Active AC power loss detection
    48.
    发明授权

    公开(公告)号:US11249144B2

    公开(公告)日:2022-02-15

    申请号:US16901989

    申请日:2020-06-15

    Abstract: To reduce the rate at which a false alternating current (“AC”) loss alarming signal is generated, but at the same time detect an actual AC loss situation in a timely manner, the disclosed method describes an AC line power loss detection and active verification method. If the AC line input voltage dips momentarily lower than a standard sine wave amplitude, the AC line may not be considered lost as long as it still has energy to drive a load. The method inserts a momentary load across the AC line and compares the AC line voltage before and after the extra load is applied. If the AC power is present, this extra loading will increase the AC loading current momentarily, but will not affect the AC line voltage. However, if the AC power is lost, such loading will lower the AC line voltage, indicating a loss of power.

    Docking and undocking payloads from mobile robots

    公开(公告)号:US11104552B2

    公开(公告)日:2021-08-31

    申请号:US16142604

    申请日:2018-09-26

    Abstract: In one embodiment, a mobile robot energizes its state-variable anchor into a released state while contacting a payload, and then de-energizes it to put it into an anchored state, attaching it to the payload. The mobile robot may then move the payload to a mounting location while the state-variable anchor is de-energized and attached to the payload. As such, the mobile robot may then energize a state-variable anchor of the payload to put it into a released state while at and contacting the mounting location, and then de-energizes it to put it into an anchored state to attach the payload to the mounting location. To then detach the state-variable anchor of the mobile robot and the mobile robot from the payload after the payload is attached to the mounting location, the mobile robot may then energize the state-variable anchor of the mobile robot to put it into a released state.

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