Description:FIELD OF INVENTION

[001] The present invention relates to a drone charging system. Particularly, the present invention relates to a drone charging system that employs an autonomous mobile robot to aid and provide on demand charging to drones, thereby extending uptime of the drones by eliminating the need of the drone to fly to remote located charging station in order to charge itself.

BACKGROUND OF THE INVENTION

[002] With the exponential rise in online retail transactions, warehousing serves as the backbone for storing, processing, and dispatching goods to customers. The efficient management of warehousing and shipments stands as a critical pillar for success, while managing a warehouse, expect that there are repetitive tasks to self-operating procedures to be done. An enormous warehouse does not function with simple operations. From inventory to logistics, warehouse management is complicated. Technological innovations and automation has been an aid to the manufacturing industry. Drone technology is one of the solutions that help warehouses efficiently function and handle the massive storage of products.

[003] To begin with, drones can speed up warehouse operations by automating routine tasks such as inventory counting, scanning, picking as well as replenishment. In a large warehouse, drones can take stock of the entire inventory in a couple of hours. In addition to taking pictures of inventory stored on the shelves, drones can record product temperature, humidity and other useful data. All this information can be used to assess the danger of perishable product deterioration and take necessary action to reduce wastage. Drones can also simplify warehouse inspections by automating visual data collection. This means that inspectors do not need to climb a ladder or enter confined spaces in the warehouse to review the conditions of the products. Instead, they can simply review the data collected via the drone. The use of drones also enhances the safety of human workers. They can easily scan inventory stored in unusual places in the warehouse that are not in the direct line of sight or cannot be accessed by humans. They also reduce the traffic in working aisles, thereby easing the movement of handling equipment.

[004] Despite their manifold benefits, drones faces a significant hurdle of low uptime due to frequent need for recharging battery. Currently, they perform their designated task till the point of their battery charging is above the certain threshold level. When the battery of drones discharges below the threshold the drones come back to the home position and charge themselves either or their battery is swapped with the new fully charged one. Therefore, currently available charging solutions necessitate drones to return to a fixed charging station, causing downtime and disrupted workflow.

[005] There are several patent applications that disclose a system for charging an Unmanned Aerial Vehicle. One such United States patent application US20170344000A1 discloses an Unmanned Aerial Vehicle Charging Station Management. The cited invention comprises of an unmanned aerial vehicle (UAV) charging station having a docking terminal. In various embodiments, a priority of a first UAV and a second UAV may be determined for using the docking terminal when a docking request is received from the second UAV while the first UAV occupies the docking terminal. In some embodiments, the priorities of the first and second UAVs may be based on an available power level of each of the first and second UAVs. The first UAV may be instructed to undock from the docking terminal in response to determining that the second UAV has a higher priority. However, the cited document is unable to charge multiple UAV at a time. Furthermore, in the cited art, the charging station is unable to move or follow the UAV, therefore the UAV need to fly back to the charging station every time charging goes beyond a minimum sustainable level.

[006] In order to overcome the problem associated with state of arts, there is a need for the development of an efficient system for charging of drones using autonomous mobile robot (AMR) that can overcome the aforesaid limitations in a more efficient manner.

OBJECTIVE OF THE INVENTION

[007] The primary objective of the present invention is to provide a system and method for charging drone using autonomous mobile robot.

[008] Another objective of the present invention is to provide a charging system that is capable of charging multiple drones at a time.

[009] Another objective of the present invention is to increase uptime of drone by eliminating the need of returning back to remotely located charging station.

[0010] Another objective of the present is to provide a charging system that is low cost and easy to use.

[0011] Yet another objective of the present invention is to charge the plurality of the drones in tandem so as to ensure that all the drones are not out of power at a time.

[0012] Yet another objective of the present is to provide a charging system that provides on demand charging to the drones.

[0013] Yet another objective of the present invention is to provide a system that can be used in multiple applications such as, but not limited to, surveillance, vision-based applications, warehouse management, and the like.

[0014] Yet another objective of the present invention is to provide a system that solves core problems with use of drones such as short flight duration and charging infra-availability.

[0015] Other objectives and advantages of the present invention will become apparent from the following description taken in connection with the accompanying drawings, wherein, by way of illustration and example, the aspects of the present invention are disclosed.

