Systems and methods for robotic garbage container delivery

• US 10,481,607 B2
• Filed: 12/14/2016
• Issued: 11/19/2019
• Est. Priority Date: 12/14/2016
• Status: Active Grant

• Current Assignee: Alan Dumitras
• Original Assignee: Alan Dumitras
• Inventors: Dumitras, Alan
• Primary Examiner(s): Tran, Dalena
• Application Number:
  US15/378,459
• Publication Number:
  US 20180164828A1
• Time in Patent Office: 1,070 Days
• Field of Search: 700258, 180 651, 180167, 180168, 318580, 318587
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: B65F 1/00 Refuse receptacles; Accessories thereforcontainers not specially adapted for refuse, features of refuse receptacles of general interest B65D
• CPC Class Codes: B65F 1/1468 Means for facilitating the transport of the receptacle, e.g. wheels, rolls hand-operated refuse vehicles B65F3/005
• CPC Class Codes: B65F 2210/128 Data transmitting means
• CPC Class Codes: B65F 2210/1443 Electrical
• CPC Class Codes: B65F 2210/168 Sensing means
• CPC Class Codes: G01G 19/52 Weighing apparatus combined with other objects, e.g. furniture with walking sticks A45B3/08
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027

Abstract

A robotic garbage unit can include a garbage container, a robotic drive system, and sensors. The robotic garbage unit can determine a travel path and drive along the travel path to get to a garbage pickup location. The robotic garbage unit can detect a garbage pickup event based on garbage sensors. When a garbage pickup event is detected, the robotic garbage unit determines a travel path to a docking station and drives to the docking station. The robotic garbage unit can avoid obstructions while traveling by adjusting a travel path.

Claims

1. An apparatus comprising:

a garbage container comprising a bottom and four sides;

a robotic drive system configured to transport the garbage container;

at least one proximity detection sensor configured to sense a distance and a direction of objects within a proximity of the robotic drive system; and

at least one garbage sensor configured to determine a quantitative measurement of an amount of garbage in the garbage container based at least in part on a distance measurement between a first reference point for the garbage container and a second reference point associated with the amount of garbage.

2. The apparatus of claim 1, further comprising at least one positioning sensor configured to determine a position of the robotic drive system.

3. The apparatus of claim 2, wherein the position of the robotic drive system is at least one of:

a relative position of the robotic drive system in relation to a docking station or a global positioning location.

4. The apparatus of claim 1, wherein the at least one garbage sensor is further configured to determine a weight of the garbage in the garbage container.

5. The apparatus of claim 1, further comprising at least one computing device configured to at least:

determine a travel path for the robotic drive system to travel to a location designated for garbage pickup;

cause a first signal to be transmitted to open a garage door;

cause the robotic drive system to transport the garbage container to be proximate to the first location; and

cause a second signal to be transmitted to close the garage door.

6. The apparatus of claim 5, further comprising the at least one computing device configured to at least:

detect, via the at least one garbage sensor, that the amount of garbage in the garbage container has been reduced;

determine a second location of a docking station;

determine a second travel path for the robotic drive system to travel to the second location;

cause the robotic drive system to transport the garbage container to be proximate to the second location; and

cause the robotic drive system to electrically couple with the docking station.

7. A system, comprising:

a robotic drive system; and

at least one computing device communicably connected to the robotic drive system, the at least one computing device being configured to at least;

cause the robotic drive system to transport a garbage container to be proximate to a first location, the first location being designated for garbage pickup on a predefined frequency;

detect, via at least one garbage sensor, that an amount of garbage in the garbage container has been reduced based at least in part on a distance measurement between a first reference point for the garbage container and a second reference point associated with the amount of garbage;

in response to detecting the amount of garbage is reduced, determine a second location of a docking station;

cause the robotic drive system to transport the garbage container to be proximate to the second location; and

cause the robotic drive system to electrically couple with the docking station.

8. The system of claim 7, wherein the robotic drive system further comprises a clamping mechanism to attach to the garbage container.

9. The system of claim 7, wherein the at least one computing device is further configured to at least determine a travel path for the robotic drive system to travel to the first location, wherein the robotic drive system travels the travel path to be proximate to the first location.

10. The system of claim 9, wherein the at least one computing device is further configured to:

detect, via a proximity sensor, an obstruction along the travel path; and

modify the travel path to avoid the obstruction.

11. The system of claim 9, wherein the at least one computing device is further configured to:

determine that an unobstructed travel path to the first location is unavailable; and

disable operation of the robotic drive system.

12. The system of claim 7, wherein the at least one computing device is further configured to at least determine a travel path for the robotic drive system to travel to the second location.

13. The system of claim 7, wherein the at least one computing device is further configured to:

cause a first signal to be transmitted to open a garage door; and

cause a second signal to be transmitted to close the garage door.

14. A method, comprising:

detecting a garbage pickup event based at least in part on a detection, via a garbage sensor, of a change of a level of garbage in a garbage container with respect to a reference point on the garbage container;

identifying a first location of a robotic drive system;

identifying a second location of a robotic docking station;

generating a travel path to travel from the first location to the second location;

in response to detecting the garbage pickup event, transporting, via the robotic drive system, the garbage container along the travel path;

determining that the robotic drive system is proximate to the robotic docking station; and

initiating a docking sequence to electrically couple the robotic drive system with the robotic docking station.

15. The method of claim 14, wherein the docking sequence comprises:

positioning the robotic drive system on a docking side of the robotic docking station;

aligning a coupling connector of the robotic drive system with a docking port of the robotic docking station;

transporting the robotic drive system to move the coupling connector in a direction of the docking port; and

connecting the coupling connector with the docking port.

16. The method of claim 14, further comprising;

detecting, via a proximity sensor, an obstruction along the travel path; and

adjusting, via the robotic drive system, the travel path to avoid the obstruction.

17. The method of claim 16, wherein the travel path is adjusted based at least in part on a plurality of measurements from the proximity sensor while traveling to avoid the obstruction.

18. The method of claim 14, further comprising:

determining that a second garbage pickup event is scheduled within a threshold period of time;

undocking the robotic drive system from the robotic docking station;

generating a second travel path from the second location to the first location; and

transporting the robotic drive system and the garbage container to the first location along the second travel path.

19. The method of claim 14, wherein detecting the garbage pickup event further comprising detecting, via the garbage sensor, that an amount of garbage in the garbage container has been reduced.

20. The method of claim 14, further comprising charging a battery on the robotic drive system via an electrical connection to the robotic docking station.