Robot management systems for determining docking station pose including mobile robots and methods using same
First Claim
1. A mobile robot system comprising:
- a docking station comprising;
at least two pose-defining fiducial markers, the at least two pose-defining fiducial markers having a predetermined spatial relationship with respect to one another and/or to a reference point on the docking station;
an evacuation receptacle on the docking station;
a mobile robot including;
a chassis,a motorized drive for moving the mobile robot to a docked position,a pose sensor assembly configured to output a signal in response to the at least two pose-defining fiducial markers in a pose sensor field of view; and
a controller configured to analyze the signal from the pose sensor assembly to determine a docking station pose that is based on a stored spatial relationship of the pose-defining fiducial markers and the signal from the pose sensor assembly, to path plan a docking trajectory comprising a pre-planned path from the robot to the dock, based on a current robot position on the map of the surface and the docking station pose and to provide instructions to the motorized drive to move the mobile robot along the docking trajectory and into a docking lane aligned with the evacuation receptacle of the docking station.
4 Assignments
0 Petitions
Accused Products
Abstract
A mobile robot system is provided that includes a docking station having at least two pose-defining fiducial markers. The pose-defining fiducial markers have a predetermined spatial relationship with respect to one another and/or to a reference point on the docking station such that a docking path to the base station can be determined from one or more observations of the at least two pose-defining fiducial markers. A mobile robot in the system includes a pose sensor assembly. A controller is located on the chassis and is configured to analyze an output signal from the pose sensor assembly. The controller is configured to determine a docking station pose, to locate the docking station pose on a map of a surface traversed by the mobile robot and to path plan a docking trajectory.
-
Citations
17 Claims
-
1. A mobile robot system comprising:
-
a docking station comprising; at least two pose-defining fiducial markers, the at least two pose-defining fiducial markers having a predetermined spatial relationship with respect to one another and/or to a reference point on the docking station; an evacuation receptacle on the docking station; a mobile robot including; a chassis, a motorized drive for moving the mobile robot to a docked position, a pose sensor assembly configured to output a signal in response to the at least two pose-defining fiducial markers in a pose sensor field of view; and a controller configured to analyze the signal from the pose sensor assembly to determine a docking station pose that is based on a stored spatial relationship of the pose-defining fiducial markers and the signal from the pose sensor assembly, to path plan a docking trajectory comprising a pre-planned path from the robot to the dock, based on a current robot position on the map of the surface and the docking station pose and to provide instructions to the motorized drive to move the mobile robot along the docking trajectory and into a docking lane aligned with the evacuation receptacle of the docking station. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
-
Specification