Abstract: A method of calibrating a light-curtain system of an autonomous mobile robot (AMR) is provided. The method includes providing a scanner set at a height above a ground surface and outputting a laser scanning beam downwardly reflect from at least one mirror; providing and/or determining initial mirror angles, mirror positions, and lidar height; calculating a lidar height from scanner data; determining a gradient vector as a byproduct of the lidar height calculating; adjusting mirror angles, mirror positions, and lidar height in a direction opposite of the gradient vector; assessing of the adjusted mirror angles, mirror positions, and lidar height are equal to or less than thresholds; and if so, storing the mirror angles, mirror positions, and lidar height and/or values representing a ground plane.

Abstract: In accordance with one aspect of the inventive concepts, provided is an autonomous mobile robot (AMR), comprising: a pair of forks coupled to a carriage that is height adjustable within a mast; an object sensor coupled to the carriage and passively movable between a first position above the forks when the forks are lowered and a second position below the forks when the forks are raised, wherein the object sensor is configured to detect objects under the forks when the forks are raised.

Abstract: A vehicle charging system comprises at least one controller and at least one arm, each arm having a first end coupled to an actuator and a second end comprising a charging interface. The actuator is configured to articulate the arm into a charging position. The charging interface comprises at least one charging contact coupled to a power source and configured to engage and deliver power to a vehicle charging interface to charge at least one battery of a vehicle. The charging system can include a plurality of arms, each configured to charge a different vehicle. A method of charging one or more vehicles using the charging system is also provided.

Abstract: A transport vehicle, such as a vision guided vehicle, can comprise a drive portion constructed to facilitate movement of the transport vehicle and a load portion constructed to engage an object of interest. The load portion can comprise an object engagement apparatus and at least one sensor coupled to or disposed within a distal end of the object engagement apparatus, wherein the sensor can be at least a 2D sensor. The engagement apparatus can comprise forks, at least one fork having sensor coupled to or disposed within a fork tip. The 2D sensor can comprise a scanning LIDAR sensor arranged to collect information to identify a pickable pallet, for example.

Abstract: A loading frame includes a rectangular u-shaped frame with an opening at one side, forks extendable and retractable between the closed side and the open side of the U-shaped frame, loading frame wheels on one arm of the U-shaped frame, and a truck interface on the other arm of the U-shaped frame. The loading frame wheels and truck interface support travel of the frame in a direction other than the direction of travel of the forks between the open and closed sides of the U-shaped frame.

Abstract: A vehicle charging system comprises at least one controller and at least one arm, each arm having a first end coupled an actuator and a second end comprising a charging interface. The actuator is configured to articulate the arm into a charging position. The charging interface comprises at least one charging contact coupled to a power source and configured to engage and deliver power to a vehicle charging interface to charge at least one battery of a vehicle. The charging system can include a plurality of arms, each configured to charge a different vehicle. A method of charging one or more vehicles using the charging system is also provided.

Abstract: Dynamic allocation and coordination of auto-navigating vehicles uses robotic vehicles and centrally dispatched roaming order selectors to create a significantly more efficient, yet flexible, approach to picking goods within a warehouse. Robotic vehicles are configured to be loaded with goods from pick faces to fill orders. Each robotic vehicle follows a route that includes appropriate pick face locations. The robotic vehicles navigate from pick face to pick face where particular goods are located. Order selectors are dynamically and independently dispatched to meet the robotic vehicles at their pick face locations to load goods. Movement of the order selectors is orchestrated to increase efficiency in the order filling process within the warehouse.

Abstract: A loading frame includes a rectangular u-shaped frame with an opening at one side, forks extendable and retractable between the closed side and the open side of the U-shaped frame, loading frame wheels on one arm of the U-shaped frame, and a truck interface on the other arm of the U-shaped frame. The loading frame wheels and truck interface support travel of the frame in a direction other than the direction of travel of the forks between the open and closed sides of the U-shaped frame.

