20.

During this “seek”, the random scan pattern for the apparatus20is modified in the control system40. For example, thresholds for stopping are relaxed such that the apparatus20will remain clear of obstacles and stop further away from them, than when in a normal cleaning or work mode (as detailed above).

However, should the docking beam120have been detected, but not located at block212, the process returns to block206.

With the docking beam now located, The process now moves to block214, where homing is performed. Homing is typically in three sequences, beam confirmation, return, and repositioning. All three of these events are subject to stopping events, collectively referred to at block216, that if one such stopping event occurs, the process returns to block206.

Homing is detailed in the flow diagram ofFIG. 6and the diagram ofFIG. 7, to which attention is now directed.

Initially, homing starts at block302, as the docking beam has been located (at block212above). The first portion of homing, beam confirmation, is in block303. This block includes the subprocesses of the apparatus20performing a 180 degree turn in the direction from which the beam120was detected, as indicated by the arrow150, at block304. This 180 degree turn is in the direction the beam is most likely coming from, as determined by the sensor through which it was detected. A second rotation is then made, at block306, typically placing the front end of the apparatus20in a substantially straight line with the source of the docking beam120, by moving the apparatus20in the direction the beam is most likely coming from. This movement is in accordance with an estimation algorithm in the control system40, for example, turning the apparatus20to the median angle of all of the angles from which an IR beam was received during the aforementioned 180-degree turn.

It is then determined if the beam120is detected again and registered or “seen”, at block308. If no, there is only the initial registration and this is considered to be a reflection. The process returns to block206.

If the beam120has been “seen” at block308, the process moves to block310, where the presence of a stopping event is determined. Here, a stopping event occurs if the bumper/wheels are stuck or if a stair has been detected, or other unexpected event that is considered inadequate for further pursuing the beam location or would not allow the apparatus20to move in a straight course to the docking station100. If a stopping event has occurred, the process returns to block206.

If a stopping event has not occurred, the process proceeds to the return sequence, at block312. Here, the apparatus20drives toward the source114of the beam120(for example, a beam transmitter) as indicated by the arrow154. This movement toward the beam source continues until the apparatus20is approximately 60 cm from the beam transmitter114(FIG. 5), as determined by a proximity sensor (not shown) electrically coupled to the control system40.

It is then determined if there is a stopping event, at block314. If there is a stopping event, this return sequence stops, and the process returns to block206. Stopping events occur if the bumper/wheels are stuck or a stair has been detected (as detailed for block310above).

If a stopping event has not occurred, the process proceeds to the repositioning sequence, at block317. At block318, the apparatus20moves toward an obstacle or object, for example, a wall156. Initially, the apparatus20turns to the right and drives in a curved movement, as indicated by the arrow158, toward the expected location of a wall156. The apparatus20stops approximately 1 meter to the right of the docking station100, at or proximate a location159. However, if an obstacle is detected, at block320, the apparatus20will stop and start a wall following procedure around it, at block322, assuming it is part of the room's perimeter geometry, meaning a contour on its right side (wall-following around this obstacle). This wall following will eventually lead the apparatus20to the wall156, where the docking station100is positioned.

It is then determined if there is a stopping event, at block324, from blocks310and314. If there is a stopping event, the process returns to block206. Stopping events occur if the bumper/wheels are stuck or a stair has been detected (as detailed for blocks310and314above).

If a stopping event of blocks310,314,324, represented generally at block216, has not occurred, the process moves to block218, where a contour movement or wall following occurs. This contour movement terminates due to stopping events, collectively indicated at block220. This contour movement of block218and stopping event of block220are described in detail in the flow diagram ofFIG. 8andFIG. 9, both figures to where attention is now directed.

Initially, at block340, the apparatus20follows the contour of the object or obstacle, typically a wall156. Here, the apparatus20(at the location159) turns toward the docking station100, as represented by the arrow160, and follows the contour of the object to its right (as detailed above). Here, for example, the apparatus20follows the wall156(as detailed above). This following is in the path represented by the arrow162until one of the receivers62a,62b,64a,64b,66detects the signal, strong or weak, from the docking contacts110, for example, here at a location164.

