Docking system, autonomous mobile robot for use with this and associated method

Abstract

A docking system is provided. The docking system includes a docking station and an autonomous mobile robot (AMR). The AMR comprises a body, a mount movably attached to the body, a sensor attached to the mount with a field of view, a processor, and memory. The memory contains instructions which, when executed by the processor, cause it to perform operations including inserting the sensor to scan the docking station, causing the mount to move independently relative to the body to center the field of view on the docking station, and docking the AMR to the docking station using the centered field of view.

Description

FIELD OF TECHNOLOGY

[0001] This disclosure relates to systems, devices, and methods for docking an autonomous mobile robot. GENERAL STATE OF THE ART

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

[0003] The systems, devices, and methods disclosed herein support, at least in part, precise docking of an autonomous mobile robot (AMR) to a docking station. In one example, the AMR includes a body, a mount movably coupled to the body, and a sensor coupled to the mount and having a field of view. The mount may be configured to rotate on an axis relative to the body of the AMR or may translate across a surface of the body of the AMR. Additionally, the AMR may include a processor that can employ the sensor to scan the docking station, cause the mount to move independently relative to the body to center the field of view (e.g., the area the sensing elements are focused on) on the docking station, and dock the AMR to the docking station using the centered field of view.

[0004] Accordingly, the independently movable sensor enables the AMR to dock more effectively, at least by allowing the sensor to move relative to the AMR's body once it scans the docking station and center its field of view on the docking station. This can allow the AMR's offset and end positions to be better determined, allowing the AMR to dock with the docking station with even greater precision.

[0005] In one example, the sensor is either a camera or a LiDAR sensor. In another example, the AMR includes both a camera and a LiDAR sensor, each coupled to a single mount that is movably coupled to a body of the AMR (e.g., capable of rotating about an axis with respect thereto). In yet another example, the AMR includes both a camera and a LiDAR sensor, as well as two spaced-apart mounts, each movably coupled to the body of the AMR and a corresponding one of the camera and the LiDAR sensor. Furthermore, the AMR, docking station, and surrounding structures may include a number of stationary sensors configured to send data to the AMR's processor to assist in precise docking. In this way, the AMR is advantageously provided with a robust set of data to assist it during docking.

[0006] More specifically, typical AMRs dock with the assistance of one or more stationary sensors (e.g., sensors fixed with respect to the AMR's body). According to the disclosed concept, when the AMR is moving, e.g., in a warehouse, and attempting to dock, it is critical that the AMR is precisely aligned with the docking station. Better alignment is possible through the presence of independent, movable mounts on which the cameras and / or LiDAR sensors are mounted. Additionally, once such a camera and / or LiDAR sensor scans any portion of a docking station (or other structure indicating where a docking station position may be located), that camera or LiDAR sensor can move independently with respect to the AMR's body and better focus on a center of the docking station structure.This can be done while the AMR body is still attempting to rotate and align properly. This will ultimately result in better alignment between the AMR and the docking station, as at least one portion of the AMR (e.g., the camera and / or LiDAR sensor, which has been rotated relative to the AMR body) will focus its field of view on a center of the docking station and transmit this data in real time to the AMR's processor, enabling it to dock precisely.

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

[0008] The detailed description is presented with reference to the accompanying drawings. The use of the same reference numerals may indicate similar or identical elements. Different elements and / or components than those illustrated in the drawings may be used for different embodiments, and some elements and / or components may not be present in different embodiments. The elements and / or components in the figures are not necessarily drawn to scale. Throughout the disclosure, the singular and plural terms may be used interchangeably depending on the context. Fig. 1 is an isometric view of a docking system shown with portions of the docking station removed, according to one non-limiting embodiment of the disclosed concept. Fig. 2 is a simplified view of the docking system from Fig. 1. Fig. 3 is a schematic of another docking system shown with an autonomous mobile robot (AMR) attempting to dock with a docking station and with portions of the docking station removed. Fig. 4 shows the docking system from Fig. 3, wherein a bracket has moved independently with respect to a body of the AMR. Fig. 5 shows a schematic of another docking system according to another non-limiting embodiment of the disclosed concept. Fig. 6 shows the docking system from Fig. 5, wherein a bracket has moved independently with respect to a body of the AMR. Fig. 7 is a simplified view of another docking system according to another non-limiting embodiment of the disclosed concept. Fig. 8 is a flowchart corresponding to a controller of an autonomous mobile robot according to embodiments of the disclosed concept. DETAILED DESCRIPTION

[0009] As used in this document, the term "coupled" shall mean connected either directly or through one or more intermediate parts or components.

