Robotic cart pulling vehicle
First Claim
Patent Images
1. A robotic cart pulling vehicle, comprising:
- a body;
a first drive wheel connected to the body;
a second drive wheel connected to the body, wherein;
at least one of the first and second drive wheels comprises a hardened annular disk having a urethane coating formed thereover;
a width of a contact patch of the first drive wheel is less than 1.5% of a distance from the first drive wheel to the second drive wheel; and
a center of the first drive wheel and a center of the second drive wheel define an axis therebetween; and
a cart attachment mechanism defined at least in part by the body, wherein;
the cart attachment mechanism is centered between the first and second drive wheels;
the cart attachment mechanism intersects the axis; and
at least a portion of the cart attachment mechanism is below the axis.
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Abstract
A robotic cart pulling vehicle includes a positioning error reducing system for reducing accumulated error in the ded-reckoning navigational system. The positioning error reducing system including at least one of a low load transfer point of the cart attaching mechanism, a floor variation compliance structure whereby the drive wheels maintain a substantially even distribution of load over minor surface variations, a minimal wheel contact surface structure, a calibration structure using at least one proximity sensor mounted on the robot body, and a common electrical and mechanical connection between the cart and the robot vehicle formed by a cart attaching post.
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Citations
13 Claims
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1. A robotic cart pulling vehicle, comprising:
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a body; a first drive wheel connected to the body; a second drive wheel connected to the body, wherein; at least one of the first and second drive wheels comprises a hardened annular disk having a urethane coating formed thereover; a width of a contact patch of the first drive wheel is less than 1.5% of a distance from the first drive wheel to the second drive wheel; and a center of the first drive wheel and a center of the second drive wheel define an axis therebetween; and a cart attachment mechanism defined at least in part by the body, wherein; the cart attachment mechanism is centered between the first and second drive wheels; the cart attachment mechanism intersects the axis; and at least a portion of the cart attachment mechanism is below the axis. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system, comprising:
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a robotic cart pulling vehicle, wherein the robotic cart pulling vehicle comprises; a body; a first drive wheel connected to the body; a second drive wheel connected to the body, wherein a center of the first drive wheel and a center of the second drive wheel define an axis therebetween; and a cart attachment mechanism defined at least in part by the body, wherein; the cart attachment mechanism is centered between the first and second drive wheels; the cart attachment mechanism intersects the axis; and at least a portion of the cart attachment mechanism is below the axis; and a cart attaching post positioned within the cart attachment mechanism. - View Dependent Claims (10, 11, 12, 13)
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Specification