Dual function robot and storage bin

• US 10,011,208 B2
• Filed: 12/30/2015
• Issued: 07/03/2018
• Est. Priority Date: 02/25/2015
• Status: Active Grant

• Current Assignee: Tennibot Inc.
• Original Assignee: Tennibot Inc.
• Inventors: Eletrabi, Haitham
• Primary Examiner(s): SNELTING, JONATHAN D
• Application Number:
  US14/985,020
• Publication Number:
  US 20160243970A1
• Time in Patent Office: 916 Days
• Field of Search: 414468
• CPC Class Codes: A63B 47/021 for picking-up automatically, e.g. by apparatus moving over the playing surface
• CPC Class Codes: B60P 1/00 Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading vehicles for carrying harvested crops with means for self-loading or self-unloading A01D90/00; peculiar to refuse collecting-vehicles B65F; loading or unloading vehicles by means not incorporated therein B65G
• CPC Class Codes: B60P 3/00 Vehicles adapted to transport, to carry or to comprise special loads or objects ambulances or other vehicles with special provisions for transporting patients or disabled persons, or their personal conveyances A61G3/00; hearses A61G21/00; fire-fighting land vehicles A62C27/00; refuse-collecting vehicles B65F3/00, B65F7/00; snow-removing vehicles E01H; armoured or armed vehicles F41H7/00; self-propelled mine-clearing vehicles F41H11/16
• CPC Class Codes: G05D 1/0891 specially adapted for land vehicles
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A dual functional robot for collecting rollable objects capable of a stable upright position and a stable horizontal position, in which the robot includes a way to propelling the robot; a way to controlling propulsion of the robot connected to provide commands to the means for propelling; a way to locating the rollable object connected to provide data to the way to controlling propulsion; means for collecting the rollable object; a way to storing the rollable object positioned to accept the rollable object from the way to collecting; a way to supporting the robot and allowing the robot to move across a surface in a low-friction manner; and a way to stably reorienting the robot from the horizontal position into the upright position.

Claims

1. A robot for collecting a rollable object capable of a stable upright position and a stable horizontal position, said robot comprising:

(a) a center of mass, a front end, a rear end, a midpoint, and a first axis of rotation, wherein the center of mass is between the front end and the midpoint, and the first axis of rotation is an axis about which the robot rotates when tilted between the upright position and the horizontal position, wherein the front end has a bottom surface, and wherein the bottom surface has a clearance distance (C) at every distance (h) in front of the first axis of rotation, such that C≥

h+r*[1−

sqrt(2)] when the robot is in the horizontal position;

(b) a first load-bearing wheel capable of supporting the robot forward of the midpoint, having a radius (r), positioned so that the robot may be rotated at least 45°

from the horizontal position along the first axis of rotation without the front end coming into contact with the ground, and having a second axis of rotation that is coaxial with the first axis of rotation;

(c) a mobile load-bearing support structure capable of supporting the robot rearward of the midpoint while in the horizontal position;

(d) a drive motor providing rotation to a drive wheel;

(e) an energy source providing energy to the drive motor;

(f) a rotating collector proximate to the front end;

(g) a holding basket having a first basket position, in which said holding basket is positioned to receive the rollable object from the rotating collector while in the horizontal position and in the first basket position;

(h) a controller connected to provide control signals to the drive motor; and

(i) a sensor connected to provide data to the controller.

2. The robot of claim 1, wherein the sensor is a visual sensor.

3. The robot of claim 2, comprising a pair of visual sensors positioned to provide overlapping fields of view.

4. The robot of claim 1, wherein the mobile load-bearing support structure is a second load-bearing wheel.

5. The robot of claim 1, comprising a load-bearing support structure proximate to the front end, and positioned to contact the ground when the robot is in the upright position.

6. The robot of claim 1, comprising a retractable strut having a retracted strut position and an extended strut position, the retractable strut being of sufficient length to contact the ground when the robot is in the upright position and the retractable strut is in the extended strut position.

7. The robot of claim 6, wherein the retractable strut is a kickstand.

8. The robot of claim 6, wherein the retractable strut is a folding leg.

9. The robot of claim 1, comprising an extendable chassis having an extended chassis position and a retracted chassis position.

10. The robot of claim 9, wherein the extendable chassis comprises a telescoping member.

11. The robot of claim 9, wherein the holding basket is moveably connected to the extendable chassis to allow the holding basket to be moved toward the rear end when the extendable chassis is in the extended chassis position.

12. The robot of claim 9, wherein the holding basket is moveably connected to the extendable chassis to allow the holding basket to be moved toward the rear end when the extendable chassis is in the extended chassis position, such that the holding basket assumes a second holding basket position at least about 80 cm from the ground when the robot is in the upright position.

13. The robot of claim 1, comprising a chassis running from approximately the front end to approximately the rear end, and wherein the holding basket is slidably attached to the chassis to allow the holding basket to be slid into a second holding basket position proximate to the rear end, such that the holding basket assumes the second holding basket position at least 80 cm from the ground when the robot is in the upright position.

14. The robot of claim 1, comprising a ramp positioned to receive the rollable object from the rotating collector and guide the rollable object to the holding basket.

19. A method of collecting a plurality of rollable objects, the method comprising:

(a) providing a robot as in claim 1;

(b) geofencing a collection area to establish boundaries of the collection area;

(c) instructing the controller to scan the collection area with the sensor;

(d) querying the sensor as to whether one of the plurality of rollable objects has been located;

(e) determining whether said one of the plurality of rollable objects is located within the boundaries of the collection area; and

(f) if said one of the plurality of rollable objects is located within the boundaries of the collection area, instructing the controller to direct the robot to said one of the plurality of rollable objects and collect said one of the plurality of rollable objects, and if not instructing the controller to continue scanning the collection area with the sensor.

15. A robot for collecting a rollable object and capable of assuming a stable upright position and a stable horizontal position, the robot comprising:

(a) means for propelling the robot;

(b) means for controlling propulsion of the robot connected to provide commands to the means for propelling;

(c) means for locating the rollable object connected to provide data to the means for controlling propulsion;

(d) means for collecting the rollable object;

(e) means for storing the rollable object positioned to accept the rollable object from the means for collecting;

(t) means for supporting the robot and allowing the robot to move across a surface in a low-friction manner; and

(g) means for stably reorienting the robot from the horizontal position into the upright position, wherein said means for stably reorienting the robot is a load-bearing wheel having an axis of rotation about which the wheel rotates and about which the robot rotates at least 45°

while the wheel is in contact with the ground when tilted between the upright position and the horizontal position.

16. The robot of claim 15, the robot having a center of mass, a front end, a rear end, and a midpoint, wherein the center of mass is between the front end and the midpoint.

17. The robot of claim 15, comprising means to reversibly extend the height of the robot when the robot is in the upright position.

18. The robot of claim 15, comprising means to elevate the means for storing when the robot is in the upright position.