Docking systems, autonomous mobile robots for use therewith, and related methods

Abstract

The present disclosure provides "docking systems, autonomous mobile robots for use therewith, and related methods. A docking system is provided. The docking system includes a docking station and an autonomous mobile robot (AMR). The AMR includes a body, a mount movably coupled to the body, a sensor coupled to the mount and having a field of view, a processor, and a memory. The memory includes instructions that, when executed by the processor, cause the processor to perform operations that include scanning the docking station with the sensor, moving the mount independently relative to the body to center the field of view on the docking station, and docking the AMR at the docking station using the centered field of view.

Description

Technical Field

[0001] The present disclosure relates to systems, devices, and methods for docking autonomous mobile robots. Background Art

[0002] Autonomous mobile robots (AMRs) are often used in transportation ecosystems to meet delivery demands due to increased online shopping. In the transportation ecosystem, navigation software for the AMRs is configured to allow the AMRs to dock at docking stations (e.g., battery stations for battery charging / replacement and parcel lockers for parcel loading / unloading). Summary of the invention

[0003] The systems, devices, and methods disclosed herein at least partially facilitate precise docking of an autonomous mobile robot (AMR) with a docking station. In one example, the AMR includes a body, a support movably coupled to the body, and a sensor coupled to the support and having a field of view. The support can be configured to rotate on an axis relative to the body of the AMR, or can translate across the surface of the body of the AMR. In addition, the AMR can have a processor that can use a sensor to scan the docking station, move the support independently relative to the body, so as to center the field of view (e.g., the area where the scanning element of the sensor is focused) on the docking station, and dock the AMR at the docking station using the centered field of view.

[0004] Thus, an independently movable sensor allows the AMR to dock better, at least in that once the sensor scans the docking station, it can be moved relative to the body of the AMR and center its field of view on the docking station. This can allow the offset position and final position of the AMR to be better determined, allowing the AMR to dock at the docking station with greater accuracy.

[0005] In one example, the sensor is a camera or a lidar sensor. In another example, the AMR includes both a camera and a lidar sensor, and each is coupled to a single support that is movably coupled to the body of the AMR (e.g., rotatable about an axis relative to the body of the AMR). In yet another example, the AMR includes both a camera and a lidar sensor, and two spaced-apart supports, each of which is movably coupled to the body of the AMR and a corresponding one of the camera and the lidar sensor. In addition, the AMR, the docking station, and the surrounding structure may include a plurality of fixed sensors that are configured to send data to the processor of the AMR to assist in precise docking. In this way, the AMR is advantageously provided with a large amount of data to assist it during docking.

[0006] More specifically, a typical AMR docks with the aid of one or more fixed sensors (e.g., sensors fixed relative to the body of the AMR). According to the disclosed concepts, when the AMR is moving, for example, in a warehouse and attempting to dock, it is critical that the AMR is accurately aligned with the docking station. Better alignment can be achieved by having an independently movable support on which a camera and / or a lidar sensor is mounted. In addition, once such a camera and / or lidar sensor scans any portion of the docking station (or other structure indicating where the location of the docking station may be), the camera or lidar sensor can be independently moved relative to the body of the AMR and better focused on the center of the structure of the docking station. This can be done while the body of the AMR is still trying to turn and align correctly. Thus, it will ultimately result in better alignment between the AMR and the docking station because at least a portion of the AMR (e.g., a camera and / or lidar sensor that has been rotated relative to the body of the AMR) will focus its field of view on the center of the docking station and transmit this data in real time to the processor of the AMR to allow it to dock accurately.

[0007] These and other advantages of the present disclosure are provided in greater detail herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Detailed description is set forth with reference to the accompanying drawings. The use of the same reference numerals may indicate similar or identical items. Various embodiments may utilize elements and / or components other than those shown in the accompanying drawings, and some elements and / or components may not be present in various embodiments. The elements and / or components in the accompanying drawings are not necessarily drawn to scale. Throughout this disclosure, singular and plural terms may be used interchangeably, depending on the context.

[0009] Figure 1 is an isometric view of a docking system according to one non-limiting embodiment of the disclosed concept, shown with portions of the docking station removed.

[0010] Figure 2 yes Figure 1 A simplified view of the docking system.

