Patent ID: 11904470
Assignee: DILIGENT ROBOTICS, INC.
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B

Claim 13:
14. A robotic device, comprising:
a base supported on a transport element;
a manipulating element coupled to the base and including an end effector;
a set of one or more sensors; and
a memory storing (1) a first plan cache including a first plurality of plans for triggering a first type of activation device for opening a first type of door, and (2) a second plan cache including a second plurality of plans for triggering a second type of activation device for opening a second type of door;
a processor operatively coupled to the base, the manipulating element, the set of sensors, and the memory, the processor configured to:
scan, using at least one sensor from the set of sensors, an environment near the robotic device;
identify, based on the scan of the environment, a marker associated with an activation device for opening a door;
determine a pose of the base and the end effector relative to the marker;
determine whether the activation device is of the first type of activation device or of the second type of activation device;
in response to the activation device being of the first type, select a plan from the first plan cache based on the pose of the base and the end effector;
in response to the activation device being of the second type, select a plan from the second plan cache based on the pose of the base and the end effector; and
execute the plan selected from the first plan cache or from the second plan cache.