BRIEF DESCRIPTION OF DRAWINGS
[0016] The present invention will be better understood after reading the following detailed description of the presently preferred aspects thereof with reference to the appended drawings, in which the features, other aspects and advantages of certain exemplary embodiments of the invention will be more apparent from the accompanying drawing in which:

[0017] Figure 1 illustrates a schematic diagram of an autonomous mobile robot charging a plurality of drones.

[0018] Figure 2 illustrates overall view of racking system in a warehouse and navigation of autonomous mobile robot (AMR) through the aisles.

[0019] Figure 3 illustrates block diagram of control elements of the autonomous mobile robot.

[0020] Figure 4 illustrates the drone controlled through a ground control.

[0021] Figure 5 illustrates a server connected to the plurality of drones and the plurality of autonomous mobile robot.

SUMMARY OF THE INVENTION
[0022] The present invention relates to a system for charging drone using autonomous mobile robot. The system comprises of a plurality of drones; and a plurality of autonomous mobile robot (AMR) adapted to house the plurality of drones for charging. The drone is configured to land on a landing pad of the AMR for charging by a charging pad, upon detecting the charging value below a first pre-fed threshold value. The drone is released from the AMR upon successful charging. Further, the AMR is configured to move towards the charging station, upon detecting the battery below a second pre-fed threshold value. Therefore, the present invention provides on demand charging to the drones through the AMR and increase uptime of the drones by eliminating the need to fly back to remotely located charging station for charging.

[0023] The present invention also provides a method for charging drone using autonomous mobile robot. The method comprising steps of: scanning of items stored in warehouse by the plurality of drones; detecting the charging value of the drone by the first charging detection module; landing of the drone on the landing pad of the autonomous mobile robot by the landing module of the drone, upon detecting the charging value less than the first pre-fed threshold value; charging the landed drone by the charging module through the charging pad of the autonomous mobile robot; detection of the charging value of the autonomous mobile robot by the second charging detection module; navigating the autonomous mobile robot to the charging station by navigation module, upon detecting the charging value to be lesser than the second pre-fed threshold value; and charging of the autonomous mobile robot by the charging module of the autonomous mobile robot.

DETAILED DESCRIPTION OF INVENTION
[0024] The following detailed description and embodiments set forth herein below are merely exemplary out of the wide variety and arrangement of instructions which can be employed with the present invention. The present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. All the features disclosed in this specification may be replaced by similar other or alternative features performing similar or same or equivalent purposes. Thus, unless expressly stated otherwise, they all are within the scope of the present invention.

[0025] Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope of the invention. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.

[0026] The terms and words used in the following description and claims are not limited to the bibliographical meanings but are merely used to enable a clear and consistent understanding of the invention. Accordingly, it should be apparent to those skilled in the art that the following description of exemplary embodiments of the present invention are provided for illustration purpose only and not for the purpose of limiting the invention.

[0027] It is to be understood that the singular forms “a,” “an,” and “the” include plural referents unless the context clearly dictates otherwise.

[0028] It should be emphasized that the term “comprises/comprising” when used in this specification is taken to specify the presence of stated features, integers, steps, or components but does not preclude the presence or addition of one or more other features, integers, steps, components, or groups thereof.

[0029] Accordingly, the present invention relates to a drone charging system. Particularly, the present invention relates to a drone charging system that employs a mobile robot to aid and provide on demand charging to drones, thereby extending uptime of the drones by eliminating the need of the drone to fly to remote located charging station for charging purpose.

[0030] In a preferred embodiment of the present invention, a system for charging drone using autonomous mobile robots (AMR) (100) comprises of a plurality of drones (102), and a plurality of autonomous mobile robot (104) wirelessly connected to the plurality of drones (102) and adapted to house the plurality of drones (102) for charging.

In a preferred embodiment of the present invention, each of the plurality of drones (102) comprises of a first body (106); one or more propellers (108) rotatably connected to the first body (106), a first set of sensors integrated on the first body (106),a first battery (110) mounted to the first body (106), a first processor (112) integrated on the first body (106), an item scanning module (114) operated by the first processor (112), a first charging detection module (116) operated by the first processor (112), and a landing module (118) operated by the first processor (112). Further, the first set of sensors comprises of a gyroscope, an accelerometer, and a camera, Light detection and ranging (Li-DAR), a global positioning system (GPS) sensor.