[0010] Fig. 1 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. 2) that is configured to move independently with respect 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 enable the body 202 to roll on a surface. Additionally, the AMR 200 may be configured to dock with the docking station 100 for a variety of reasons, including recharging and / or replacing the battery 250 ( Fig. 2), and loading and unloading packages. When the AMR 200 docks with the docking station 100, it is important that the AMR 200 be precisely aligned with the docking station 100. According to the disclosed concept, the docking system 2 advantageously provides relatively precise docking between the AMR 200 and the docking station 100.

[0011] Fig. 2 shows a simplified view of the docking system 2. 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. Further referring to Fig. 2, the AMR 200 further 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 Fig. 1) The docking station 100 may be configured to charge the battery 250 of the AMR 200, for example, when the AMR 200 is in a docked position with respect 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. According to the disclosed concept, the AMR 200 is advantageously configured for precise docking with respect to the docking station 100.

[0012] In particular, in one example, the AMR 200 further includes a mount 260 movably coupled to the body 202 and a number of sensors movably coupled to the body 202. In one example, the sensors are fixedly coupled to the mount 260. Additionally, as in the example of Fig. 2, the sensors are in the form of a camera 262 and a LiDAR sensor 264, each of which is movably coupled to the body 202 and each has a field of view. Furthermore, 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 deploying one or both of the camera 262 and the LiDAR sensor 264 to scan the docking station 100, causing the mount 260 to move independently with respect to the body 202 to center the field of view on the docking station 100, and docking the AMR 200 to the docking station 100 using the centered field of view. That is, when the AMR 200 moves to dock with the docking station 100, its position changes from a first position to a second position based on the centered field of view.

[0013] In other words, the AMR 200 changes course from a first course to a second course, where the second course coincides with a center axis of the field of view of one or both of the sensors 262, 264 (e.g., an axis perpendicular to a center of a lens of one of the sensors 262, 264). This can even occur while the bodies 202 and the wheels 204 of the AMR are still pointing at a location of the structure 110 that is offset from their center (e.g., moving on a course different from the aforementioned second course). In such a scenario, the body 202 and the wheels 204 move to align with the already centered fields of view of the sensors 262, 264.By centering the fields of view of the camera 262 and / or the LiDAR sensor 264 with respect to the docking station 100, when the AMR 200 is rotated, data and images captured by the camera 262 and / or the LiDAR sensor 264 are significantly less blurred compared to other typical AMRs.

[0014] The aforementioned advantages of the disclosed concept can be further illustrated by reference to Fig. 3, which shows another docking system 302 similar to the docking system 2, where like numbers represent like features. As shown, the docking system 302 includes the docking station 100 and the AMR 400 attempting to dock with the docking station 100. As shown in Fig. 3, the field of view of the camera 462 (in Fig. 3 in simplified form) with respect to the docking station 100. However, when the camera 462 scans the docking station 100, the mount 460 is caused to move independently with respect to the body 402 to center the field of view on the docking station 100. Compare, for example, the position of the mount 460 in Fig. 3 compared to Fig. 4, wherein the mount 460 has moved relative to the bodies 402 such that the field of view of the camera 462 is centered on the docking station 100 (e.g., a center of the camera is directed toward and / or aligned with a center of the structure 110). Additionally, as noted above, the structure 110 includes a barcode 112, and in one example, the camera 462 is configured to be centered relative to the barcode 112. Accordingly, the processor of the AMR 400 provides tracking of the barcode 112 during docking.

[0015] Fig. 5 and Fig. 6 show another docking system 502 similar to docking system 2, with like numbers representing like features. As shown, docking system 502 includes docking station 600 and AMR 700 attempting to dock with docking station 600. As shown in Fig. 5, the mount 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 with respect to the docking station 600. This may correspond to the AMR 700 attempting to dock with the docking station 600 and being out of alignment with the docking station 600 during docking. According to the disclosed concept, the mount 760 is configured to move independently with respect to the body 702 (e.g., in the example of Fig. 5 and Fig. 6 about an axis) to center the field of view on the structure 610. In another example, the mount 760 may be configured to translate across a top surface of the body 702.

[0016] In the example from Fig. 5 and Fig. 6, the docking station includes an element 611 coupled to the structure 610, and the element 611 has a center point 612 (e.g., a geometric center of the element 611). Once the LiDAR sensor 764 detects (e.g., scans) the element 611, as shown in Fig. 5, the mount 760 is configured to move independently with respect to the body 702 to center the field of view on the center point 612, as shown in Fig. 6. In a specific example, the element 611 has a unique geometry stored in the processor of the AMR 700, which enables the AMR 700 to recognize the element 611 and dock with precision.

