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    Robot charger docking control
    3.
    发明授权
    Robot charger docking control 有权

    公开(公告)号：US10761539B2

    公开(公告)日：2020-09-01

    申请号：US15821650

    申请日：2017-11-22

    Applicant: Locus Robotics Corp.

    Inventor： Thomas Moore ,  Bradley Powers ,  Hian Kai Kwa

    IPC: G05D1/02 ,  B60L53/35

    Abstract: A method and system for docking a robot with a charger docking station, including receiving an initial pose and receiving a mating pose associated with the robot charger docking station, performing a first navigation from a location to the initial pose, and performing a second navigation of the robot from the initial pose to the mating pose. The second navigation may proceed substantially along an arc path from the initial pose to the mating pose, thereby, upon arriving at the mating pose, an electrical charging port of the robot mates with an electrical charging assembly. The arc path may be associated with a section of a unique circle having a radius and a center equidistant from the initial pose and the mating pose. Controlling for error may include a proportional control and/or weighted control or switching between the controls to maintain an error below a threshold.

    Dynamic window approach using optimal reciprocal collision avoidance cost-critic
    8.
    发明授权
    Dynamic window approach using optimal reciprocal collision avoidance cost-critic 有权

    公开(公告)号：US10429847B2

    公开(公告)日：2019-10-01

    申请号：US15712256

    申请日：2017-09-22

    Applicant: Locus Robotics Corp.

    Inventor： Thomas Moore ,  Bradley Powers

    IPC: G05B19/04 ,  G05D1/02 ,  B60W30/08 ,  G01C21/20 ,  G06Q10/04 ,  G08G1/16

    Abstract: A method and system for navigation of a robot along a goal path and avoiding obstacles. The method includes receiving goal pose for one or more robots and determining a goal path for a first robot while avoiding moving and fixed obstacles of a received obstacle map. A first objective function is evaluated to select a preferred velocity from a generated set of candidate velocities, the selecting based on one or more weighted cost functions. A set of velocity obstacles created based on the poses of the one or more robots and the preferred velocity is used in evaluating a second objective function to determine the motion of the robot in the next time cycle. Creating the set of velocity objects includes converting the preferred velocity from a non-holonomic to a holonomic velocity.

    Autonomous robot charging station
    9.
    发明授权
    Autonomous robot charging station 有权

    公开(公告)号：US10399443B2

    公开(公告)日：2019-09-03

    申请号：US15712491

    申请日：2017-09-22

    Applicant: Locus Robotics Corp.

    Inventor： Hian Kai Kwa ,  Michael Sussman ,  Thomas Moore ,  Bradley Powers ,  Christina Nicole Fong

    IPC: H02J7/00 ,  B60L11/18 ,  B25J19/00

    Abstract: An electrical charging station for charging an autonomous robot with first and second cameras used for docking the autonomous robot with the electrical charging station. There is a front side cover with a surface, the front side cover including a first charging member configured to receive a second charging member on the autonomous robot when the autonomous robot is docked with the charging station for charging. There is a first fiducial surface including a first fiducial marker affixed to the first surface. The first fiducial surface defines a plane disposed at a first non-zero angle relative to a plane defined by the surface of the front side cover. There is a second fiducial surface including a second fiducial marker affixed to the second surface. The second fiducial surface defines a plane disposed at a second non-zero angle relative to the plane defined by the surface of the front side cover.

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