Robot management systems for determining docking station pose including mobile robots and methods using same

A computer program product for determining a docking path, the computer program product comprising a non-transitory computer readable storage medium having computer readable code embodied in the medium, the computer code comprising:

• computer readable code configured to
• analyze an output signal from a pose sensor assembly on a mobile robot, wherein the output signal is responsive to an observation by the pose sensor assembly of at least two fiducial markers on a docking station,
• determine a docking station pose that is based on a predetermined spatial relationship of the pose-defining fiducial markers and the signals from the pose sensor assembly,
• locate a docking station pose on a map of a surface traversed by the mobile robot, wherein the docking station pose comprises a position defined by location coordinates on the map and an angular orientation of the docking station, the docking station pose defining a docking lane on the map comprising outside edges and a central axis that is aligned with a central axis of the docking port, and the controller is configured to store the pose of the docking station on the map of the surface traversed by the mobile robot;
• and
• path plan a docking trajectory including a curve having a terminal portion aligned with the central axis of the docking lane of the docking station, based on a current robot position on the map of the surface and the docking station pose including the outside edges and the central axis of the docking lane and to provide instructions to the motorized drive to move the mobile robot along the curve of the docking trajectory and into a docking lane within the outside edges and along the central axis of the docking lane the docking station.

A method for determining a docking path, method comprising:

• analyzing an output signal from the pose sensor assembly on a mobile robot, wherein the output signal is responsive to an observation by the pose sensor assembly of at least two fiducial markers on a docking station,
• determining a docking station pose that is based on a predetermined spatial relationship of the pose-defining fiducial markers and the signals from the pose sensor assembly,
• locating a docking station pose on a map of a surface traversed by the mobile robot, wherein the docking station pose comprises a position defined by location coordinates on the map and an angular orientation of the docking station, and the docking station pose defines a docking lane on the map comprising outside edges and a central axis that is aligned with a central axis of the docking port, and the controller is configured to store the pose of the docking station on the map of the surface traversed by the mobile robot;
• and
• path planning a docking trajectory including a curve having a terminal portion aligned with the central axis of the docking lane of the docking station, based on a current robot position on the map of the surface and the docking station pose including the outside edges and the central axis of the docking lane and to provide instructions to the motorized drive to move the mobile robot along the curve of the docking trajectory and into a docking lane within the outside edges and along the central axis of the docking lane of the docking station.