Back to results
US 2019/0155295 A1Published application
Robot charger docking control
OwnerThomas Moore, Bradley Powers +1inventors
InventorsThomas Moore, Bradley Powers, Hian Kai Kwa
Life of this patent
Estimating the term…
Loading patent…
Loading patent…
OwnerThomas Moore, Bradley Powers +1inventors
InventorsThomas Moore, Bradley Powers, Hian Kai Kwa
Estimating the term…
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.
A method for navigating a robot for docking with a robot charger docking station, comprising:
A mobile robot configured to navigate from a location to and dock with a robot charger docking station for re-charging, the robot comprising:
A computer readable medium having stored thereon instructions, which, when executed by a processor of a robot, cause the robot to execute the steps comprising:
The computer readable medium of claim Error! Reference source not found., wherein the arc path from the initial pose to the mating pose comprises a section of a unique circle having radius r and center XC, YC equidistant from the a first location XR, YR associated with the initial pose and a second location XD, YD associated with the mating pose.
Dependencies are inferred from the claim text.