Moveable apparatuses having robotic manipulators and conveyors to facilitate object movement

• US 9,393,686 B1
• Filed: 03/14/2014
• Issued: 07/19/2016
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: Intrinsic Innovation LLC (Alphabet Inc.)
• Original Assignee: Industrial Perception, Inc. (Alphabet Inc.)
• Inventors: Croft, Steve, Bradski, Gary, Konolige, Kurt, Rublee, Ethan, Straszheim, Troy, Zevenbergen, John
• Primary Examiner(s): Cumbess, Yolanda
• Application Number:
  US14/213,300
• Time in Patent Office: 858 Days
• US Class Current: 1/1
• CPC Class Codes: B25J 19/00 Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators safety-devices in general F16P; protection against radiation in general G21F
• CPC Class Codes: B25J 19/021 Optical sensing devices
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: B25J 9/0093 co-operating with conveyor means
• CPC Class Codes: B25J 9/1612 characterised by the hand, wrist, grip control
• CPC Class Codes: B25J 9/162 Mobile manipulator, movable base with manipulator arm mounted on it
• CPC Class Codes: B25J 9/163 learning, adaptive, model based, rule based expert control
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
• CPC Class Codes: B25J 9/1687 Assembly, peg and hole, palletising, straight line, weaving pattern movement
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: B65G 41/008 frames mounted on wheels or caterpillar for movement on rail tracks B65G41/02
• CPC Class Codes: B65G 47/46 and distributing, e.g. automatically, to desired points in tube mail systems B65G51/36
• CPC Class Codes: B65G 47/50 according to destination signals stored in separate systems
• CPC Class Codes: B65G 61/00 Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
• CPC Class Codes: B65H 67/065 Manipulators with gripping or holding means for transferring the packages from one station to another, e.g. from a conveyor to a creel trolley
• CPC Class Codes: G01B 11/254 Projection of a pattern, viewing through a pattern, e.g. moiré
• CPC Class Codes: G05B 2219/31312 Identify pallet, bag, box code
• CPC Class Codes: G05B 2219/39391 Visual servoing, track end effector with camera image feedback
• CPC Class Codes: G05B 2219/40053 : Pick 3-D object from pile of objects
• CPC Class Codes: G05B 2219/40298 : Manipulator on vehicle, wheels, mobile
• CPC Class Codes: G05B 2219/40442 : Voxel map, 3-D grid map
• CPC Class Codes: G05B 2219/40543 : Identification and location, position of components, objects
• CPC Class Codes: G06T 17/00 : Three dimensional [3D] modelling, e.g. data description of 3D objects
• CPC Class Codes: G06T 19/003 : Navigation within 3D models or images
• CPC Class Codes: G06T 2200/04 : involving 3D image data
• CPC Class Codes: G06T 7/13 : Edge detection
• CPC Class Codes: G06T 7/529 : from texture
• CPC Class Codes: G06T 7/55 : from multiple images
• CPC Class Codes: G06T 7/593 : from stereo images
• CPC Class Codes: G06T 7/60 : Analysis of geometric attributes
• CPC Class Codes: G06V 20/10 : Terrestrial scenes scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59
• CPC Class Codes: G06V 20/64 : Three-dimensional objects
• CPC Class Codes: H04N 13/239 : using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 2013/0081 : Depth or disparity estimation from stereoscopic image signals
• CPC Class Codes: H04N 5/33 : Transforming infrared radiation cameras or camera modules for generating image signals from infrared radiation H04N23/20; circuitry of SSIS for transforming infrared radiation into image signals H04N25/20
• CPC Class Codes: Y10S 901/01 : Mobile robot
• CPC Class Codes: Y10S 901/02 : Arm motion controller
• CPC Class Codes: Y10S 901/06 : Communication with another machine
• CPC Class Codes: Y10S 901/09 : Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/47 : Optical

Abstract

Example embodiments provide for robotic apparatuses that facilitate moving objects within an environment, such as to load or unload boxes or to construct or deconstruct pallets (e.g., from a container or truck bed). One example apparatus includes a horizontal conveyor and a robotic manipulator that are both provided on a moveable cart. A first end of the robotic manipulator is mounted to the moveable cart and a second end of the robotic manipulator has an end effector, such as a grasper. The apparatus also includes a control system configured to receive sensor data indicative of an environment containing a plurality of objects, and then cause the robotic manipulator to place an object from the plurality of objects on the horizontal conveyor.

