公开(公告)号：US20160143500A1

公开(公告)日：2016-05-26

申请号：US14947277

申请日：2015-11-20

Applicant: IRobot Corporation

Inventor： Philip Fong ,  Jason Meltzer ,  Jens-Steffen Gutmann ,  Vazgen Karapetyan ,  Mario E. Munich

IPC: A47L9/28 ,  B25J11/00 ,  H02J7/00 ,  B25J13/00 ,  B25J9/16 ,  A47L9/30 ,  B25J5/00 ,  B25J19/00

CPC classification number: A47L9/2873 ,  A47L9/2894 ,  A47L9/30 ,  A47L2201/02 ,  A47L2201/04 ,  B25J5/00 ,  B25J9/1664 ,  B25J9/1666 ,  B25J9/1697 ,  B25J11/0085 ,  B25J13/006 ,  B25J19/005 ,  G05D1/0225 ,  G05D1/0234 ,  G05D1/0274 ,  G05D2201/0215 ,  H02J7/0045 ,  Y10S901/01

Abstract: A mobile robot system is provided that includes a docking station having at least two pose-defining fiducial markers. The pose-defining fiducial markers have a predetermined spatial relationship with respect to one another and/or to a reference point on the docking station such that a docking path to the base station can be determined from one or more observations of the at least two pose-defining fiducial markers. A mobile robot in the system includes a pose sensor assembly. A controller is located on the chassis and is configured to analyze an output signal from the pose sensor assembly. The controller is configured to determine a docking station pose, to locate the docking station pose on a map of a surface traversed by the mobile robot and to path plan a docking trajectory.

Abstract translation: 提供了一种移动机器人系统，其包括具有至少两个姿势限定基准标记的对接站。 姿势定义基准标记在对接站上相对于彼此和/或参考点具有预定的空间关系，使得可以根据至少两个姿势的一个或多个观察来确定到基站的对接路径 确定基准标记。 系统中的移动机器人包括姿态传感器组件。 控制器位于机箱上，并被配置为分析来自姿态传感器组件的输出信号。 控制器被配置为确定对接站姿态，以将对接站姿态定位在由移动机器人穿过的表面的地图上，并且路径规划对接轨迹。