[0011] Figure 3 is a schematic diagram of another docking system showing an autonomous mobile robot (AMR) attempting to dock at a docking station with portions of the docking station removed.

[0012] Figure 4 Shows Figure 3 A docking system in which the support has been moved independently relative to the main body of the AMR.

[0013] Figure 5 A schematic diagram of another docking system according to another non-limiting embodiment of the disclosed concept is shown.

[0014] Figure 6 Shows Figure 5 A docking system in which the support has been moved independently relative to the main body of the AMR.

[0015] Figure 7 A simplified view of another docking system is shown in accordance with another non-limiting embodiment of the disclosed concept.

[0016] Figure 8 is a flow chart corresponding to control of an autonomous mobile robot according to an embodiment of the disclosed concept. DETAILED DESCRIPTION

[0017] As employed herein, the term "coupled" shall mean connected together either directly or via one or more intermediate parts or components.

[0018] Figure 1 FIG. 2 shows a docking system 2 according to a non-limiting embodiment of the disclosed concept. The docking system 2 includes a docking station 100 and an autonomous mobile robot (e.g., AMR 200, also in FIG. Figure 2 200 is configured to move independently relative to the docking station 100. The AMR 200 may include a body 202 and a plurality of wheels 204 coupled to the body 202 and configured to allow the body 202 to roll on a surface. In addition, the AMR 200 may be configured to dock at the docking station 100 for a variety of reasons, including a battery 250 ( Figure 2 ) and package loading and unloading. When the AMR 200 is docked at the docking station 100, it is important that the AMR 200 is accurately aligned with the docking station 100. According to the disclosed concept, the docking system 2 advantageously provides relatively accurate docking between the AMR 200 and the docking station 100.

[0019] Figure 2 A simplified view of the docking system 2 is shown. As shown, the docking station 100 includes a structure 110 having a barcode 112 and a charger 130 coupled to the structure 110 and configured to charge the battery 250 of the AMR 200. Figure 2 , the AMR 200 also includes a processor 210, a memory 220, and a battery 250 electrically connected to the processor 210. In one example, the charger 130 (see also Figure 1) may be configured, for example, to charge the battery 250 of the AMR 200 when the AMR 200 is in a docked position relative to the docking station 100. In another example, the docking station 100 may also and / or additionally be configured to replace the battery 250 of the AMR 200. In accordance with the disclosed concepts, the AMR 200 is advantageously configured for precision docking relative to the docking station 100.

[0020] More specifically, in one example, the AMR 200 further includes a support 260 movably coupled to the body 202, and a plurality of sensors movably coupled to the body 202. In one example, the sensors are fixedly coupled to the support 260. Figure 2 In an example of the embodiment of the present invention, the sensor is in the form of a camera 262 and a lidar sensor 264, each of which is movably coupled to the body 202, and each of which has a field of view. In addition, in one example, the memory 220 of the AMR 200 may include instructions that, when executed by the processor 210, cause the processor 210 to perform operations including: scanning the docking station 100 using either or both of the camera 262 and the lidar sensor 264, independently moving the support 260 relative to the body 202 so as to center the field of view on the docking station 100, and docking the AMR 200 at the docking station 100 using the centered field of view. That is, when the AMR 200 is moving so as to dock at the docking station 100, its position changes from a first position to a second position based on the centered field of view.

[0021] In other words, the AMR 200 changes the route from the first route to the second route, where the second route coincides with the central axis of the field of view of either or both of the sensors 262, 264 (e.g., an axis perpendicular to the center of the lens of one of the sensors 262, 264). This can occur even when the body 202 and wheels 204 of the AMR are still pointing to a position offset from the center of the structure 110 (e.g., moving in a route different from the aforementioned second route). In this case, the body 202 and wheels 204 move to align with the already centered field of view of the sensors 262, 264. By centering the field of view of the camera 262 and / or lidar sensor 264 relative to the docking station 100, the data and images captured by the camera 262 and / or lidar sensor 264 will be significantly less blurred than other typical AMRs when the AMR 200 turns.