Detection of the docking beam120, by the apparatus20is noted, at block342. If the docking beam120has not been detected, the process returns to block340. If the docking beam120has been detected, it is then determined if there is an obstacle, at block344. If an obstacle has been detected, the process returns to block340. If an obstacle has not been detected, the process continues at block346, where it is determined if there is a stopping event.

The stopping event can be that the bumper/wheels are stuck or a stair has been detected (as detailed for blocks310,314and324above). If there is a stopping event, the process returns to block206. If there is not a stopping event, the process moves to block208.

While blocks342,344and346have been shown in an order here, this is exemplary only, as the sub-processes of these blocks are performed contemporaneous with respect to each other. Any order for these blocks is suitable.

At block348, it is determined if the docking station100has been found by the apparatus20. If the docking station100has been found, the apparatus20stops, at block350, at a position proximate the docking station100, as shown inFIG. 9. The process now moves to an alignment phase, at block222.

If the docking station100was not found, it is determined (by an odometer or other distance measuring device in the apparatus20) if the apparatus20has traveled more than 3 meters without finding the docking station100, at block352. If travel has not exceeded this approximately three meters, the process returns to block340. If this approximately three meter distance has been exceeded, the process returns to block206.

The apparatus20will now begin the alignment phase, at block222. During this alignment phase, the apparatus20positions itself to be in alignment with the docking station100. The alignment is such that if successful, the presence of a contact between the docking contacts68on the apparatus20and those110on the docking station100is detected, at block224. If no contact is detected from any of the alignment procedures, the process moves to a reacquire phase, at block240. If a contact is established, the process moves to block226, where the end game for docking occurs.

The alignments phase of blocks222and224will now be described in detail, based on the flow diagram ofFIG. 10, andFIG. 11.

Alignment begins at block400where the apparatus20performs a 90 degree turn (from location164ofFIG. 8), the first sequence of docking. Specifically, the apparatus20rotates approximately 90 degrees to the left, such that its docking contacts68align with the docking contacts110of the docking station100.

Next, at block402, a reverse sequence is performed. Here, the apparatus20performs a short reverse movement, typically moving about 6 cm (to location166), during which it is determined if there is a docking contact, at block404, between the apparatus20and the docking station100. This is typically determined through voltage measurements (as detected by the voltage sensors69) on the docking contacts68on the apparatus20(as detailed above). For example, voltages suitable to for a sufficient “contact” in block404can be any predetermined positive voltage, typically approximately 20 volts or less. If there is a contact, the process moves to the end game or docking phase, at block226(FIG.3A/3B).

If there is not a contact, the apparatus20stops, at block406. A wiggle sequence, at block408, is now performed. In this wiggle sequence, the apparatus20, travels from an initial location166, proximate to the docking contacts110, to a new location170, where it performs a short, approximately five degree, turn to the left, and traveling to a location172, where a reverse movement is preformed. This reverse movement, for example, approximately 1 cm or less, terminates at the point174.

At block410, it is determined if the wiggle sequence resulted in a contact, as per block404. If a contact is detected, the process moves to the end game at block226. If a contact was not detected, the process moves to block412, where it is determined if a predetermined number of wiggle sequences have been performed. This predetermined number is, for example, four. Accordingly, should the number of wiggle sequences attempted be four or less, the process returns to block408, where a subsequent wiggle sequence is performed. Alternately, if the requisite number of wiggle sequences has been performed (for example, four here), the process moves to block240, where a reacquire phase or sequence is performed. In this alignment phase, the contacts described at blocks404and410are collectively block224of FIGS.3A/3B.

The process is now at the end game or docking phase, block226. The end game results in the presence or non-presence of docking contact (between docking contacts110of the docking station100and corresponding docking contacts68of the apparatus20), block228. If successful, the docking contact is detected by the control system40(via the voltage sensors69, as detailed above) as the voltage on the docking contacts68has reached a predetermined level, for example, approximately 20 or more volts (as detailed below), rendering the process complete. The process ends at block230, as the apparatus20stops and its power system52, for example its batteries50are charged (as electricity is being transmitted throughout the docking station100through the contacts68to the power system52). If unsuccessful, the process returns to the reacquire phase, of block240.

Blocks226–230for the end game are now described in detail, in the flow chart ofFIG. 12.