Abstract: A stereo camera system useful in, for example, range finding applications. The system is designed for simple manufacture and long term stability. It includes a thermally stable substrate onto which are mounted multiple imagers. The relative positions of the imagers and corresponding optical elements are maintained in precise alignment.

Abstract: A multi-plane scanner support system includes a bracket and a mirror block. The bracket is configured to be secured in a fixed orientation with respect to a scanner. And the mirror block is arranged to receive a scanning signal from the scanner and to reflect the scanning signal into a plurality of directions to create multiple scanning planes. The scanner can be a laser scanner. The scanner and multi-plane scanner support system can be attached to a material transport vehicle, for example, to provide safety functions. The vehicle can be manned or unmanned.

Abstract: In accordance with aspects of the present invention, a service robot, such as a robotic cleaner, can be configured to more effectively service an environment. The service robot can include one or more sensors that sense its location, the location of objects, or both, and can also include noise reduction elements. The service robot can determine that it is under a “furnishing” and implement a different servicing pattern.

Abstract: A robot-enabled method of picking cases in a warehouse is provided. A robotic vehicle includes a processor configured to access a memory, a user input device, an output device, and a load platform, and has access to an electronically stored representation of a warehouse. The representation includes a map that defines aisles for storing items arranged as pick faces within the warehouse. A pick list is generated from an order; the pick list provides identifications of items to be picked to fulfill the order. Determined from the pick list is a plurality of stops at pick faces associated with the items. A route within the map is generated that includes the plurality of stops. The robotic vehicle iteratively guides itself along the route and automatically stops at each of the plurality of stops to enable loading of the items from the pick list onto the load platform.

Abstract: A multi-plane scanner support system includes a bracket and a mirror block. The bracket is configured to be secured in a fixed orientation with respect to a scanner. And the mirror block is arranged to receive a scanning signal from the scanner and to reflect the scanning signal into a plurality of directions to create multiple scanning planes. The scanner can be a laser scanner. The scanner and multi-plane scanner support system can be attached to a material transport vehicle, for example, to provide safety functions. The vehicle can be manned or unmanned.

Abstract: In accordance with aspects of the present invention, a service robot and methods for controlling such a robot are provided. In particular, the robot is configured to sense the presence of a person and to take a next action in response to sensing the presence of the person. As examples, the robot could leave the area, await commands from the person, or enter an idle or sleep state or mode until the person leaves.

Abstract: A robot-enabled method of picking cases in a warehouse is provided. A robotic vehicle includes a processor configured to access a memory, a user input device, an output device, and a load platform, and has access to an electronically stored representation of a warehouse. The representation includes a map that defines aisles for storing items arranged as pick faces within the warehouse. A pick list is generated from an order; the pick list provides identifications of items to be picked to fulfill the order. Determined from the pick list is a plurality of stops at pick faces associated with the items. A route within the map is generated that includes the plurality of stops. The robotic vehicle iteratively guides itself along the route and automatically stops at each of the plurality of stops to enable loading of the items from the pick list onto the load platform.

Abstract: Provided is a tugger attachment apparatus configured for use with a pallet transport. The pallet transport has a front drive portion and a rear load portion having a pair of forks. The tugger attachment includes a body, a fork coupling member at a bottom side of the body that is configured to secure the body to the forks, and a hitch supported by the body. A linkage can be provided that opens and closes the hitch in response to raising and lowering of the forks of the pallet transport.

Abstract: In accordance with aspects of the present invention, a service robot, such as a robotic cleaner, can be configured to more effectively service an environment. The service robot can include one or more sensors that sense its location, the location of objects, or both, and can also include noise reduction elements. The service robot can determine that it is under a “furnishing” and implement a different servicing pattern.

Abstract: A system is provided that includes at least one manager and one or more robots configured to communicate wirelessly. The manager can include certain functions that generate data, instructions, or both used by one or more robots. The manager can also facilitate communications among several robots, or robots could also be configured to communicate directly.