[0022] refer to Figure 3 The aforementioned advantages of the disclosed concept may be further appreciated by illustrating another docking system 302 similar to the docking system 2, wherein like reference numerals denote like features. As shown, the docking system 302 includes a docking station 100 and an AMR 400 intended to be docked at the docking station 100. Figure 3 As shown, the field of view of camera 462 (in Figure 3 4 (shown in simplified form in FIG. 4 ) is offset relative to the docking station 100. However, when the camera 462 scans the docking station 100, the support 460 is independently moved relative to the body 402 so that the field of view is centered on the docking station 100. For example, compare Figure 3 and Figure 4 4, wherein the support 460 has been moved relative to the body 402 so that the field of view of the camera 462 is centered on the docking station 100 (e.g., the center of the camera is pointed at and / or aligned with the center of the structure 110). In addition, as described above, the structure 110 has a barcode 112, and in one example, the camera 462 is configured to be centered relative to the barcode 112. Therefore, the processor of the AMR 400 provides tracking of the barcode 112 when docked.

[0023] Figure 5 and Figure 6 Another docking system 502 similar to the docking system 2 is shown, wherein like reference numerals denote like features. As shown, the docking system 502 includes a docking station 600 and an AMR 700 intended to be docked at the docking station 600. Figure 5 As shown, the support 760 is movably coupled to the body 702, and the lidar sensor 764 is coupled to the body and has a field of view that is offset relative to the docking station 600. This may correspond to the AMR 700 attempting to dock at the docking station 600 and not being aligned with the docking station 600 during docking. In accordance with the disclosed concepts, the support 760 is configured to move independently relative to the body 702 (e.g., during Figure 5 and Figure 6 In the example of FIG. 702 , the support 760 can be configured to rotate about an axis to center the field of view on the structure 610. In another example, the support 760 can be configured to translate around the top surface of the body 702.

[0024] exist Figure 5 and Figure 6 In the example of FIG. 6 , the docking station includes an element 611 coupled to the structure 610, and the element 611 has a midpoint 612 (e.g., the geometric center of the element 611). Therefore, once the lidar sensor 764 detects (e.g., scans) the element 611, as shown in FIG. Figure 5 As shown, the support 760 is configured to move independently relative to the body 702 so that the field of view is centered about the midpoint 612, as shown in FIG. Figure 6 In one specific example, component 611 has a unique geometry stored in a processor of AMR 700, thereby allowing AMR 700 to recognize component 611 and dock with it precisely.

[0025] Although the camera 462 is coupled to the support 460 and the lidar sensor 764 is coupled to the support 760, Figures 3 to 6 , but it should be understood that other suitable embodiments can be envisioned. For example, Figure 2 The support 260 of the AMR 200 in FIG. 20 is configured to move independently relative to the body 202 so as to center the field of view of either or both of the camera 262 and the lidar sensor 264 on the structure 110. The camera 262 may also be configured to scan the barcode 112 and center the field of view on the barcode 112. In other words, the processor 210 causing the support 260 to move independently relative to the body 202 includes centering the field of view of either or both of the camera 262 and the lidar sensor 264 on the barcode 112.

[0026] in addition, Figure 7 shows a similar docking system 2 ( Figure 1 and Figure 2 ) in which like reference numerals represent like features. As shown, the AMR 1000 has a first support 1060 and a second support 1061 that are each movably coupled to the body 1002 and spaced apart from each other. In addition, the camera 1062 and the laser radar sensor 1064 are each coupled to a corresponding one of the first support 1060 and the second support 1061, and are preferably spaced apart from each other. Therefore, the AMR 1000 is advantageously configured so that both the camera 1062 and the laser radar sensor 1064 can independently provide docking data to the processor 1010 of the AMR 1000 to allow the AMR 1000 to dock accurately. That is, the camera 1062 and the laser radar sensor 1064 are each configured to scan the docking station, and the supports 1060, 1061 are configured to move independently relative to the body 1002 so as to center the field of view of the camera 1062 and the laser radar sensor 1064 on the docking station.

[0027] To dock the AMR 200, 400, 700, 1000, in one example, the memory of the AMR 200, 400, 700, 1000 includes instructions that, when executed by the processor 210 of the AMR 200, 400, 700, 1000, cause the processor 210 of the AMR 200, 400, 700, 1000 to perform the following operations: a) using the sensor 262, 264, 462, 764, 1062, 1064 to determine the offset position 304, 504 of the AMR 200, 400, 700, 1000 relative to the docking station 100, 600, 900 based on the centered field of view; Figures 3 to 6 ) and final positions 306, 506 ( Figures 3 to 6), and b) docking the AMR 200 , 400 , 700 , 1000 at the docking station 100 , 600 , 900 using the offset position and the final position 304 , 306 , 504 , 506 .