[0017] While the examples from Fig. 3-6 in association with the camera 462 being coupled to the mount 460 and the LiDAR sensor 764 being coupled to the mount 760, it is understood that other suitable embodiments are contemplated. For example, the mount 260 of the AMR 200 in Fig. 2 configured to move independently with respect to the body 202 to center one or both of the fields of view of the camera 262 and the LiDAR sensor 264 on the structure 110. The camera 262 may be further configured to scan the barcode 112 and center the field of view on the barcode 112. In other words, the processor 210 causes the mount 260 to move independently with respect to the body 202, centering the field of view of one or both of the camera 262 and the LiDAR sensor 264 on the barcode 112.

[0018] Furthermore, Fig. 7 shows another exemplary docking system 802 similar to the docking system 2 ( Fig. 1 and Fig. 2), where like numbers represent like features. As shown, the AMR 1000 includes first and second mounts 1060, 1061, each movably coupled to the body 1002 and spaced apart from each other. Furthermore, the camera 1062 and the LiDAR sensor 1064 are each coupled to a corresponding one of the first and second mounts 1060, 1061 and are preferably spaced apart from each other. As a result, the AMR 1000 is advantageously configured such that both the camera 1062 and the LiDAR sensor 1064 can independently provide docking data to the processor 1010 of the AMR 1000 to enable the AMR 1000 to be precisely docked.That is, the camera 1062 and the LiDAR sensor 1064 are each configured to scan the docking station, and the mounts 1060, 1061 are configured to move independently with respect to the body 1002 to center the fields of view of the camera 1062 and the LiDAR sensor 1064 on the docking station.

[0019] To dock the AMRs 200, 400, 700, 1000, the memories of the AMRs 200, 400, 700, 1000 include, in one example, instructions that, when executed by the processors 210 of the AMRs 200, 400, 700, 1000, cause the processors 210 of the AMRs 200, 400, 700, 1000 to: a) deploy the sensors 262, 264, 462, 764, 1062, 1064 to determine an offset position 304, 504 ( Fig. 3-6) and a final position 306, 506 ( Fig. 3-6) of the AMRs 200, 400, 700, 1000 with respect to the docking stations 100, 600, 900 based on the centered field of view, and b) docking the AMRs 200, 400, 700, 1000 to the docking stations 100, 600, 900 using the offset and end positions 304, 306, 504, 506.

[0020] In this way, the movably mounted sensors 262, 264, 462, 764, 1062, 1064 provide additional data to the processors 210 of the AMRs 200, 400, 700, 1000 to enable them to dock precisely. For example, and with further reference to Fig. 3 and Fig. 4, the docking station 100 may further include a stationary camera 150 coupled to the structure 110 (e.g., configured not to move with respect thereto), and the AMR 400 may further include a stationary camera 466 coupled to the body 402 (i.e., configured not to move with respect thereto). In an exemplary embodiment, one or both of the stationary cameras 150, 466 provide relative position data to the processor of the AMR 400 to enable the offset and end positions 304, 306 to be precisely determined, and also to supplement the data provided to the processor of the AMR by the camera 462. Thus, the AMR 400 has a robust set of data provided to its processor that enables it to precisely dock with the docking station 100.

[0021] Fig. 5 and Fig. 6 may be similarly structured (e.g., stationary cameras 650, 766 are coupled to the unique element 611 and the body 702, respectively) to provide even more robust data to the processor of the AMR 700, thereby enabling the offset and end positions 504, 506 to be determined with greater accuracy.

[0022] Furthermore, it will be appreciated that when the mounts 260, 460, 760, 1060, 1061 move independently with respect to the bodies 202, 402, 702, 1002 of the AMRs 200, 400, 700, 1000, the yaw, pitch, and roll angles of the corresponding sensors 262, 264, 462, 764, 1062, 1064 are changed, thereby enabling better position data of the docking stations 100, 600, 900 to be sent to the processors 210 of the AMRs 200, 400, 700, 1000.

