公开(公告)号：WO2019103935A1

公开(公告)日：2019-05-31

申请号：PCT/US2018/061567

申请日：2018-11-16

Applicant: LOCUS ROBOTICS CORP.

Inventor： MOORE, Thomas ,  POWERS, Bradley ,  SUSSMAN, Michael ,  INSINGA, Aron K.

IPC: G05D1/02

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 (500). The robot (18) receives an initial pose (604) associated with a robot charger docking station (500) and a mating pose (602) associated with the robot charger docking station (500). The robot (18) first navigates from a location to an initial pose (604) using scan matching to a first map. The robot performs a second navigation (742) from the initial pose (604) to the mating pose (602) 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 (500). 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.

公开(公告)号：WO2019060757A1

公开(公告)日：2019-03-28

申请号：PCT/US2018/052263

申请日：2018-09-21

Applicant: LOCUS ROBOTICS CORP.

Inventor： SUSSMAN, Michael ,  INSINGA, Aron Klair

IPC: H02J7/00

Abstract: An electrical charging station for charging an autonomous robot having a battery. The charging station includes 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. There is a communications device configured to receive from the autonomous robot an identifier indicative of a type of battery on the autonomous robot. There is a power supply, electrically connected to the first charging member, configured to charge the autonomous robot according to a charging profile. The charging profile is selected based at least in part on the identifier received from the autonomous robot.

公开(公告)号：WO2019060747A2

公开(公告)日：2019-03-28

申请号：PCT/US2018/052249

申请日：2018-09-21

Applicant: LOCUS ROBOTICS CORP.

Inventor： KWA, Hian, Kai ,  FONG, Christina, Nicole

Abstract: An electrical charging station for charging an autonomous robot includes a charging station frame having a frame base with a plurality of interconnected frame elements configured to be secured to a floor. One of the frame elements is a front side frame element. There is a charging station cover mounted on the charging station frame and the charging station cover includes a front side cover having a front surface with a charging member. There is a protective member extending across and having a front surface projecting outwardly from the front surface of the front side cover. The protective member is interconnected to the front side frame element through a plurality of apertures in the front side cover and the front side frame element is located adjacent to a back surface of the front side cover, opposite the front surface.

公开(公告)号：WO2018237112A1

公开(公告)日：2018-12-27

申请号：PCT/US2018/038695

申请日：2018-06-21

Applicant: LOCUS ROBOTICS CORP.

Inventor： GALLAGHER, Kaitlin Margaret ,  JOHNSON, Sean ,  JOHNSON, Michael Charles ,  JAQUEZ, Luis

IPC: G06Q10/08

Abstract: A method for queuing robots destined for one or more processing stations in an environment includes determining when each robot of a plurality of robots destined for the one or more processing stations have entered a predefined target zone proximate the one or more processing stations. The method also includes assigning each of the robots to one of a plurality of queue positions based on an assigned priority and directing each of the robots from its assigned queue position to a processing position of one of the processing stations. Each of the processing stations includes at least two processing positions for a like number of robots to occupy for processing by an operator.

公开(公告)号：WO2022056061A1

公开(公告)日：2022-03-17

申请号：PCT/US2021/049563

申请日：2021-09-09

Applicant: LOCUS ROBOTICS CORP.

Inventor： JOHNSON, Sean ,  JAQUEZ, Luis ,  JOHNSON, Michael Charles

IPC: G06Q10/08

Abstract: Processes are provided for dynamically sorting and storing items in a warehouse without the need for presorting items and without delaying or negatively impacting the efficiency of operators in the warehouse. Items are individually scanned and placed in totes of a tote-array provided on a mobile robot. An optimized route is calculated based on the items in the tote-array, and the robot navigates to a first location on the route. When the item has been put away, a replacement item is placed in the just-emptied tote of the tote-array, and an updated route is calculated. A robot capable of navigating to predefined locations for storing items is a warehouse is provided.

公开(公告)号：WO2021178614A1

公开(公告)日：2021-09-10

申请号：PCT/US2021/020790

申请日：2021-03-04

Applicant: LOCUS ROBOTICS CORP.