[0028] In this manner, the movably mounted sensors 262, 264, 462, 764, 1062, 1064 provide additional data to the processor 210 of the AMR 200, 400, 700, 1000 to allow them to dock accurately. For example, and again with reference to Figure 3 and Figure 4 , the docking station 100 may also include a fixed camera 150 coupled to the structure 110 (e.g., configured not to move relative to the structure 110), and the AMR 400 may also include a fixed camera 466 coupled to the body 402 (e.g., configured not to move relative to the body 402). In an exemplary embodiment, either or both of the fixed cameras 150, 466 provide relative position data to the processor of the AMR 400 to allow accurate determination of the offset position 304 and the final position 306, and also supplement the data provided to the processor of the AMR by the camera 462. Thus, the AMR 400 has a large amount of data supplied to its processor, which allows it to dock accurately with the docking station 100. Figure 5 and Figure 6 A similar configuration (eg, fixed cameras 650, 766 coupled to unique element 611 and body 702, respectively) may be employed to provide an even greater amount of data to the processor of AMR 700, thereby allowing offset position 504 and final position 506 to be determined with greater accuracy.

[0029] In addition, when the support 260, 460, 760, 1060, 1061 moves independently relative to the body 202, 402, 702, 1002 of the AMR 200, 400, 700, 1000, it should be understood that the yaw, pitch and roll angles of the corresponding sensors 262, 264, 462, 764, 1062, 1064 change, thereby allowing better position data of the docking station 100, 600, 900 to be sent to the processor 210 of the AMR 200, 400, 700, 1000.

[0030] In an exemplary embodiment, a method of docking an autonomous mobile robot (AMR) 200, 400, 700, 1000 at a docking station 100, 600, 900 is provided. The method includes: providing a docking station 100, 600, 900; providing the AMR 200, 400, 700, 1000 with a body 202, 402, 702, 1002, a support 260, 460, 760, 1060, 1061 movably coupled to the body 202, 402, 702, 1002, and a sensor 262, 264, 462, 764 coupled to the support 260, 460, 760, 1060, 1061 and having a field of view; , 1062, 1064; scanning the docking station 100, 600, 900 with the sensor 262, 264, 462, 764, 1062, 1064; independently moving the support 260, 460, 760, 1060, 1061 relative to the body 202, 402, 702, 1002 so as to center the field of view on the docking station 100, 600, 900; and docking the AMR 200, 400, 700, 1000 at the docking station 100, 600, 900 using the centered field of view. The method may also include determining an offset position and a final position 304, 306, 504, 506 of the AMR 200, 400, 700, 1000 relative to the docking station 100, 600, 900, and using the offset position and the final position 304, 306, 504, 506 to dock the AMR 200, 400, 700, 1000 at the docking station 100, 600, 900.

[0031] Figure 8 1100 is a flow chart corresponding to control of an autonomous mobile robot according to one non-limiting embodiment of the disclosed concepts. As shown, the position of the lidar sensor 1102 and the camera 1104 can be commanded by attitude adjustment modules 1106 and 1108, respectively, which send relative headings and positions to heading estimators 1110, 1112, which send data to a target publisher 1114, which can then send the data to a motion controller 1116 of the autonomous mobile robot. Thus, the relative position adjustment of the lidar sensor 1102 and the camera 1104 is associated with more accurate data sent to the motion controller 1116 than a typical AMR, which can have sensors that are fixed relative to the body on which they are mounted.

[0032] Therefore, it should be understood that the AMR processes the point cloud data from the lidar sensor 1102 and the position of the lidar to determine the relative heading alignment between the AMR and the docking station. In addition, the AMR processes the matrix barcode image and the pose of the camera 1104 to determine the relative position (i.e., x, y coordinates) relative to the docking station. The estimated relative heading and position are used to determine the offset position and the final position, and they are also used as feedback for the motion controller 1116.

