Robotic cart configured for effective navigation and multi-orientation docking

Patent metadata

Field	Value
Publication number	US-10908601-B2
Application number	US-201916380892-A
Country	US
Kind code	B2
Filing date	Apr 10, 2019
Priority date	Apr 10, 2019
Publication date	Feb 2, 2021
Grant date	Feb 2, 2021

Abstract

A system includes: a cart including: four legs; at least one shelf, each shelf attached to each of the legs; the cart having a generally rectangular shape, a width of the cart being longer than a length of the robot, a length of the cart being longer than a length of the robot; four wheels, each wheel attached to a different leg at a bottom of the leg, the wheels configured to roll to facilitate movement of the cart; and a robotic dock, the robotic dock comprising four docking receptacles at ninety degree angles from adjacent docking receptacles; and a robot comprising: a sensor; and a docking module, the docking module comprising retractable docking pins, each retractable docking pin configured, when extended upward, to mate with a corresponding docking receptacle, thereby securing the robot to a bottom shelf of the cart.

First claim

What is claimed is:

1. A system comprising:
a cart comprising:
four legs;
at least one shelf, each shelf attached to each of the legs;
the cart having a generally rectangular shape, a width of the cart being longer than a length of a robot, a length of the cart being longer than a length of the robot;
four wheels, each wheel attached to a different leg at a bottom of the leg, the wheels configured to roll to facilitate movement of the cart; and
a robotic dock, the robotic dock comprising four docking receptacles at ninety degree angles from adjacent docking receptacles; and
a robot comprising:
a sensor; and
a docking module, the docking module comprising retractable docking pins, each retractable docking pin configured, when extended upward, to mate with a corresponding docking receptacle, thereby securing the robot to a bottom shelf of the cart, at least one leg of the cart further comprising a band.

2. A system comprising:
a cart comprising:
four legs;
at least one shelf, each shelf attached to each of the legs;
the cart having a generally rectangular shape, a width of the cart being longer than a length of a robot, a length of the cart being longer than a length of the robot;
four wheels, each wheel attached to a different leg at a bottom of the leg, the wheels configured to roll to facilitate movement of the cart; and
a robotic dock, the robotic dock comprising four docking receptacles at ninety degree angles from adjacent docking receptacles; and
a robot comprising:
a sensor; and
a docking module, the docking module comprising retractable docking pins, each retractable docking pin configured, when extended upward, to mate with a corresponding docking receptacle, thereby securing the robot to a bottom shelf of the cart, wherein a distinguishing band on the cart leg allows a user to designate a preferred orientation for the robot to attach to or drop off the cart.

3. A system comprising:
a cart comprising:
four legs;
at least one shelf, each shelf attached to each of the legs;
the cart having a generally rectangular shape, a width of the cart being longer than a length of a robot, a length of the cart being longer than a length of the robot;
four wheels, each wheel attached to a different leg at a bottom of the leg, the wheels configured to roll to facilitate movement of the cart; and
a robotic dock, the robotic dock comprising four docking receptacles at ninety degree angles from adjacent docking receptacles; and
a robot comprising:
a sensor; and
a docking module, the docking module comprising retractable docking pins, each retractable docking pin configured, when extended upward, to mate with a corresponding docking receptacle, thereby securing the robot to a bottom shelf of the cart, at least one leg of the cart further comprising a band, wherein the band is configured to distinguish the leg from at least one of the other legs.

4. A system comprising:
a cart comprising:
four legs;
at least one shelf, each shelf attached to each of the legs;
the cart having a generally rectangular shape, a width of the cart being longer than a length of a robot, a length of the cart being longer than a length of the robot;
four wheels, each wheel attached to a different leg at a bottom of the leg, the wheels configured to roll to facilitate movement of the cart; and
a robotic dock, the robotic dock comprising four docking receptacles at ninety degree angles from adjacent docking receptacles; and
a robot comprising:
a sensor; and
a docking module, the docking module comprising retractable docking pins, each retractable docking pin configured, when extended upward, to mate with a corresponding docking receptacle, thereby securing the robot to a bottom shelf of the cart, at least one leg of the cart further comprising a band, wherein the band is configured to distinguish the leg from at least one of the other legs, wherein the band has a different property from at least one other band.