[0031] The first body (106) of the drone (102) is configured to houses the components of the drones (102). The first body provides structural support to the drone (102). One or more propeller (108) are connected to the first body (106) of the drone (102). The propeller (108) provides thrust to the first body (106) of the drone (102) so as to enable the drone (102) to fly. Further, the first battery (110) is mounted on the first body (110) of the drone (102). The first battery (110) provides operational power to the drone (102).

[0032] The first processor (112) is integrated on the first body (106) of the drone (102). The first processor (112) is configured to execute pre-fed instructions stored on a first memory integrated on the drone (102). Further, the first processor (112) is configured to operate the item scanning module (114), the first charging detection module (116), and the landing module (118), wherein the item scanning module (114), the first charging detection module (116), and the landing module (118) are pre-fed instructions installed on each of the drone (102) and executed by the first processor (112) based on pre-fed instructions.

[0033] The item scanning module (114) is configured to scan items stored in racks of a warehouse. The item scanning module (114) further transmit scanned information of the items to a server (144) for the reconciliation. The AMR (104) directly communicates with the server (144) to get the next destination zone, where the scanning has to be initiated. The item scanning module (114) scan the items through a first camera mounted on the first body (106) of the drone (102), wherein the first camera is configured to scan the QR code, bar code, and capture images and video of surroundings.

[0034] The first charging detection module (116) is configured to detect the charging value of the drone (102).Upon detecting the charging value of the drone (102) below a first pre-fed threshold value, the first charging detection module (116) transmit a first alert signal to the landing module (118). Upon receipt of the first alert signal from the first charging detection module (116), the landing module (118) is configured to transmit a landing request to the autonomous mobile robots (104). Upon receipt of approval of the landing request, the landing module (118) is configured to land the drone (102) on the landing pad (126) of the autonomous mobile robots (104) as shown in Figure 1.

[0035] In case of rejection of the landing request by the autonomous mobile robots (104), the landing module (118) transmit the landing request to the other nearby autonomous mobile robot (104).

[0036] The autonomous mobile robot (104) is configured to transport material from one place to another place in the warehouse. Further, the autonomous mobile robot (104) is configured to house the plurality of drones (102) for charging. The autonomous mobile robot (AMR) (104) further charges the one or more drones (102) at a time. The autonomous mobile robot (104) charges the plurality of the drones (102) in tandem so as to ensure that all the drones (102) are not out of power at a time. The autonomous mobile robot (104) navigates from the one place to another along with the drone (102), to provide on demand charging to the drones (102). The autonomous mobile robot (104) further transmit and receive data from the drone (102).

[0037] In a preferred embodiment of the present invention, the each of the plurality of autonomous mobile robot (104) comprises of a second body (120), a second set of sensors integrated on the second body (120), a second battery (122) mounted to the second body (120), an antenna (124) installed on the second body (120), a plurality of landing pad (126) mounted on the second body (120), a plurality of charging pad (128) connected to the landing pad (126), an array of object detection sensors (130) installed on the second body (120), a navigation sensors (132) connected to the array of object detection sensors (130), a second processor (134) integrated on the second body (120), a second charging detection module (136) operated by the second processor (134), a navigation module (138) operated by the second processor (134) through the navigation sensors (132), a charging module (140) operated by the second processor (134), and a plurality of wheels (142) rotatably connected to the second body (120). Further, the second set of sensor comprises of a gyroscope, an accelerometer, and a camera, Light detection and ranging (Li-DAR), a global positioning system (GPS) sensor.

[0038] The second body (120) of the autonomous mobile robot (104) is configured to houses the components of the autonomous mobile robot (104). The second body (120) provides structural support to the autonomous mobile robot (104). Further, the second battery (122) is mounted on the second body (120) of the autonomous mobile robot (104). The second battery (122) provides operational power to the autonomous mobile robot (104) and charges the drones (102) landed on the autonomous mobile robot (104). Moreover, an antenna (124) is installed on the second body (120), for tracking the plurality of drones (102) and data transfer with the plurality of drones (102).

[0039] The plurality of landing pad (126) are mounted on the second body (120) of the autonomous mobile robot (104). The landing pad (126) is adapted to receive the drone (102) as shown in Figure 1. The plurality of landing pads are further connected to the plurality of charging pads (128), wherein the charging pads (128) are configured to charge the drone (102) landed on the landing pad (126).