[0033] The processor 210, 1010 of the AMR 200, 400, 700, 1000 may be a commercially available general purpose processor, such as a processor from or The memory 220 of the AMR 200, 400, 700, 1000 may be a non-transitory computer-readable memory storing program code, and may include any one or combination of volatile memory elements (e.g., dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), etc.), and may include any one or more non-volatile memory elements (e.g., erasable programmable read-only memory (EPROM), flash memory, electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), etc.).

[0034] It is also to be understood herein that the operations described herein should always be performed and / or executed in accordance with the owner's manual and safety guidelines.

[0035] In the above disclosure, reference has been made to the accompanying drawings that form a part of the above disclosure, which illustrate specific embodiments in which the present disclosure can be practiced. It should be understood that other embodiments may be utilized and structural changes may be made without departing from the scope of the present disclosure. References to "one embodiment," "embodiment," "example embodiment," etc. in this specification indicate that the described embodiment may include specific features, structures, or characteristics, but each embodiment may not necessarily include the specific features, structures, or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when features, structures, or characteristics are described in conjunction with an embodiment, whether or not explicitly described, those skilled in the art will recognize such features, structures, or characteristics in conjunction with other embodiments.

[0036] In addition, where appropriate, the functions described herein may be performed in one or more of the following: hardware, software, firmware, digital components, or analog components. Certain terms are used throughout the specification and claims to refer to specific system components. As will be appreciated by those skilled in the art, components may be referred to by different names. This document is not intended to distinguish between components that have different names but the same function.

[0037] It should also be understood that the word "example" as used herein is intended to be non-exclusive and non-limiting in nature. More particularly, the word "example" as used herein indicates one of several examples, and it should be understood that no undue emphasis or preference is placed on the particular example described.

[0038] With respect to the processes, systems, methods, heuristics, etc. described herein, it should be understood that although the steps of such processes, etc. have been described as occurring according to a certain ordered sequence, such processes may be practiced by performing the described steps in an order different from the order described herein. It should also be understood that certain steps may be performed simultaneously, other steps may be added, or certain steps described herein may be omitted. In other words, the descriptions of processes herein are provided for the purpose of illustrating various embodiments and should in no way be construed as limiting the claims.

[0039] Therefore, it should be understood that the above description is intended to be illustrative rather than restrictive. Upon reading the above description, many embodiments and applications other than the examples provided will be apparent. The scope should not be determined with reference to the above description, but should be determined with reference to the entire scope of the appended claims and equivalents to which such claims are entitled. It is anticipated and expected that the technology discussed herein will develop in the future, and the disclosed systems and methods will be incorporated into such future embodiments. In short, it should be understood that the present application is capable of modification and change.

[0040] Unless explicitly indicated to the contrary in this article, all terms used in the claims are intended to be given their ordinary meanings as understood by the skilled person described herein. Specifically, unless the claims state an explicit limitation to the contrary, the use of singular articles such as "one", "the", "said" and the like should be interpreted as describing one or more of the indicated elements. Unless otherwise specifically stated or understood in other ways within the context when used, conditional language such as, in particular, "can", "may", "can" or "may" is generally intended to express that certain embodiments may include certain features, elements and / or steps, while other embodiments may not include certain features, elements and / or steps. Therefore, such conditional language is generally not intended to imply that one or more embodiments require each feature, element and / or step in any way.

[0041] In one aspect of the invention, the method comprises determining an offset position and a final position of the AMR relative to the docking station based on the centered field of view, and wherein docking the AMR at the docking station is performed using the offset position and the final position.

[0042] In one aspect of the invention, the sensor is a first sensor, wherein the AMR further comprises a second sensor coupled to the support and having a field of view, wherein the method further comprises scanning the docking station with the second sensor, wherein independently moving the support relative to the body so as to center the field of view of the second sensor on the docking station is further performed, wherein the first sensor is a camera, and wherein the second sensor is a lidar sensor.

[0043] In one aspect of the invention, the support is a first support, wherein the AMR further comprises a second support and a second sensor coupled to the second support and having a field of view, wherein the second support is movably coupled to a body, wherein the method further comprises scanning the docking station with the second sensor and independently moving the second support relative to the body so as to center the field of view of the second sensor on the docking station, wherein the first sensor is a camera, wherein the second sensor is a lidar sensor, and wherein the first support is spaced apart from the second support.

[0044] In one aspect of the invention, the sensor is a camera, wherein the docking station includes a structure having a bar code, and wherein independently moving the mount relative to the body includes centering the field of view on a center of the bar code.

