Emergency stop method and system for autonomous mobile robots

• US 8,937,410 B2
• Filed: 01/17/2012
• Issued: 01/20/2015
• Est. Priority Date: 01/17/2012
• Status: Active Grant

• Current Assignee: Harvest Automation, Inc.
• Original Assignee: Harvest Automation, Inc.
• Inventors: Comins, Todd, Gray, Larry, Jones, Joseph L., Vu, Clara, Grinnell, Charles M.
• Primary Examiner(s): Deberadinis, Robert L.
• Application Number:
  US13/351,743
• Publication Number:
  US 20130181544A1
• Time in Patent Office: 1,099 Days
• Field of Search: 307/326
• US Class Current: 307/326
• CPC Class Codes: B25J 13/08 by means of sensing devices, e.g. viewing or touching devices
• CPC Class Codes: B25J 19/063 working only upon contact with an outside object

Abstract

An emergency stop system for an autonomous mobile robot includes a base unit connected to the robot and an element engageable by a user extending from the base unit. The element is movably held by the base unit in an operation mode position. The base unit includes a mechanism for detecting the presence of the element in the operation mode position and triggering an emergency stop of the robot when the element is moved out of the operation mode position by the user.

Claims

1. A computer-controlled autonomous mobile robot, comprising:

a chassis;

a drive subsystem for maneuvering the chassis including one or more motors;

a power source;

a power relay for relaying power from the power source to the one or more motors; and

an emergency stop system to trigger an emergency stop of the autonomous mobile robot by causing the power relay to interrupt power flow to the one or more motors, said emergency stop system comprising;

a base unit connected to the robot; and

an element engageable by a user extending from the base unit, the element being movably held by the base unit in an operation mode position,

wherein the base unit includes a mechanism for detecting the presence of the element in the operation mode position and triggering an emergency stop of the robot when the element is moved out of the operation mode position by the user.

2. The computer-controlled autonomous mobile robot of claim 1, wherein the element comprises an elongated member extending from a portion of the robot.

3. The computer-controlled autonomous mobile robot of claim 2, further comprising a pennant at an end of the elongated member distal to the base unit.

4. The computer-controlled autonomous mobile robot of claim 2, further comprising a rounded knob at an end of the elongated member distal to the base unit.

5. The computer-controlled autonomous mobile robot of claim 1, wherein the element includes a magnet in a portion thereof held by the base unit, and wherein the mechanism includes a Hall-effect sensor for detecting the presence of the element in the operation mode position.

6. The computer-controlled autonomous mobile robot of claim 1, wherein the mechanism comprises an optical break beam sensor for detecting the presence of the element in the operation mode position.

7. The computer-controlled autonomous mobile robot of claim 1, wherein the mechanism includes an electrical circuit, and the element includes electrical contacts comprising a portion of the circuit such that movement of the element from the operation mode position breaks a connection in the circuit to trigger an emergency stop.

8. The computer-controlled autonomous mobile robot of claim 1, wherein the mechanism includes a mechanical switch, and movement of the element from the operation mode position activates the mechanical switch.

9. The computer-controlled autonomous mobile robot of claim 1, wherein the robot further comprises a start switch engageable by a user to continue robot operation once an element moved out of the operation mode position has been returned to the operation mode position.

10. The computer-controlled autonomous mobile robot of claim 1, wherein a portion of the base unit holding the element is compliant to facilitate easy removal of the element from the base unit by the user.

11. The computer-controlled autonomous mobile robot of claim 10, wherein the portion of the base unit comprises a spring.

12. The computer-controlled autonomous mobile robot of claim 1, wherein the portion of the base unit holding the element includes a radiused opening to facilitate easy removal of the element from the base unit by the user.

13. The computer-controlled autonomous mobile robot of claim 1, wherein the element includes a generally flat base, and wherein the base unit includes a shallow recessed area for holding the generally flat base to facilitate easy removal of the element from the base unit by the user.

14. A method of supervising operation of a plurality of computer-controlled mobile robots autonomously performing operations in a given area, each of the robots including an emergency stop system comprising a base unit and an element engageable by a user extending from the base unit, the element being movably held by the base unit in an operation mode position, wherein the base unit includes a mechanism for detecting the presence of the element in the operation mode position and triggering an emergency stop of the robot when the element is moved by the user out of the operation mode position, the method comprising:

observing the operation of the plurality of robots from a remote location;

identifying a malfunctioning robot among said plurality of robots;

approaching said malfunctioning robot from said remote location; and

engaging the element of the emergency stop system of said malfunctioning robot to move it out of the operation mode position to trigger an emergency stop of the malfunctioning robot.

15. The method of claim 14, wherein engaging the element comprises grasping the element and pulling it out of the base.

16. The method of claim 14, wherein engaging the element comprises knocking the element out of the operation mode position.

17. The method of claim 14, further comprising returning the element to the operation mode position and activating a start switch to restart the robot.

18. The method of claim 14, wherein the element comprises an elongated member extending from a portion of the robot.

19. The method of claim 18, wherein the elongated member includes a pennant at an end thereof distal to the robot.

20. A method performed by an autonomous mobile robot, the robot including an emergency stop system comprising a base unit and an element engageable by a user extending from the base unit, the element being movably held by the base unit in an operation mode position, the method comprising the steps of:

autonomously performing a given operation in a given area;

detecting movement of the element from the operation mode position when the element is moved by the user; and

triggering an emergency stop of the robot when movement of the element out of the operation mode position is detected.

21. The method of claim 20, wherein triggering an emergency stop of the robot comprises causing a power relay to interrupt power flow to the one or more motors of the robot.

22. The method of claim 20, wherein the element includes a magnet in a portion thereof held by the base unit, and wherein detecting movement of the element from the operation mode position comprises using a Hall-effect sensor for detecting the presence of the element in the operation mode position.

23. The method of claim 20, wherein detecting movement of the element from the operation mode position comprises using an optical break beam sensor for detecting the presence of the element in the operation mode position.

24. The method of claim 20, wherein the mechanism includes an electrical circuit, and the element includes electrical contacts comprising a portion of the circuit such that movement of the element from the operation mode position breaks a connection in the circuit to trigger an emergency stop.

25. The method of claim 20, wherein the mechanism includes a mechanical switch, and movement of the element from the operation mode position activates the mechanical switch.