[0040] The array of object detection sensor (130) are mounted on the second body (120) of the autonomous mobile robot (104). The array of object detection sensor (130) is configured to detect objects in order to avoid collision. The array of object detection sensor (130) enable the autonomous mobile robot (104) to navigate in a premise. The array of object detection sensor (130) is connected to the navigation sensors (132).

[0041] The navigation sensors (132) enable the autonomous mobile robot (104) to navigate from one place to other place and follow the drone (102) through any one or combination of the following:-

(1) A Lidar sensor: The Lidar sensor emits laser beam and the autonomous mobile robots (104) detect reflections of the laser beam from reflectors pre-installed at strategic location of the premise, allowing the autonomous mobile robots (104) to navigate with pinpoint accuracy.
(2) Magnetic tape: The autonomous mobile robots (104) reads the magnetic tape placed on the floor by means of the antenna (124). The readings from the magnetic tape enable the autonomous mobile robots (104) to navigate to the desired location.
(3) QR navigation: The autonomous mobile robots (104) reads the QR codes laid out on the premise’s floor as a matrix through a camera installed on the second body (120), in order to identify location and the instructions that needs to be followed.

[0042] The second processor (134) is integrated on the second body (120) of the autonomous mobile robot (104). The second processor (134) is configured to execute pre-fed instructions stored on a second memory integrated on the second body (120). Further, the second processor (134) is configured to operate the second charging detection module (136), a navigation module (138), a charging module (140), wherein the second charging detection module (136), a navigation module (138), a charging module (140) (118) are pre-fed instructions installed on each of the autonomous mobile robots (104) and operated by the second processor (134) based on pre-fed instructions.

[0043] The second charging detection module (136) is configured to detect the charging value of the autonomous mobile robots (104). Upon detecting the charging value of the autonomous mobile robots (104) below a second pre-fed threshold value, the second charging detection module (136) transmit a second alert signal to the charging module (140). Upon receipt of the second alert signal from the second charging detection module (136), the charging module (140) is configured to navigate the autonomous mobile robots (104) to a charging station for charging through the navigation module (138).

[0044] Further, the charging module (140) is configured to receive landing request from the landing module (118) of the respective drone (102). The charging module (140) check for vacant landing pad (126) for landing of the drone (102). Upon detection of vacant landing pad (126), the charging module (140) send approval of the landing request to landing module (118) of the drone (102) to enable the drone (102) to land on the landing pad (126). In case, the landing pad (126) is not vacant, the charging module (140) is configured to release one of the drones (102) that is charging on the autonomous mobile robot and has the maximum charging value.

[0045] Upon receiving multiple landing request from the drones (102), the charging module (140) compare the number of landing request with number of vacant landing pad (126). If the landing request is greater than the vacant landing pad (126) then the charging module releases one of the charging drone (102) with maximum charging to create vacancy for the requesting drones (102).

[0046] The navigation module (138) is configured to receive data from the navigation sensors (132) and the array of object detection sensor (130) for processing. The navigation module (138) enables navigation of the autonomous mobile robots (104) from one place to another place, based on processing of the data received from the navigation sensors (130) and the array of object detection sensor (130). Further, the navigation module (138) provides movement of the plurality of wheels (142) so as to navigate the autonomous mobile robot (AMR) (104) to desired location as shown in Figure 2, in order to provide on demand charging to the drones (102) and move stock kept in the racks to desired location.

[0047] In an exemplary embodiment, Figure 2 illustrates overall view of racking system in a warehouse and navigation of autonomous mobile robot (AMR) through the aisles using the navigation module (138), wherein R1, R2, and R3 are racks located in a warehouse.

[0048] In another exemplary embodiment, Figure 3 illustrates block diagram of control elements of the autonomous mobile robot (104). Inverse kinematics calculates the necessary joint parameters such as, but not limited to, wheel angle and velocities, and the alike. The joint parameters calculated by the inverse kinematics enable the autonomous mobile robot (104) to achieve a desired position. A controller uses real time feedback from the first set of sensors to compare the actual state with the desired state, computing corrections to minimize error, wherein the controller may be selected from, but not limited to, a proportional controller, an integrator controller, a proportional integrator and derivative (PID) controller, and the alike. The controller adjustments refine control signal that are executed by actuators of the autonomous mobile robot (104). The continuous feedback loop provided through the controller enable precise and stable navigation, thereby dynamically adjusting movements in real time. Further, the second processor of the AMR (104) processes the image captured by the second camera installed on the AMR (104) and provides to controller for making adjustment to the control parameters to achieve the desired position so as to provide accurate navigation and obstacle avoidance.