[0045] In one aspect of the invention, the sensor is a lidar sensor, wherein the docking station includes an element having a midpoint, and wherein independently moving the mount relative to the body includes centering the field of view about the midpoint.

Claims

1. A docking system comprising: docking station; and An autonomous mobile robot (AMR), the AMR comprising: main body, a support movably coupled to the main body, a sensor coupled to the support and having a field of view, processor, and a memory comprising instructions that, when executed by the processor, cause the processor to perform operations comprising: scanning the docking station using the sensor, independently moving the support relative to the body to center the field of view on the docking station, and The AMR is docked at the docking station using the centered field of view.

2. The docking system of claim 1 , wherein the memory further comprises instructions that, when executed by the processor, cause the processor to perform the operations comprising: determining, using the sensor, an offset position and a final position of the AMR relative to the docking station based on the centered field of view, and wherein docking the AMR at the docking station is performed using the offset position and the final position.

3. The docking system of claim 2 , wherein the sensor is a first sensor, wherein the AMR further comprises a second sensor coupled to the support and having a field of view, wherein the memory further comprises instructions that, when executed by the processor, cause the processor to perform the operations comprising: scanning the docking station with the second sensor, and wherein independently moving the support relative to the body so as to center the field of view of the second sensor on the docking station.

4. The docking system of claim 3, wherein the first sensor is a camera, and wherein the second sensor is a lidar sensor.

5. The docking system of claim 4 , wherein the support is a first support, wherein the AMR further comprises a second support and a second sensor coupled to the second support and having a field of view, wherein the second support is movably coupled to the body, and wherein the memory further comprises instructions that, when executed by the processor, cause the processor to perform operations comprising: scanning the docking station with the second sensor, and independently moving the second support relative to the body so as to center the field of view of the second sensor on the docking station.

6. The docking system of claim 5, wherein the first sensor is a camera, and wherein the second sensor is a lidar sensor. The docking system of claim 6 , wherein the first support is spaced apart from the second support.

8. The docking system of claim 2, wherein the sensor is a camera, wherein the docking station comprises a structure having a barcode, and wherein independently moving the mount relative to the body comprises centering the field of view on a center of the barcode.

9. The docking system of claim 2, wherein the sensor is a lidar sensor, wherein the docking station comprises an element having a midpoint, and wherein independently moving the mount relative to the body comprises centering the field of view about the midpoint.

10. An autonomous mobile robot (AMR), the AMR configured to dock at a docking station, the AMR comprising: main body; a support movably coupled to the main body; a sensor coupled to the mount and having a field of view; processor; and a memory comprising instructions that, when executed by the processor, cause the processor to perform operations comprising: scanning the docking station using the sensor, independently moving the support relative to the body to center the field of view on the docking station, and The AMR is docked at the docking station using the centered field of view.

11. The AMR of claim 10 , wherein the sensor is a first sensor, wherein the AMR further comprises a second sensor coupled to the support and having a field of view, wherein the memory further comprises instructions that, when executed by the processor, cause the processor to perform the operations comprising scanning the docking station with the second sensor, and wherein the operations further comprise independently moving the support relative to the body so as to center the field of view of the second sensor on the docking station.

12. The AMR of claim 11, wherein the first sensor is a camera, and wherein the second sensor is a lidar sensor.

13. The AMR of claim 11 , wherein the support is a first support, wherein the AMR further comprises a second support and a second sensor coupled to the second support and having a field of view, wherein the second support is movably coupled to the body, and wherein the memory further comprises instructions that, when executed by the processor, cause the processor to perform operations comprising scanning the docking station with the second sensor and independently moving the second support relative to the body so as to center the field of view of the second sensor on the docking station.

14. The AMR of claim 13, wherein the first sensor is a camera, wherein the second sensor is a lidar sensor, and wherein the first mount is spaced apart from the second mount.

15. A method for docking an autonomous mobile robot (AMR) at a docking station, the method comprising: providing the docking station; Providing the AMR with a main body, a support movably coupled to the main body, and a sensor coupled to the support and having a field of view; scanning the docking station with the sensor; independently moving the support relative to the body to center the field of view on the docking station; as well as The AMR is docked at the docking station using the centered field of view.

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