[0023] In an exemplary embodiment, a method for docking an autonomous mobile robot (AMR) 200, 400, 700, 1000 to a docking station 100, 600, 900 is provided. The method includes providing the docking station 100, 600, 900, providing the AMR 200, 400, 700, 1000 having a body 202, 402, 702, 1002, a mount 260, 460, 760, 1060, 1061 movably coupled to the body 202, 402, 702, 1002, and a sensor 262, 264, 462, 764, 1062, 1064 coupled to the mount 260, 460, 760, 1060, 1061 and having a field of view, scanning the docking station 100, 600, 900 with the sensor 262, 264, 462, 764, 1062, 1064, moving the mount 260, 460, 760, 1060, 1061 independently with respect to the body 202, 402, 702, 1002 to center the field of view on the docking station 100, 600, 900, and docking the AMR 200, 400, 700, 1000 to the docking station 100, 600, 900 using the centered field of view.The method may further include determining an offset and an end position 304, 306, 504, 506 of the AMR 200, 400, 700, 1000 with respect to the docking station 100, 600, 900 and using the offset and the end position 304, 306, 504, 506 to dock the AMR 200, 400, 700, 1000 to the docking station 100, 600, 900.

[0024] Fig.8 is a flowchart 1100 corresponding to a controller of an autonomous mobile robot, according to a non-limiting embodiment of the disclosed concept. As shown, the positions of a LiDAR sensor 1102 and a camera 1104 can be commanded by pose adjustment modules 1106 and 1108, respectively, which send relative travel directions and positions to travel direction estimators 1110, 1112, which send data to a target publisher 1114, which can then send data to a motion controller 1116 of the autonomous mobile robot. Accordingly, relative position adjustments of the LiDAR sensor 1102 and the camera 1104 correlate with more accurate data sent to the motion controller 1116, compared to typical AMRs, which may have sensors that are fixed with respect to the bodies to which they are mounted.

[0025] It is thus understood that the AMR processes point cloud data from the LiDAR sensor 1102 and the position of the LiDAR to determine the relative heading orientation between the AMR and the docking station. Additionally, the AMR processes the matrix barcode image and the pose of the camera 1104 to determine the relative position (i.e., x, y coordinates) with respect to the docking station. The estimated relative heading and position are used to determine an offset and a final position, and are also used as feedback for the motion controller 1116.

[0026] The processors 210, 1010 of the AMRs 200, 400, 700, 1000 can be a commercially available general-purpose processor, such as a processor from the Intel® or ARM® architecture families. The memories 220 of the AMRs 200, 400, 700, 1000 may be non-transitory computer-readable memory that stores program code and may include any one or a 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, electronically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), etc.).) include.

[0027] It is also understood in this document that procedures described in this document should always be implemented and / or performed in accordance with the user manual and safety guidelines.

[0028] In the foregoing disclosure, reference has been made to the accompanying drawings, which form a part hereof, and illustrate specific implementations in which the present disclosure may be practiced. It is understood that other implementations may be utilized and structural changes may be made without departing from the scope of the present disclosure. References in the specification to "one embodiment," "an exemplary embodiment," etc., indicate that the described embodiment may include a particular feature, structure, or characteristic, but not every embodiment necessarily includes that particular feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment.Furthermore, if a feature, structure, or characteristic is described in connection with one embodiment, those skilled in the art will recognize such a feature, structure, or characteristic in connection with other embodiments, whether or not explicitly described.

[0029] Furthermore, the functions described in this document may be performed in one or more of hardware, software, firmware, digital components, or analog components. Certain terms used throughout the specification and claims refer to specific system components. As one skilled in the art will understand, components may be referred to by other names. This document does not intend to distinguish between components that differ in name but not in function.

[0030] It is also understood that the word "example," as used in this document, is intended to be non-exclusive and non-limiting. More specifically, the word "example," as used in this document, indicates one of several examples, and it is understood that no undue emphasis or preference is placed on the specific example described.

[0031] With respect to the processes, systems, methods, heuristics, etc., described in this specification, it is understood that although the steps of such processes, etc., have been described as occurring according to a certain ordered sequence, such processes could be practically implemented such that the described steps are performed in an order that differs from the order described in this specification. Further, it is understood that certain steps could be performed concurrently, that other steps could be added, or that certain steps described in this specification could be omitted. In other words, the descriptions of processes in this specification are for the purpose of illustrating various embodiments and should in no way be construed to limit the claims.

[0032] Accordingly, it is to be understood that the foregoing description is intended to be illustrative and not restrictive. Many embodiments and applications other than the examples listed will become apparent from a reading of the foregoing description. The scope should be determined not by reference to the foregoing description, but instead by reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. It is anticipated and intended that there will be future developments in the art discussed herein, and that the disclosed systems and methods will be incorporated into such future embodiments. Overall, it is understood that the application is susceptible of modification and variation.

