Robotic ordering and delivery apparatuses, systems and methods

• US 8,204,624 B2
• Filed: 02/15/2011
• Issued: 06/19/2012
• Est. Priority Date: 10/14/2005
• Status: Expired due to Term

• Current Assignee: St Engineering Aethon Incorporated
• Original Assignee: Aethon
• Inventors: Zini, Aldo, Allen, Spencer Wayne, Skirble, Barry Mark, Thorne, Henry F, Fairley, Stuart
• Primary Examiner(s): Nguyen, Kim T
• Application Number:
  US13/027,861
• Publication Number:
  US 20110137457A1
• Time in Patent Office: 490 Days
• Field of Search: 700/245, 700/247, 700/258, 180/21, 180/168, 180/169, 318/568.11, 318/568.12, 318/568.16, 318/587, 318/628
• US Class Current: 700/245
• CPC Class Codes: G05B 19/41895 using automatic guided vehicles [AGV] control of position or course of AGV's G05D1/00
• CPC Class Codes: G05B 2219/31003 Supervise route, reserve route and allocate route to vehicle, avoid collision
• CPC Class Codes: G05B 2219/31006 Monitoring of vehicle
• CPC Class Codes: G05B 2219/31007 Floor plan, map stored in on-board computer of vehicle
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: G06K 19/0723 the record carrier comprising an arrangement for non-contact communication, e.g. wireless communication circuits on transponder cards, non-contact smart cards or RFIDs
• CPC Class Codes: G06K 7/0008 General problems related to the reading of electronic memory record carriers, independent of its reading method, e.g. power transfer
• CPC Class Codes: G06Q 10/087 Inventory or stock management, e.g. order filling, procurement or balancing against orders
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
• CPC Class Codes: Y02P 90/60 Electric or hybrid propulsion means for production processes
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/46 : Sensing device

Abstract

Systems, methods and devices for the automated retrieval/delivery of goods from one location to another using a robotic device such as a tug and accompanying cart. A computer within the tug/cart stores a map of the building floor plan and intended paths for the tug to take when traversing from one location to the next. During the delivery, a variety of different sensors and scanners gather data that is used to avoid obstacles and/or continuously adjust the movement of the tug in order to more closely follow the intended path. The system preferably includes wireless networks that allow one or more tugs to communicate with a tug base station, a primary network located at the site of the delivery and a remote host center that monitors the status and data collected by the tugs.

Claims

1. A method, comprising:

at a robotic device,

receiving a destination for the robotic device from an external source;

utilizing a map stored onboard the robotic device to determine one or more x,y coordinates positioned on a predetermined path from the robotic device to the destination, wherein the map includes the predetermined path;

rotating a first drive wheel at a first velocity and a second drive wheel at a second velocity to move the robotic device toward a location corresponding to at least one of the one or more x,y coordinates; and

changing one or more of the following based on information gathered by one or more onboard sensors;

at least one of the one or more x, y coordinates;

the first velocity; and

the second velocity.

2. The method of claim 1, wherein receiving the destination comprises receiving a final destination.

3. The method of claim 1, wherein receiving the destination comprises receiving an intermediate destination.

4. The method of claim 1, wherein receiving the destination comprises receiving an x,y coordinate from the external source.

5. The method of claim 1, wherein utilizing the map comprises utilizing a scaled map.

6. The method of claim 1, wherein utilizing the map comprises utilizing a bitmap.

7. The method of claim 1, wherein the first velocity is equal to the second velocity.

8. The method of claim 1, wherein the first velocity is different from the second velocity.

9. The method of claim 1, further comprising, at the robotic device, continuously determining a position of the robotic device based on the information gathered by one or more onboard sensors.

10. The method of claim 1, further comprising:

sending a request from the robotic device to use an elevator; and

controlling the elevator via the robotic device.

11. The method of claim 10, wherein sending the request comprises sending a request to use a passenger elevator.

12. The method of claim 10, wherein controlling the elevator comprises:

utilizing an elevator control box in communication with the robotic device to;

remove the elevator cabin from a hall call loop;

complete all cabin call requests; and

send the elevator to a floor requested by the robotic device.

13. The method of claim 12, wherein controlling the elevator comprises:

utilizing the elevator control box to control a plurality of elevators.

14. The method of claim 12, further comprising:

after all cabin call requests are completed, sending a message that the elevator is available for use by the robotic device.

15. The method of claim 14, further comprising:

after all cabin call requests are completed, waiting a predefined amount of time before sending the message.

16. The method of claim 10, further comprising:

the robotic device moving into a cabin of the elevator; and

utilizing the elevator to travel from a current floor to a destination floor.

17. The method of claim 16, wherein utilizing the elevator comprises sharing the elevator cabin with at least one other person.

18. The method of claim 16, wherein utilizing the elevator comprises sharing the elevator cabin with at least one other robotic device.

19. The method of claim 16, further comprising completing all cabin call requests before stopping the elevator at the destination floor.

20. A method, comprising:

at a robotic device,

receiving a destination for the robotic device from an external source;

utilizing a map stored onboard the robotic device to determine one or more x,y coordinates positioned on a predetermined path from the robotic device to the destination wherein the map includes the predetermined path;

rotating a first drive wheel at a first velocity and a second drive wheel at a second velocity to move the robotic device toward a location corresponding to at least one of the one or more x,y coordinates;

changing one or more of the following based on information gathered by one or more onboard sensors;

at least one of the one or more x, y coordinates;

the first velocity; and

the second velocity; and

sending a request to use an elevator.

21. The method of claim 20, wherein sending the request comprises sending a request to use a passenger elevator.

22. The method of claim 20, further comprising controlling the elevator via an elevator control box in communication with the robotic device.

23. A robotic device, comprising:

a body;

first and second drive wheels;

one or more sensors; and

a computing device having a processor, wherein the robotic device is configured to;

receive a destination for the robotic device from an external source;

utilize a map stored onboard the robotic device to determine one or more x,y coordinates positioned on a predetermined path from the robotic device to the destination wherein the map includes the predetermined path;

rotate the first drive wheel at a first velocity and the second drive wheel at a second velocity to move the robotic device toward a location corresponding to at least one of the one or more x,y coordinates; and

change one or more of the following based on information gathered by the one or more sensors;

at least one of the one or more x, y coordinates;

the first velocity; and

the second velocity.

24. The robotic device of claim 23, wherein the robotic device is further configured to wirelessly communicate with a remote device.

25. The robotic device of claim 23, wherein the robotic device is further configured to wirelessly communicate with an elevator system.