公开(公告)号：US20200089237A1

公开(公告)日：2020-03-19

申请号：US16135329

申请日：2018-09-19

Applicant: Locus Robotics Corp.

Inventor： Matthew Whitaker ,  Bradley Powers ,  Michael Charles Johnson ,  Sean Johnson ,  Thomas Moore

IPC: G05D1/02 ,  G05D1/00 ,  G01C21/20

Abstract: Systems and methods for contextually mapping zones within a space for regulating robotic navigation within the space include defining, by at least one fiducial marker positioned within the space, a zone within the space, associating a rule with the zone, the rule at least partially dictating operation of one or more robots within the zone, and operating the one or more robots within the zone consistent with the rule.

公开(公告)号：US10386851B2

公开(公告)日：2019-08-20

申请号：US15712222

申请日：2017-09-22

Applicant: Locus Robotics Corp.

Inventor： Thomas Moore ,  Bradley Powers

IPC: G05D1/02 ,  B65G1/137 ,  B65G1/04 ,  B25J9/16 ,  G01C21/20

Abstract: A method for navigating a robot from a current pose to a goal pose. A map represents obstacles and free space within an area for robot navigation. A matching map pyramid and an exclusion map pyramid are constructed based on the map and decimations from a highest resolution to successively lower resolutions of the map pyramids. Current pose for navigating from a current location to a goal pose along a goal path includes determining a search area and creating a search heap. Scoring of search tasks on the search heap determines a best candidate pose at a highest resolution matching map, or expands the search heap with search tasks at the next higher resolution matching map. Expanding the search heap at the next higher resolution matching map avoids search tasks that would localize the robot in an exclusion zone.

公开(公告)号：US10365656B2

公开(公告)日：2019-07-30

申请号：US15821669

申请日：2017-11-22

Applicant: Locus Robotics Corp.

Inventor： Thomas Moore ,  Bradley Powers ,  Michael Sussman ,  Aron K. Insinga

IPC: G05D1/02 ,  H02J7/00 ,  B60L53/14 ,  B60L53/36

Abstract: A method, system, and wheeled base for navigating a robot for docking with a charger docking station. The robot receives an initial pose associated with a robot charger docking station and a mating pose associated with the robot charger docking station. The robot first navigates from a location to an initial pose using scan matching to a first map. The robot performs a second navigation from the initial pose to the mating pose using scan matching to a second map, thereby causing an electrical charging port of the robot to mate with an electrical charging assembly of the robot charger docking station. Localization during charger docking may use a higher resolution map than when navigating to the docking station. Localizing against the robot charger docking station may be performed on a higher resolution map of the docking station alone.