[0033] All terms used in the claims are intended to have their general meaning as known to one of ordinary skill in the art to which the technologies described in this specification apply, unless expressly stated otherwise herein. In particular, the use of the singular articles, such as "a," "an," "the," "the," "the," etc., is intended to refer to one or more of the specified elements, unless a claim expressly limits otherwise.Conditional language, such as, but not limited to, "may," "could," "may," or "may possibly," is generally intended to convey that certain embodiments may include certain features, elements, and / or steps, while other embodiments may not include them, unless specifically stated otherwise or clear from the particular context used. Thus, such conditional language is generally not intended to imply that features, elements, and / or steps are in any way required for one or more embodiments.

[0034] In one aspect of the invention, the method includes determining an offset position and a final position of the AMR with respect to the docking station based on the centered field of view, and wherein docking of the AMR to the docking station is performed using the offset and final positions.

[0035] In one aspect of the invention, the sensor is a first sensor, wherein the AMR further comprises a second sensor coupled to the mount and having a field of view, the method further comprising scanning the docking station with the second sensor, wherein moving the mount independently with respect to the body is further performed to center the field of view of the second sensor on the docking station, wherein the first sensor is a camera and wherein the second sensor is a LiDAR sensor.

[0036] In one aspect of the invention, the mount is a first mount, the AMR further comprising a second mount and a second sensor coupled to the second mount and having a field of view, the second mount being movably coupled to the body, the method further comprising scanning the docking station with the second sensor and moving the second mount independently with respect to the body to center the field of view of the second sensor on the docking station, the first sensor being a camera, the second sensor being a LiDAR sensor, and the first mount being spaced from the second mount.

[0037] In one aspect of the invention, the sensor is a camera, wherein the docking station comprises a structure having a barcode, and wherein moving the mount independently with respect to the body comprises centering the field of view on a center of the barcode.

[0038] In one aspect of the invention, the sensor is a LiDAR sensor, wherein the docking station comprises an element having a center point, and wherein moving the mount independently with respect to the body comprises centering the field of view on the center point.

Claims

[1] Docking system, comprising: a docking station; and an autonomous mobile robot (AMR) comprising: a body, a holder that is movably coupled to the body, a sensor coupled to the mount and having a field of view, a processor and a memory comprising instructions that, when executed by the processor, cause the processor to perform operations that include: Inserting the sensor to scan the docking station, Causing the mount to move independently with respect to the body to center the field of view on the docking station, and Docking the AMR to 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 operation comprising inserting the sensor to determine an offset position and a final position of the AMR with respect to the docking station based on the centered field of view, and wherein docking of the AMR to the docking station is performed using the offset and final positions. [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 mount and having a field of view, wherein the memory further comprises instructions that, when executed by the processor, cause the processor to perform the operation comprising deploying the second sensor to scan the docking station, and further causing the mount to move independently with respect to the body 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 mount is a first mount, the AMR further comprising a second mount and a second sensor coupled to the second mount and having a field of view, the second mount being movably coupled to the body, and the memory further comprising instructions that, when executed by the processor, cause the processor to perform operations that include deploying the second sensor to scan the docking station and causing the second mount to move independently with respect to the body 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. [7] Docking system according to claim 6, wherein the first bracket is spaced from the second bracket. [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 causing the mount to move independently with respect 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 center point, and wherein causing the mount to move independently with respect to the body comprises centering the field of view on the center point. [10] An autonomous mobile robot (AMR) configured to dock with a docking station, the AMR comprising: a body; a support movably coupled to the body; a sensor coupled to the mount and having a field of view; a processor; and a memory comprising instructions that, when executed by the processor, cause the processor to perform operations that include: Insert the sensor to scan the docking station, and Cause the mount to move independently relative to the body to center the field of view on the docking station. Docking the AMR to the docking station using the centered field of view. [11] The AMR of claim 10, wherein the sensor is a first sensor, the AMR further comprising a second sensor coupled to the mount and having a field of view, the memory further comprising instructions that, when executed by the processor, cause the processor to perform the operation comprising deploying the second sensor to scan the docking station, and further causing the mount to move independently with respect to the body 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 mount is a first mount, the AMR further comprising a second mount and a second sensor coupled to the second mount and having a field of view, the second mount being movably coupled to the body, and the memory further comprising instructions that, when executed by the processor, cause the processor to perform operations that include deploying the second sensor to scan the docking station and causing the second mount to move independently with respect to the body 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 from the second mount. [15] A method for docking an autonomous mobile robot (AMR) to a docking station, the method comprising: Providing the docking station; Providing the AMR with a body, a mount movably coupled to the body, and a sensor coupled to the mount and having a field of view; Scanning the docking station with the sensor; Moving the mount independently with respect to the body to center the field of view on the docking station; and Docking the AMR to the docking station using the centered field of view.

Images