ADAPTABLE CONTAINER HANDLING ROBOT WITH BOUNDARY SENSING SUBSYSTEM

• US 20110301757A1
• Filed: 05/04/2011
• Published: 12/08/2011
• Est. Priority Date: 02/21/2008
• Status: Abandoned Application

• Current Assignee: Harvest Automation, Inc.
• Original Assignee: Harvest Automation, Inc.
• Inventors: Jones, Joseph L., Comins, Todd, Vu, Clara, Gray, Larry, Grinnell, Charles M., Bush, Michael
• Application Number:
  US13/100,763
• Publication Number:
  US 20110301757A1
• Time in Patent Office: Days
• US Class Current: 700/258
• CPC Class Codes: A01G 9/088 Handling or transferring pots
• CPC Class Codes: A01G 9/143 Equipment for handling produce in greenhouses
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/162 Mobile manipulator, movable base with manipulator arm mounted on it
• CPC Class Codes: B25J 9/1684 Tracking a line or surface by means of sensors
• CPC Class Codes: B60L 15/38 with automatic control
• CPC Class Codes: B60L 2200/26 Rail vehicles
• CPC Class Codes: B60L 2200/40 Working vehicles
• CPC Class Codes: B60L 2200/44 Industrial trucks or floor conveyors
• CPC Class Codes: B60L 2260/32 Auto pilot mode
• CPC Class Codes: B60L 50/50 using propulsion power supplied by batteries or fuel cells
• CPC Class Codes: B60L 50/66 Arrangements of batteries
• CPC Class Codes: B65G 1/04 mechanical
• CPC Class Codes: B66F 9/063 Automatically guided
• CPC Class Codes: G05B 2219/39219 Trajectory tracking
• CPC Class Codes: G05B 2219/39387 Reflex control, follow movement, track face, work, hand, visual servoing
• CPC Class Codes: G05B 2219/40298 Manipulator on vehicle, wheels, mobile
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0244 using reflecting strips
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: Y02A 40/25 : Greenhouse technology, e.g. cooling systems therefor
• CPC Class Codes: Y02P 90/60 : Electric or hybrid propulsion means for production processes
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries

Abstract

An adaptable container handling robot includes a chassis, a container transport mechanism, a drive subsystem for maneuvering the chassis, a boundary sensing subsystem configured to reduce adverse effects of outdoor deployment, and a controller subsystem responsive to the boundary sensing subsystem. The controller subsystem is configured to detect a boundary, control the drive subsystem to turn in a given direction to align the robot with the boundary, and control the drive subsystem to follow the boundary.

Claims

1. An adaptable container handling robot comprising:

a chassis;

a container transport mechanism;

a drive subsystem for maneuvering the chassis;

a boundary sensing subsystem configured to reduce adverse effects of outdoor deployment; and

a controller subsystem responsive to the boundary sensing subsystem and configured to;

detect a boundary,

control the drive subsystem to turn in a given direction to align the robot with the boundary, and

control the drive subsystem to follow the boundary.

2. The robot of claim 1 wherein the boundary comprises a retro-reflective element.

3. The robot of claim 2 wherein the retro-reflective element comprises a tape, a rope, or a painted surface.

4. The robot of claim 1 wherein said boundary sensing subsystem includes at least one boundary sensing module including at least one source of radiation and at least one radiation detector for detecting radiation reflected by the boundary from the at least one source of radiation.

5. The robot of claim 4 wherein said boundary sensing subsystem includes a circuit configured to modulate the source of radiation.

6. The robot of claim 4 wherein said boundary sensing subsystem includes a circuit responsive to a signal output by the detector and configured to subtract detector current produced in response to sunlight from the detector signal.

7. The robot of claim 4 wherein said boundary sensing module includes two detectors and a shadow wall between the two detectors for shadowing one of the detectors to reduce its output signal relative to the other detector and wherein the controller subsystem is configured to detect the boundary based on the detector output signals.

8. The robot of claim 4 wherein said boundary sensing subsystem includes a circuit responsive to a signal output by the detector and configured to turn on the source, read the detector signal, turn off the source, read the detector signal, and subtract the two readings to remove ambient light from the detector signal.

9. The robot of claim 4 wherein said boundary sensing subsystem further comprises a mask structure positioned in front of the two detectors, said mask structure including two openings leading to the detectors to generally equalize fore/aft and lateral field views of the detectors.

10. The robot of claim 9 wherein the mask structure includes outer sidewalls and a center wall defining separate passages leading to each of the detectors from the openings.

11. The robot of claim 1 wherein said boundary comprises a retro-reflective element, and wherein said boundary sensing subsystem includes at least one boundary sensing module including first and second sources of radiation and a radiation detector, wherein said first source of radiation is located closer to the radiation detector than the second source of radiation, and wherein the first and second sources of radiation are alternately activated and the controller subsystem is configured to determine that the retro-reflective element is being sensed when a reflected signal detected by the radiation detector from the first radiation source is stronger than a reflected signal detected from the second radiation source.

12. The robot of claim 1 wherein the controller subsystem is further configured to calculate an angle of travel for the robot with respect to the boundary.

13. The robot of claim 12 wherein the controller subsystem is further configured to calculate an angle to turn the robot in order to follow the boundary.

