Robotic cart configured for effective navigation and multi-orientation docking

Patent metadata

Field	Value
Publication number	US-11809173-B2
Application number	US-202017120104-A
Country	US
Kind code	B2
Filing date	Dec 11, 2020
Priority date	Apr 10, 2019
Publication date	Nov 7, 2023
Grant date	Nov 7, 2023

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:
a plurality of legs, at least one of the plurality of legs having an indicium disposed thereon;
at least one shelf attached to the legs;
a robotic dock attached to a bottom shelf of the cart; and

a robot comprising:
a sensor configured to recognize the indicium on the at least one leg; and
a docking module configured to secure the robot to the bottom shelf of the cart, wherein the robot is configured to determine an orientation of the cart for at least one of docking or undocking with the robotic dock by identifying a location of the at least one leg on the cart based on the indicium.

2. The system of claim 1 , wherein the robotic dock has a robotic dock height that is configured to approximately match a docking module height of the docking module.

3. The system of claim 1 , wherein the at least one shelf is removably attached to the at least one leg.

4. The system of claim 1 , wherein the cart comprises at least one substantially square shelf.

5. The system of claim 1 , wherein the robotic dock is attached to a bottom side of a bottom shelf.

6. The system of claim 1 , wherein the bottom shelf has a height greater than a height of the robot.

7. The system of claim 1 , wherein the indicium includes an IR signal detectable by the sensor.

8. The system of claim 1 , wherein the sensor comprises an infrared (IR) sensor.

9. The system of claim 1 , wherein the robot connects to the cart by entering an opening between any two adjacent legs.

10. The system of claim 1 , wherein the robot connects to the cart in each of four orthogonal configurations.

11. The system of claim 1 , wherein the robot connects to the cart in each of four orthogonal configurations with the cart in a same position.

12. The system of claim 1 , wherein the robot while carrying the cart is configured to change direction in a tight space, wherein a tight space is defined as a space having a dimension less than approximately 1.5 times a length of a cart side.

13. The system of claim 1 , wherein one or more of the robot and the cart is configured to efficiently transfer the cart in a tight space, wherein a tight space is defined as a space having a dimension less than approximately 1.5 times a length of a cart side.

14. The system of claim 1 , wherein one or more of the robot and the cart is configured so that the robot can turn around without having to rotate the cart.

15. The system of claim 1 , wherein the robot can disengage from the cart, turn, and then re-engage with the cart.

16. The system of claim 1 , the cart comprising four shelves.

17. The system of claim 16 , wherein the cart comprises four substantially square shelves.

18. The system of claim 1 , wherein the robot is symmetric about a central axis.

19. The system of claim 18 , wherein the robot has a horizontal cross section that is one of generally circular and generally square.

20. A method for efficient robotic reversal of direction while carrying a cart, comprising:
by a robot comprising a sensor, driving in a first direction while the robot is attached to the cart;
by the robot, stopping and detaching the robot from the cart;
by the robot, rotating under the cart to point the robot to travel in a second direction;
by the robot, securing the robot to a bottom shelf of the cart; and
by the robot, driving in the second direction while the robot is attached to the cart,
wherein the robot is configured to determine an orientation of the cart for at least one of docking or undocking with a robotic dock of the cart by identifying a location of at least one leg on the cart based on an indicium disposed on the at least one leg.

21. The method of claim 20 , the second direction comprising an approximate reverse of the first direction.

22. The method of claim 20 , the second direction comprising a direction at an approximately 90 degree angle to the first direction.

23. The method of claim 20 , wherein the step of driving in the first direction comprises driving to the end of a space.

24. The method of claim 20 , wherein the step of driving in the first direction comprises driving to the end of a tight space, wherein a tight space is defined as a space having a dimension less than approximately 1.5 times a length of the cart side.

25. The method of claim 20 , wherein the step of driving in the second direction comprises driving out of a tight space, wherein a tight space is defined as a space having a dimension less than approximately 1.5 times a length of the cart side.

26. The method of claim 20 , wherein the robot is symmetric about a central axis.

27. The method of claim 20 , wherein the robot has a horizontal cross section that is one of generally circular and generally square.

28. The method of claim 20 , wherein the cart comprises at least one substantially square shelf.

29. The method of claim 20 , wherein the cart comprises four substantially square shelves.

30. The method of claim 20 , wherein the robotic dock is attached to the bottom shelf.

31. The method of claim 20 , wherein the robotic dock is attached to a bottom side of the bottom shelf.

32. The method of claim 20 , wherein the robot while carrying the cart is configured to change direction in a tight space, wherein a tight space is defined as a space having a dimension less than approximately 1.5 times a length of the cart side.

33. The method of claim 20 , wherein one or more of the robot and the cart is configured to transfer the cart in a tight space, wherein a tight space is defined as a space having a dimension less than approximately 1.5 times a length of the cart side.

34. The method of claim 20 , wherein one or more of the robot and the cart is configured so that the robot can turn around without having to rotate the cart.

35. The method of claim 20 , wherein the robot can disengage from the cart, turn, and then re-engage with the cart.

36. A method in a mobile robot, the method comprising:
recognizing, by a sensor of the robot, an indicium disposed on at least one leg of a cart; and
determining an orientation of the cart for at least one of docking or undocking of the robot and the cart by identifying a location of the at least one leg on the cart based on the indicium.

37. The method of claim 36 , wherein the robot comprises a docking module, the docking module having retractable docking pins, each retractable docking pin configured, when extended upward, to mate with a corresponding docking receptacle of the cart, thereby securing the robot to a bottom shelf of the cart.

38. The method of claim 36 , further comprising:
driving, by the robot, in a direction while the robot is attached to a first cart;
detecting, by the robot, that the robot is in a location at an end of a line of second carts;
stopping, by the robot, at the location and detaching the robot from the first cart; and
driving, by the robot in a direction passing under the line of second carts.

39. The method of claim 36 , wherein the indicium includes an IR signal detectable by the sensor.

40. The method of claim 39 , wherein the IR signal uniquely identifies the at lea

Assignees

• Fetch Robotics Inc
• Zebra Tech Corp

Inventors

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

Classifications

• G05B19/41895 Primary

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

• B65G1/02

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

• B65G1/0492

  with cars adapted to travel in storage aisles · CPC title

• B65G1/1375

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

• B66F9/063

  Automatically guided · CPC title