公开(公告)号：US20190155296A1

公开(公告)日：2019-05-23

申请号：US15821669

申请日：2017-11-22

Applicant: Locus Robotics Corporation

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

IPC: G05D1/02 ,  H02J7/00 ,  B60L11/18

CPC classification number: G05D1/0225 ,  B60L53/14 ,  B60L53/36 ,  G05D1/0234 ,  G05D1/024 ,  G05D1/0274 ,  G05D2201/0216 ,  H02J7/0045

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.