US 12,479,099 B2
System and method for mapping features of a warehouse environment having improved workflow
Josip Ćesić, Zagreb (HR); Kruno Lenac, Zagreb (HR); Tonči Novković, Zagreb (HR); and Luka Pevec, Zagreb (HR)
Assigned to Gideon Brothers d.o.o., Osijek (HR)
Filed by Gideon Brothers d.o.o., Osijek (HR)
Filed on Nov. 15, 2023, as Appl. No. 18/510,136.
Claims priority of provisional application 63/425,333, filed on Nov. 15, 2022.
Prior Publication US 2024/0160223 A1, May 16, 2024
Int. Cl. B25J 9/16 (2006.01); G05D 1/246 (2024.01); G05D 1/646 (2024.01); G05D 1/69 (2024.01); G06V 10/82 (2022.01); G05D 105/80 (2024.01); G05D 107/70 (2024.01); G05D 111/10 (2024.01); G05D 111/63 (2024.01)
CPC B25J 9/1664 (2013.01) [B25J 9/161 (2013.01); B25J 9/162 (2013.01); G05D 1/2462 (2024.01); G05D 1/646 (2024.01); G05D 1/69 (2024.01); G06V 10/82 (2022.01); G05D 2105/87 (2024.01); G05D 2107/70 (2024.01); G05D 2111/10 (2024.01); G05D 2111/65 (2024.01)] 17 Claims
OG exemplary drawing
 
1. A mapping system comprising:
one or more processors;
a first robot, in communication with at least one of said one or more processors, and including one or more data capture sensors;
wherein said one or more processors are configured to;
support a mapping mode wherein said first robot is configured to be navigated through an environment to collect geospatial data using said one or more data capture sensors;
support a localization mode wherein a map generated from said geospatial data is employed to regulate movement of a plurality of robots;
execute a Frontend N block for reading and processing said geospatial data from said one or more data capture sensors of said robots;
store said data in a keyframe object at a keyframe database;
execute a Backend block capable of at least one selected from the group of detecting loop constraints, building submaps, and optimizing a pose graph using keyframe data from one or more trajectory blocks; and
execute a trimmer block configured to ensure that in said localization mode, memory usage remains constant.