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    ROBOT CHARGER DOCKING CONTROL
    3.
    发明申请
    ROBOT CHARGER DOCKING CONTROL 审中-公开

    公开(公告)号：US20190155295A1

    公开(公告)日：2019-05-23

    申请号：US15821650

    申请日：2017-11-22

    Applicant: Locus Robotics Corporation

    Inventor： Thomas Moore ,  Bradley Powers ,  Hian Kai Kwa

    IPC: G05D1/02 ,  B60L11/18

    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.

    MULTI-RESOLUTION SCAN MATCHING WITH EXCLUSION ZONES
    4.
    发明申请
    MULTI-RESOLUTION SCAN MATCHING WITH EXCLUSION ZONES 审中-公开

    公开(公告)号：US20190094876A1

    公开(公告)日：2019-03-28

    申请号：US15712222

    申请日：2017-09-22

    Applicant: Locus Robotics Corporation

    Inventor： Thomas Moore ,  Bradley Powers

    IPC: G05D1/02 ,  B65G1/137 ,  B65G1/04

    CPC classification number: G05D1/0248 ,  B25J9/1666 ,  B65G1/0492 ,  B65G1/1373 ,  G01C21/206 ,  G05D1/024 ,  G05D1/0257 ,  G05D1/0274 ,  G05D2201/0216

    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.

    AUTONOMOUS ROBOT CHARGING STATION
    9.
    发明申请
    AUTONOMOUS ROBOT CHARGING STATION 审中-公开

    公开(公告)号：US20190092179A1

    公开(公告)日：2019-03-28

    申请号：US15712491

    申请日：2017-09-22

    Applicant: Locus Robotics Corporation

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

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

    CPC classification number: B60L53/14 ,  B25J19/005 ,  H02J7/0027 ,  H02J7/0042 ,  H02J7/0045

    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.

    NAVIGATION USING PLANNED ROBOT TRAVEL PATHS
    10.
    发明申请
    NAVIGATION USING PLANNED ROBOT TRAVEL PATHS 有权

    公开(公告)号：US20170285648A1

    公开(公告)日：2017-10-05

    申请号：US15088474

    申请日：2016-04-01

    Applicant: LOCUS ROBOTICS CORPORATION

    Inventor： Bruce Welty ,  Bradley Powers ,  Eric Tappan

    IPC: G05D1/02 ,  G06K9/00

    CPC classification number: G05D1/0246 ,  B25J5/007 ,  B25J11/008 ,  G05D1/0236 ,  G05D1/0248 ,  G05D1/0274 ,  G05D2201/0216 ,  G06K9/00664 ,  G06Q10/087 ,  Y10S901/01

    Abstract: A method for generating a navigation map of an environment in which a plurality of robots will navigate, includes obtaining an image of the environment defined by a plurality of pixels, each having a cost value. The environment includes an image of a fixed object having a set of pixels corresponding to its location and having a first defined cost value. The method includes obtaining a planned path image for the robots, which include a first set of pixels corresponding to the location of each robot in the environment and a second set of pixels adjacent to the first set of pixels and extending along a planned path of travel toward a destination. The first set of pixels of each robot having the first defined cost value and the second set of pixels having a second defined cost value. The second defined cost value is less than the first defined cost value.

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