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.

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.

公开(公告)号：US20190094866A1

公开(公告)日：2019-03-28

申请号：US15712256

申请日：2017-09-22

Applicant: Locus Robotics Corporation

Inventor： Thomas Moore ,  Bradley Powers

IPC: G05D1/02

CPC classification number: G05D1/0214 ,  B60W30/08 ,  G01C21/206 ,  G05D1/0217 ,  G05D1/0223 ,  G05D1/0234 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D1/0289 ,  G05D2201/0216 ,  G06Q10/047 ,  G08G1/164 ,  G08G1/166

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.

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.

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.