Mobile robot with conveyor system

• US 10,437,255 B1
• Filed: 08/14/2018
• Issued: 10/08/2019
• Est. Priority Date: 10/29/2015
• Status: Active Grant

• Current Assignee: Vecna Robotics, Inc.
• Original Assignee: Vecna Robotics, Inc.
• Inventors: Theobald, Daniel
• Primary Examiner(s): Bidwell, James R
• Application Number:
  US16/103,312
• Time in Patent Office: 420 Days
• Field of Search: 1984633, 19846801, 414351, 414353, 414395, 414398, 414400, 414279, 414280
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: B25J 9/0093 co-operating with conveyor means
• CPC Class Codes: B65G 41/006 with the conveyor not adjustably mounted on the supporting frame or base
• CPC Class Codes: B65G 41/008 frames mounted on wheels or caterpillar for movement on rail tracks B65G41/02
• CPC Class Codes: B65G 47/52 Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices loading or unloading by means not incorporated in, or not operatively associated with, conveyors B65G65/00; transfer of workpieces during metal rolling B21B41/00
• CPC Class Codes: B65G 47/61 for articles
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0268 using internal positioning means
• CPC Class Codes: G05D 1/0282 generated in a local control room
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A mobile robot is provided for use in an operating environment. The mobile robot may include a mobile robot base, a conveyor system and a drive system. The conveyor system may be supported by the mobile robot base. The conveyor system may include a conveyor belt configured to receive an item with the mobile robot and/or provide the item from the mobile robot. The conveyor system may be configured to support the item during movement of the mobile robot within the operating environment. The drive system may be arranged with the mobile robot base. The drive system may be configured to move the mobile robot within the operating environment and position the conveyor system such that the conveyor belt is operable to receive the item with the mobile robot and/or provide the item from the mobile robot.

Claims

1. A system comprising:

a first conveyor belt system for receiving, supporting and transporting items from an entry point in a facility to at least a destination point in the facility;

an autonomous mobile robot capable of independently moving to any location within the facility without a need for any additional physical or mechanical infrastructure or guide wires, the autonomous mobile robot comprising a second conveyor belt system operative to be positioned to a position proximate the destination point in the facility proximate to the first conveyor belt system for readily accepting the items from the first conveyor belt system onto the second conveyor belt system and supporting the items on the second conveyor belt system; and

a controller in communication with one or more of the first conveyor belt system, the autonomous mobile robot, and the second conveyor belt system, wherein the controller is configured to perform operations comprising;

(1) identifying a particular item being moved by the first conveyor belt system between the entry point and the destination point;

(2) identifying at least a third location from a plurality of additional locations within the facility to which the autonomous mobile robot is to transport the particular item;

(3) positioning the second conveyor belt system via the autonomous mobile robot to a position proximate to the first conveyor belt system as the particular item is approaching the destination point of the first conveyor belt system;

(4) advancing the first conveyor belt system as well as the second conveyor belt system at particular speeds and distances to enable the particular item to be safely transferred from the first conveyor belt system to the second conveyor belt system; and

(5) transporting the particular item via the autonomous mobile robot to the third location.

2. The system as defined in claim 1, further comprising the controller being configured to autonomously activate the second conveyor belt system at the third location to safely unload the item from the second conveyor belt system.

3. The system as defined in claim 1, wherein a height of the second conveyor belt system is adjustable to vertically line up with at least the first conveyor belt system, wherein the controller is further configured to perform operations comprising:

autonomously adjusting the height of the second conveyor belt system to match a height of the first conveyor belt system to enable safe transfer of the item from the first conveyor belt system to the second conveyor belt system.

4. The system as defined in claim 1, wherein the second conveyor belt system accommodates at least two items at a time, wherein the controller is configured to perform operations comprising:

positioning the second conveyor belt system to accept a second item after it already has a first item thereon; and

moving the autonomous mobile robot to a first location to unload one item from the second conveyor belt system and thereafter moving the autonomous mobile robot to a second location to unload the second item from the second conveyor belt system.

5. A method comprising:

receiving and transporting items on a first conveyor belt system from an entry point in a facility to at least a destination point in the facility;

identifying, via a controller, a particular item being moved by the first conveyor belt system between the entry point and the destination point;

identifying, via the controller, at least a third location from a plurality of additional locations within the facility to which an autonomous mobile robot is to transport the particular item, wherein the autonomous mobile robot independently moves to any location within the facility without a need for any additional physical or mechanical infrastructure or guide wires, the autonomous mobile robot comprising a second conveyor belt system operative to be positioned to a position proximate the destination point in the facility proximate to the first conveyor belt system for readily accepting the items from the first conveyor belt system onto the second conveyor belt system and supporting the items on the second conveyor belt system;

positioning the second conveyor belt system via the autonomous mobile robot to a position proximate to the first conveyor belt system as the particular item is approaching the destination point of the first conveyor belt system;

advancing the first conveyor belt system as well as the second conveyor belt system at particular speeds and distances to enable the particular item to be safely transferred from the first conveyor belt system to the second conveyor belt system; and

transporting the particular item via the autonomous mobile robot to the third location.

6. The method as defined in claim 5, further comprising autonomously activating the second conveyor belt system at the third location to safely unload the item from the second conveyor belt system.

7. The method as defined in claim 5, wherein a height of the second conveyor belt system is adjustable to vertically line up with at least the first conveyor belt system, wherein method further comprises:

autonomously adjusting the height of the second conveyor belt system to match a height of the first conveyor belt system to enable safe transfer of the item from the first conveyor belt system to the second conveyor belt system.

8. The method as defined in claim 7, wherein the second conveyor belt system accommodates at least two items at a time, wherein the method further comprises:

positioning the second conveyor belt system to accept a second item after it already has a first item thereon; and

moving the autonomous mobile robot to a first location to unload one item from the second conveyor belt system and thereafter moving the autonomous mobile robot to a second location to unload the second item from the second conveyor belt system.