Docking Accessories with Intermediate States for Mobile Robots

A method, comprising:

• selecting, at a processor of a mobile robot having a coupling device configured to engage a track of a target object, between (i) an intermediate state, and (ii) a docked state;
• in response to selecting the intermediate state, controlling the coupling device relative to the track to permit motion of the coupling device along a length of the track, and constrain motion of the coupling device orthogonal to the track;
• and
• in response to selecting the docked state, controlling the coupling device to engage the track and constrain motion of the coupling device along the length of the track.

A docking accessory for a mobile robot, the docking accessory comprising:

• a base configured for connection with a chassis of a mobile robot;
• a coupling device disposed on the base, the coupling device movable between (i) an engaged position to engage the coupling device with a track of a target object and constrain motion of the coupling device along a length of the track, and (ii) a disengaged position to permit motion of the coupling device along the length of the track, and constrain motion of the coupling device orthogonal to the track;
• and
• a communications interface to communicatively connect the coupling device with a processor and receive control instructions therefrom.