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Robot management systems for determining docking station pose including mobile robots and methods using same
Robot management systems for determining docking station pose including mobile robots and methods using same
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机译:用于确定扩展坞姿态的机器人管理系统,包括移动机器人及其使用方法
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摘要
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.
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