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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
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.
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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
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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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
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.
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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
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.
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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.
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Patent Agency Ranking
公开(公告)号：US20180093578A1
公开(公告)日：2018-04-05
申请号：US15833051
申请日：2017-12-06
Applicant: Locus Robotics Corporation
Inventor： Hian Kai Kwa , Christina Nicole Fong , Michael Sussman
CPC classification number: B60L11/1827 , H01R13/05 , H01R13/6205 , H02J7/0009 , H02J7/0027 , H02J7/0042 , H02J7/0044
Abstract: An electrical charging system including an electrical charger assembly with a charger base coupled to an electrical power source. There is a first male terminal member terminating in a first electrical contact with at least two curved external surfaces and one flat surface. There is a second male terminal member terminating in a second electrical contact with at least two curved external surfaces and one flat surface. There is a cavity formed between the first male terminal member and the second male terminal member having an opening between the first and second electrical contacts. The cavity is defined by the flat surface of the first male terminal member and the flat surface of the second male terminal member. The flat surface of the second male terminal member has a flared surface portion proximate the opening of the cavity and angled relative to the second axis.
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公开(公告)号：US09840154B2
公开(公告)日：2017-12-12
申请号：US15088519
申请日：2016-04-01
Applicant: LOCUS ROBOTICS CORPORATION
Inventor： Hian Kai Kwa , Christina Nicole Fong , Michael Sussman
CPC classification number: B60L11/1827 , H01R13/05 , H01R13/6205 , H02J7/0009 , H02J7/0027 , H02J7/0042 , H02J7/0044
Abstract: An electrical charging system including an electrical charger assembly with a charger base coupled to an electrical power source. There is a first male terminal member terminating in a first electrical contact with at least two curved external surfaces and one flat surface. There is a second male terminal member terminating in a second electrical contact with at least two curved external surfaces and one flat surface. There is a cavity formed between the first male terminal member and the second male terminal member having an opening between the first and second electrical contacts. The cavity is defined by the flat surface of the first male terminal member and the flat surface of the second male terminal member. The flat surface of the second male terminal member has a flared surface portion proximate the opening of the cavity and angled relative to the second axis.
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公开(公告)号：US20170282731A1
公开(公告)日：2017-10-05
申请号：US15088519
申请日：2016-04-01
Applicant: LOCUS ROBOTICS CORPORATION
Inventor： Hian Kai Kwa , Christina Nicole Fong , Michael Sussman
CPC classification number: B60L11/1827 , H01R13/05 , H01R13/6205 , H02J7/0009 , H02J7/0027 , H02J7/0042 , H02J7/0044
Abstract: An electrical charging system including an electrical charger assembly with a charger base coupled to an electrical power source. There is a first male terminal member terminating in a first electrical contact with at least two curved external surfaces and one flat surface. There is a second male terminal member terminating in a second electrical contact with at least two curved external surfaces and one flat surface. There is a cavity formed between the first male terminal member and the second male terminal member having an opening between the first and second electrical contacts. The cavity is defined by the flat surface of the first male terminal member and the flat surface of the second male terminal member. The flat surface of the second male terminal member has a flared surface portion proximate the opening of the cavity and angled relative to the second axis.
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公开(公告)号：US20170274531A1
公开(公告)日：2017-09-28
申请号：US15081124
申请日：2016-03-25
Applicant: LOCUS ROBOTICS CORPORATION
Inventor： Mike Johnson , Sean Johnson , Bradley Powers , Kaitlin Margaret Gallagher
IPC: B25J9/16
CPC classification number: B25J9/1666 , G05B2219/39082 , G05B2219/40317 , G05D1/0297 , G05D2201/0216 , G06Q10/087 , Y10S901/01
Abstract: A method for queuing robots destined for a target location in an environment, includes determining if a first robot occupies the target location and if it is determined that the first robot occupies the target location, determining if a second robot destined for the target location has entered a predefined target zone proximate the target location. If the second robot has entered the predefined target zone, the method further includes navigating the second robot to a first queue location and causing the second robot to wait at the first queue location until the first robot no longer occupies the target location. The method also includes navigating the second robot to the target location after the first robot leaves the target location.
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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
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.
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