Initially, once a contact, between docking contacts110of the docking station100and docking contacts68of the apparatus20, is detected by the control system40(through voltage sensors69in the power system52) of the apparatus20(at block224, and equivalent blocks404and410), the apparatus20stops, at block430. This stop is for a period of approximately 2 seconds, and is done to account for the spring-like behavior of the docking station100, the possibility of a slippery floor surface or a thick carpet surface, as well as any potential small jolts that apparatus20experiences when coming to a full stop in the docking station100. With the stop or rest period expired, the voltage on the docking contacts68of the apparatus20is measured, at block432.

If a rise in the voltage is present, such as a rise in voltage to at least a predetermined voltage level, for example, approximately 20 volts, as sensed by the voltage sensors69electrically coupled to the docking contacts68(as detailed above), a docking contact (between the docking contacts68of the apparatus20and the docking contacts110of the docking station100) is present, and the process moves to block230. With an established docking contact (for example, at or above the predetermined level, here, 20 or more volts), the process is complete, as the apparatus20is charging (as detailed above). If a voltage was detected below the predetermined level, for example, approximately 20 volts, as detailed above, a momentary contact was made between the docking contacts68,110, of the apparatus20and docking station100, respectively, but these contacts are no longer present after the stop period. As a result, a reverse movement is initiated, at block434, in an attempt to reestablish the contact.

This reverse movement, at block434, is, for example, a short movement, of approximately 1 cm. With this reverse movement complete, the voltage on the docking contacts68of the apparatus20is again measured, at block436. This measurement is in accordance with that described for block432above.

If a rise in the voltage, for example, to the predetermined level of approximately 20 or more volts, as detailed above, a docking contact (as detailed above) is present, and the process moves to block230, where it is complete, as the apparatus20is charging (as detailed above). If no rise in voltage has been detected, for example, a momentary contact was made between the docking contacts68,110, but the contacts68of the apparatus20are not touching or are not coupled with the contacts110of the docking station100, it is then determined if a predetermined number of reverses have been made, at block438. This predetermined number of reverses is for example, two. If two or fewer reverses have been made, the process returns to block434. If two reverses have been made, the process moves to the reacquire phase of block240.

Turning also toFIG. 13and back to FIGS.3A/3B, this reacquire phase or sequence, of block240is shown. The apparatus20, for example, is at point186, proximate to the docking station100. A movement is now made in a direction away from the docking station100, in the direction of the arrow188. The movement then continues with a curved portion190, ending in a position proximate to the wall156, and a predetermined distance, for example, approximately 1 meter, from the docking station100.

At this point, it is determined if this attempt at the reacquire phase is within a predetermined number of attempts, for example, typically four, at block242. If this is the fourth or less attempt at the reacquire phase (of block240), the process returns to block218, where the contour movement resumes (and the apparatus will move along the wall156as indicated by the arrow192). Otherwise, if four attempts have been made at the reacquire phase, the process terminates at block210. Here, the docking procedure has failed and the apparatus20will shut down, typically to a power conserving mode, with no further docking attempts performed.

EXAMPLE

FIGS. 14–19are state diagrams detailing an operative example of a docking process, in accordance withFIGS. 1–13shown and described above. While these state diagrams are for the apparatus20, detailed above, other autonomous robots, machines or the like can also be operated in accordance with these exemplary state diagrams.FIG. 14shows the entire docking process, whileFIGS. 15–19detail portions of the process listed inFIG. 14.

The processes (methods) (including sub-processes) and systems (including components) described herein have been described with exemplary reference to specific hardware and/or software. These methods have been described as exemplary, whereby specific steps and their order can be omitted, and/or changed by persons of ordinary skill in the art to reduce embodiments of the above disclosed processes and systems to practice without undue experimentation. The processes and systems have been described in a manner sufficient to enable persons of ordinary skill in the art to readily adapt other commercially available hardware and/or software as may be needed to reduce any of the above disclosed embodiments to practice.

Thus, there has been shown and described an apparatus, method and system for docking an autonomous robot or machine, which fulfills all the objects and advantages sought therefor. It is apparent to those skilled in the art, however, that many changes, variations, modifications, and other uses and applications for the apparatus, method and system of docking and resultant media are possible, and also such changes, variations, modifications, and other uses and applications, which do not depart from the spirit and scope of the invention are deemed to be covered by the invention, which is limited only by the claims which follow.