[0049] In yet another exemplary embodiment, Figure 4 illustrates the drone (102) controlled through a ground control. The ground control and the drone (102) are connected wirelessly. The ground control provides instruction to the drone (102) so as to control and navigate the drone (102) to the destination place.

[0050] In yet exemplary embodiment, Figure 5 illustrates a server (144) connected to the plurality of drones (102) and the plurality of autonomous mobile robot (104). The server (144) comprise of action client node and action server node, wherein the node is a process performing specific computations. The action handles long running task, allowing for feedback, monitoring, and pre-emption. Further, the action client is a node that sends a goal to an action server, manage the task execution, receives feedback, and cancel the task if needed. The action server node performs the task requested by the action client node.

[0051] In an embodiment, the present invention also provides method for charging drone using autonomous mobile robots (AMR), comprises the following steps:-
• scanning of items stored in warehouse by the plurality of drones (102);
• detecting the charging value of the drone (102) by the first charging detection module (116);
• sending a first alert signal to the landing module (118) by the first charging detection module (116), upon detecting the charging value less than the first pre-fed threshold value;
• transmission of landing request signal to the charging module (140) of the autonomous mobile robot (104) by the landing module (118), upon receipt of the first alert signal by the landing module (118);
• transmission of approval of the landing request signal by the charging module (140) of the autonomous mobile robot (104)
• landing of the drone (102) on the landing pad (126) of the autonomous mobile robot (104) by the landing module (118) of the drone (102);
• charging the landed drone (102) by the charging module (140) through the charging pad (128) of the autonomous mobile robot (104);
• releasing the drone (102) upon charging by the autonomous mobile robot (104);
• detection of the charging value of the autonomous mobile robot (104) by the second charging detection module (136);
• navigating the autonomous mobile robot (104) to the charging station by the navigation module (138), upon detecting the charging value to be lesser than the second pre-fed threshold value; and
• charging of the autonomous mobile robot (104) by the charging module (140) of the autonomous mobile robot (140);

[0052] In an embodiment the advantages of the present invention are enlisted herein:
• The present invention provide a charging system that is capable of charging multiple drones at a time.
• The present invention increase uptime of drone by eliminating the need of returning back to remotely located charging station.
• The present provide a charging system that is low cost and easy to use.
• The present invention charge the plurality of the drones in tandem so as to ensure that all the drones are not out of power at a time.
• The present provide a charging system that provides on demand charging to the drones.
• The present invention provide a system that can be used in multiple applications such as, but not limited to, surveillance, vision-based applications, warehouse management, and the like.
• The present invention is to provide a system that solves core problems with use of drones such as short flight duration and charging infra-availability.

[0053] While this invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the scope of the appended claims.
, Claims:WE CLAIM:

1. A system for charging drone using autonomous mobile robots (AMR) (100), comprising:
(a) a plurality of drones (102), each of the plurality of drones (102) comprising;
o a first body (106);
o a first set of sensors integrated on the first body (106) comprising: a gyroscope, a accelerometer, and a camera, Light detection and ranging (Li-DAR), a global positioning system (GPS) sensor;
o one or more propellers (108) rotatably connected to the first body (106);
o a first battery (110) mounted to the first body (106);
o a first processor (112) integrated on the first body (106);
o an item scanning module (114) operated by the first processor (112);
o a first charging detection module (116) operated by the first processor (112); and
o a landing module (118) operated by the first processor (112);
(b) a plurality of autonomous mobile robot (104) wirelessly connected to the plurality of drones (102) and adapted to house the plurality of drones (102) for charging, wherein the each of the plurality of autonomous mobile robot (104) comprising
o a second body (120);
o a second set of sensors integrated on the second body (120) comprising: a gyroscope, a accelerometer, and a camera, Light detection and ranging (Li-DAR), a global positioning system (GPS) sensor;
o a second battery (122) mounted to the second body (120);
o an antenna (124) installed on the second body (120), for tracking the plurality of drones (102) and data transfer with the plurality of drones (102);
o a plurality of landing pad (126) mounted on the second body (120), for receiving the drone (102);
o a plurality of charging pad (128) connected to the landing pad (126), for charging the drone (102) landed on the landing pad (126);
o an array of object detection sensors (130) installed on the second body (120);
o navigation sensors (132) connected to the array of object detection sensors (130);
o a second processor (134) integrated on the second body (120);
o a second charging detection module (136) operated by the second processor (134);
o a navigation module (138) operated by the second processor (134) through the navigation sensors (132); and
o a charging module (140) operated by the second processor (134);
(c) a server (144) connected to the plurality of drones (102) and the plurality of autonomous mobile robot (104);