Inventor： MOORE, Thomas

IPC: G05D1/02

Abstract: A method for predicting a collision between a mobile robot and an obstacle in an environment includes obtaining laser scan data for the mobile robot at a current location in the environment. The method also includes predicting a future location of the mobile robot in the environment and producing predicted laser scan data corresponding to the future location of the mobile robot in the environment. The method further includes assessing the predicted laser scan data relative to the mobile robot at the current location to determine whether a collision with an obstacle is predicted.

公开(公告)号：WO2019152926A1

公开(公告)日：2019-08-08

申请号：PCT/US2019/016512

申请日：2019-02-04

Applicant: LOCUS ROBOTICS CORP.

Inventor： JAQUEZ, Luis ,  JOHNSON, Sean ,  JOHNSON, Michael Charles

IPC: G05D1/02 ,  B25J9/00

Abstract: A method for performing tasks on items located in a space using a robot, includes receiving an order to perform a task on at least one item and obtaining a pose associated with the at least one item. The pose is in a coordinate system defined by the space and the pose is where the task is to be performed on the at least one item. The method includes navigating the robot toward the pose associated with the at least one item and detecting, when in proximity to the pose, if the pose is obstructed by an object. If the pose is obstructed by an object, halting the robot at a location spaced from the pose and then causing the robot to provide a first signal indicating that the robot is in a holding mode at the location spaced from the pose.

公开(公告)号：WO2019125998A1

公开(公告)日：2019-06-27

申请号：PCT/US2018/065934

申请日：2018-12-17

Applicant: LOCUS ROBOTICS CORP.

Inventor： KWA, Hian Kai ,  SUSSMAN, Peter ,  SUSSMAN, Michael

IPC: B62D61/04

CPC classification number: B60B33/045 ,  B25J5/007 ,  B25J19/0091 ,  B25J19/022 ,  B60B2900/131 ,  B60G3/02 ,  B60G11/18 ,  B62D21/11 ,  B62D21/18 ,  B62D61/04

Abstract: A mobile robot (18) configured to drive on a surface with irregularities, comprising: a chassis having a front end facing a forward direction of travel, a back end, a first side, and a second side. There is a first drive wheel (40) rigidly affixed to the chassis proximate the first side and interconnected to a motor to propel it. There is a second drive wheel (42) rigidly affixed to the chassis proximate the second side and interconnected to a motor to propel it. A first caster assembly (44) is rigidly affixed to the chassis proximate the front end and includes a first caster wheel configured to rotate about a first swivel axis. A second caster assembly (46) is rigidly affixed to the chassis proximate the back end and includes a second caster wheel configured to rotate about a second swivel axis and it includes a compliant member to absorb the irregularities.

公开(公告)号：WO2019103934A1

公开(公告)日：2019-05-31

申请号：PCT/US2018/061560

申请日：2018-11-16

Applicant: LOCUS ROBOTICS CORP.

Inventor： MOORE, Thomas ,  POWERS, Bradley ,  KWA, Hian Kai

IPC: G05D1/02

CPC classification number: G05D1/0225 ,  B60L53/35 ,  G05D1/0236 ,  G05D2201/0216

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.

公开(公告)号：WO2019094467A1

公开(公告)日：2019-05-16

申请号：PCT/US2018/059621

申请日：2018-11-07

Applicant: LOCUS ROBOTICS CORP.

Inventor： JOHNSON, Ryan ,  JOHNSON, Michael Charles ,  JOHNSON, Sean ,  WELTY, Bruce

IPC: G06Q10/08

Abstract: A method for grouping a plurality of orders in an order queue of a warehouse management system, each order including one or more items and each item being associated with a physical location in a warehouse. The method includes determining a physical location in the warehouse of each item in the plurality of orders. For each order, the method also includes establishing at least one cluster region, each cluster region including at least one item from the respective order. The method further includes grouping the plurality of orders based on the physical locations of the cluster regions in the warehouse to form at least one order set.