5. A system comprising:
a cart comprising:
four legs;
at least one shelf, each shelf attached to each of the legs;
the cart having a generally rectangular shape, a width of the cart being longer than a length of a robot, a length of the cart being longer than a length of the robot;
four wheels, each wheel attached to a different leg at a bottom of the leg, the wheels configured to roll to facilitate movement of the cart; and
a robotic dock, the robotic dock comprising four docking receptacles at ninety degree angles from adjacent docking receptacles; and
a robot comprising:
a sensor; and
a docking module, the docking module comprising retractable docking pins, each retractable docking pin configured, when extended upward, to mate with a corresponding docking receptacle, thereby securing the robot to a bottom shelf of the cart, at least one leg of the cart further comprising a band, wherein the band is configured to distinguish the leg from at least one of the other legs, wherein the band has a different property from at least one other band, wherein the different property comprises a different band signal.

6. A system comprising:
a cart comprising:
four legs;
at least one shelf, each shelf attached to each of the legs;
the cart having a generally rectangular shape, a width of the cart being longer than a length of a robot, a length of the cart being longer than a length of the robot;
four wheels, each wheel attached to a different leg at a bottom of the leg, the wheels configured to roll to facilitate movement of the cart; and
a robotic dock, the robotic dock comprising four docking receptacles at ninety degree angles from adjacent docking receptacles; and
a robot comprising:
a sensor; and
a docking module, the docking module comprising retractable docking pins, each retractable docking pin configured, when extended upward, to mate with a corresponding docking receptacle, thereby securing the robot to a bottom shelf of the cart, at least one leg of the cart further comprising a band, wherein the band is configured to distinguish the leg from at least one of the other legs, wherein the band has a different property from at least one other band, wherein the different property comprises a different band signal, wherein the different band signal comprises a different infrared (IR) signal.

7. A system comprising:
a cart comprising:
four legs;
at least one shelf, each shelf attached to each of the legs;
the cart having a generally rectangular shape, a width of the cart being longer than a length of a robot, a length of the cart being longer than a length of the robot;
four wheels, each wheel attached to a different leg at a bottom of the leg, the wheels configured to roll to facilitate movement of the cart; and
a robotic dock, the robotic dock comprising four docking receptacles at ninety degree angles from adjacent docking receptacles; and
a robot comprising:
a sensor; and
a docking module, the docking module comprising retractable docking pins, each retractable docking pin configured, when extended upward, to mate with a corresponding docking receptacle, thereby securing the robot to a bottom shelf of the cart, at least one leg of the cart further comprising a band, wherein the band is configured to distinguish the leg from at least one of the other legs, wherein the band has a different property from at least one other band, wherein the different property comprises a different band signal, wherein the different band signal comprises a different infrared (IR) signal, wherein the IR signal is detected by the robotic sensor, wherein the band is usable to detect an orientation of the cart.

Assignees

• Fetch Robotics Inc

Inventors

• Diehr Eric
• Cairl Brian
• Elliott Sarah
• Avagyan Levon
• Bhargava Rohan
• Toris Russell
• Stewart Iii John W
• King Derek
• Wise Melonee
• Arora Niharika

Classifications

• G06Q10/08

  Logistics, e.g. warehousing, loading or distribution; Inventory or stock management · CPC title

• G05B19/41895 Primary

  using automatic guided vehicles [AGV] (control of position or course of AGV's G05D1/00) · CPC title

• B66F9/063

  Automatically guided · CPC title

• B65G1/1375

  the orders being assembled on a commissioning stacker-crane or truck · CPC title

• B65G1/02

  Storage devices (furniture A47B; shop fittings A47F) · CPC title