14. The robot of claim 12 wherein the boundary sensing subsystem includes two front sensors and two rear sensors, and wherein the controller subsystem is configured to determine an angle of travel of the robot relative to the boundary based on the difference between the calculated distances from the two front sensors to the boundary during seek behavior or based on the difference between the calculated distances from a front sensor to the boundary and a back sensor to the boundary during follow behavior.

15. The robot of claim 1 wherein the controller subsystem is configured to track the robot'"'"'s position and orientation using the boundary as a reference.

16. The robot of claim 1 wherein the boundary includes a periodic pattern of reflective and non-reflective areas along the length thereof to enable the robot to judge distance traveled.

17. A method of operating an adaptable container handling robot in an outdoor environment, comprising the steps of:

providing a boundary outside on the ground;

maneuvering a robot equipped with a boundary sensing subsystem to;

detect the boundary,

turn in a given direction to align the robot with the boundary, and

follow the boundary; and

reducing adverse effects of outdoor boundary sensing and following.

18. The method of claim 17 wherein reducing adverse effects includes using retro-reflective material as the boundary.

19. The method of claim 17 wherein detecting the boundary includes irradiating the boundary using a radiation source and detecting light reflected off the boundary using a detector.

20. The method of claim 19 wherein reducing adverse effects of outdoor boundary sensing and following includes modulating the radiation source

21. The method of claim 19 wherein reducing adverse effects of outdoor boundary sensing and following includes subtracting detector current produced in response to sunlight from a signal output by the detector.

22. The method of claim 19 wherein detecting includes using two radiation detectors and reducing the adverse effects of outdoor boundary sensing and following includes shadowing one of the two detectors to reduce its output signal relative to the other detector and detecting the boundary based on the detector output signals.

23. The method of claim 19 wherein reducing adverse effects of boundary sensing and following includes turning on the radiation source, reading the detector signal, turning off the radiation source, reading the detector signal, and subtracting the two readings to remove ambient light from the detector signal.

24. The method of claim 17 wherein turning in the direction of the boundary includes calculating an angle of travel of the robot with respect to the boundary.

25. The method of claim 17 wherein turning in the direction of the boundary includes calculating an angle to turn the robot in order to follow the boundary.

26. The method of claim 17 wherein detecting includes using two radiation detectors and reducing the adverse effects of outdoor boundary sensing and following includes masking the detectors to generally equalize fore/aft and lateral field views of the detectors.

27. The method of claim 17 wherein detecting includes using first and second sources of radiation and a radiation detector, wherein said first source of radiation is located closer to the radiation detector than the second source of radiation, and wherein reducing the adverse effects of outdoor boundary sensing and following includes alternately activating the first and second sources of radiation and determining that the retro-reflective element is being sensed when a reflected signal detected by the radiation detector from the first radiation source is stronger than a reflected signal detected from the second radiation source.

28. The method of claim 17 wherein detecting includes using two front sensors and two rear sensors, and further comprising determining an angle of travel of the robot relative to the boundary based on the difference between the calculated distances from the two front sensors to the boundary during seek behavior or based on the difference between the calculated distances from a front sensor to the boundary and a back sensor to the boundary during follow behavior.

29. An adaptable container handling robot movable on a ground surface having a boundary including a pattern of tick marks, the robot comprising:

a chassis;

a container transport mechanism;

a drive subsystem for maneuvering the chassis;

a boundary sensing subsystem; and

a controller subsystem responsive to the boundary sensing subsystem and configured to detect and follow the boundary and to detect the pattern of tick marks while following the boundary to establish one or more reference points on the ground surface.

30. The robot of claim 29, wherein the one or more reference points specify a position of the robot on the ground surface.

31. The robot of claim 30, wherein the controller subsystem is further configured to broadcast the position of the robot to other robots in a given area to avoid collisions between robots.

32. The robot of claim 29, wherein the boundary sensing subsystem comprises one or more radiation sources and detectors, wherein the boundary comprises a retro-reflective material, and wherein the tick marks comprise non-reflective elements fixed on the retro-reflective material.

33. The robot of claim 29, wherein the controller subsystem is further configured to determine a distance traveled along the boundary by counting the number of tick marks passed by the robot.

34. A robot of claim 29, wherein the controller subsystem is further configured to determine container placement locations based on the reference points.

35. A method of operating a robot equipped with a boundary sensing subsystem, comprising the steps of:

providing a boundary on a ground surface, said boundary including a pattern of tick marks; and

maneuvering the robot to detect and follow the boundary and to detect the pattern of tick marks while following the boundary to establish one or more reference points on the ground surface.

36. The method of claim 35, wherein the one or more reference points specify a position of the robot on the ground surface.

37. The method of claim 36, further comprising broadcasting the position of the robot to other robots in a given area to avoid collisions between robots.

38. The method of claim 35, wherein the boundary sensing subsystem comprises one or more radiation sources and detectors, wherein the boundary comprises a retro-reflective material, and wherein the tick marks comprise non-reflective elements fixed on the retro-reflective material.

39. The method of claim 35, further comprising determining a distance traveled along the boundary by counting the number of tick marks passed by the robot.

40. A method of claim 35, further comprising determining container placement locations based on the reference points.