2. The system (100) as claimed in claim 1, wherein the item scanning module (114) scans the items stored in racks of a warehouse so as to transmit the scanned information to autonomous mobile robot (104).

3. The system (100) as claimed in claim 1, wherein the first charging detection module (116) is configured to detect the charging value below a first pre-fed threshold value.

4. The system (100) as claimed in claim 1, wherein the landing module (118) is configured to land the drone (102) on the autonomous mobile robots (104), upon detect the charging value below the first pre-fed threshold value by the first charging detection module (116).

5. The system (100) as claimed in claim 1, wherein the autonomous mobile robot (104) is configured to transport material from one place to another place in warehouse and follow the drone (102).

6. The system (100) as claimed in claim 1, wherein the navigation sensors (132) enable the autonomous mobile robot (104) to navigate from one place to other place through any one of: Lidar, magnetic tape, and QR codes.
7. The system (100) as claimed in claim 1, wherein the charging module (140) is configured to move the autonomous mobile robots (104) to a charging station, upon detecting the charging value below a second pre-fed threshold value.

8. The system (100) as claimed in claim 1, wherein the second battery (134) charges the drone (102) and provide operational power for the working of the autonomous mobile robot (104).

9. The system (100) as claimed in claim 1, wherein the autonomous mobile robot (104) charges the plurality of the drones (102) in tandem so as to ensure that all the drones (102) are not out of power at a time.

10. The system (100) as claimed in claim 1, wherein the autonomous mobile robot (AMR) (104) charges the one or more drones (102) at a time.

11. The system (100) as claimed in claim 1, wherein the autonomous mobile robot (AMR) (104) comprising a plurality of wheels (142) so as to provide movement of the autonomous mobile robot (AMR) (104) in order to provide on demand charging to the drones (102).

12. The system (100) as claimed in claim 1, wherein the drone (102) comprises a first camera to scan the QR code, bar code, and capture images and video of surroundings.

13. The system (100) as claimed in claim 1, wherein the autonomous mobile robot (104) comprises a second camera to scan the QR code, bar code, and capture images and video of surroundings.

14. A method for charging drone using autonomous mobile robots (AMR) as claimed in claim 1, comprising steps of:
a. scanning of items stored in warehouse by the plurality of drones (102);
b. detecting the charging value of the drone (102) by the first charging detection module (116);
c. sending a first alert signal to the landing module (118) by the first charging detection module (116), upon detecting the charging value less than the first pre-fed threshold value;
d. transmission of landing request signal to the charging module (140) of the autonomous mobile robot (104) by the landing module (118), upon receipt of the first alert signal by the landing module (118);
e. transmission of approval of the landing request signal by the charging module (140) of the autonomous mobile robot (104)
f. landing of the drone (102) on the landing pad (126) of the autonomous mobile robot (104) by the landing module (118) of the drone (102);
g. charging the landed drone (102) by the charging module (140) through the charging pad (128) of the autonomous mobile robot (104);
h. releasing the drone (102) upon charging by the autonomous mobile robot (104);
i. detection of the charging value of the autonomous mobile robot (104) by the second charging detection module (136);
j. navigating the autonomous mobile robot (104) to the charging station by the navigation module (138), upon detecting the charging value to be lesser than the second pre-fed threshold value; and
k. charging of the autonomous mobile robot (104) by the charging module (140) of the autonomous mobile robot (140);

15. The method as claimed in claim 14, wherein the method comprising a step of charging the plurality of the drones (102) in tandem so as to ensure that all the drones (102) are not out of power at a time.