Claims

1. An apparatus comprising:

a moveable cart;

a conveyor provided on the moveable cart, wherein the conveyor comprises;

a first segment providing locomotion in a first direction, and

a second segment coupled to and vertically aligned with the first segment and providing locomotion in a second direction perpendicular to the first segment;

a robotic manipulator having a first end mounted to the moveable cart and a second end having an end effector; and

a control system configured to;

receive sensor data indicative of an environment containing a plurality of objects; and

cause the robotic manipulator to place an object from the plurality of objects on the conveyor.

2. The apparatus according to claim 1, wherein the first segment comprises a frame and a plurality of rollers rotatably coupled to the frame;

wherein the apparatus further comprises an actuator coupled between the moveable cart and the frame, and

wherein the control system is further configured to cause the actuator to extend the first segment away from the moveable cart.

3. The apparatus according to claim 1, wherein the moveable cart is a holonomic cart comprising at least one wheel having two degrees of freedom of movement.

4. The apparatus according to claim 3, wherein the holonomic cart further comprises a drive system coupled to the holonomic cart;

and

wherein the control system is further configured to cause the drive system to move the holonomic cart within the environment.

5. The apparatus according to claim 1, further comprising:

a moveable base provided on a top surface of the moveable cart and coupled to the first end of the robotic manipulator;

an actuator coupled between the moveable base and the moveable cart; and

wherein the control system is further configured to cause the actuator to move the moveable base horizontally relative to the moveable cart.

6. The apparatus according to claim 1, further comprising:

a vertical support coupled to the moveable cart;

an actuator coupled between the vertical support and the first end of the robotic manipulator; and

wherein the control system is further configured to cause the actuator to move the robotic manipulator vertically along the vertical support.

7. The apparatus according to claim 1, further comprising:

a sensor attached to the robotic manipulator and communicatively coupled to the control system, wherein the control system is further configured to receive the sensor data from the sensor.

8. The apparatus according to claim 1, wherein the moveable cart has a front section having one more wheels and a rear section having one or more wheels, and wherein the front section is rotatably coupled to the rear section.

9. The apparatus according to claim 1, wherein one or more wheels of the moveable cart are in contact with a ground surface of the environment, and wherein the apparatus further comprises:

an anchor;

one or more actuators coupled between the anchor and the moveable cart; and

wherein the control system is further configured to;

cause the actuator to extend the anchor to contact the ground surface of the environment while the robotic manipulator is placing the object on the conveyor.

10. The apparatus according to claim 1, further comprising:

a first moveable member positioned to a side of the conveyor and coupled to an actuator that is provided on the moveable cart;

a second moveable member positioned to the side of the conveyor and coupled to the actuator that is provided on the moveable cart; and

wherein the control system is further configured to;

receive data indicating a vertical dimension of the object;

determine the vertical dimension is greater than a threshold; and

cause the actuator to move the first moveable member and the second moveable member over the conveyor such that the object is between the first moveable member and the second moveable member.

11. An apparatus comprising:

a moveable cart;

a conveyor provided on the moveable cart;

a member rotatably coupled to a top surface of the moveable cart;

a first robotic manipulator coupled to the member;

a second robotic manipulator coupled to the member such that the second robotic manipulator is vertically aligned with and horizontally opposite of the first robotic manipulator; and

a control system configured to;

receive sensor data indicating an environment containing a plurality of objects;

cause the first robotic manipulator to place a first object from the plurality of objects on the conveyor; and

cause the second robotic manipulator to place a second object from the plurality of objects on the conveyor.

12. The apparatus according to claim 11, wherein the conveyor extends along the top surface of the moveable cart from a first side of the moveable cart to a second side of the moveable cart between the first robotic manipulator and the second robotic manipulator.

13. The apparatus according to claim 11, wherein the conveyor comprises:

a first segment extending along the top surface of the moveable cart from a first side of the moveable cart to a second side of the moveable cart between the first robotic manipulator and the second robotic manipulator; and

a second segment coupled to and vertically aligned with the first segment and extending along at least a portion of the first side.

14. The apparatus according to claim 13, wherein the second segment of the conveyor provides locomotion in a first direction toward the first segment, and wherein the first segment of the conveyor provides locomotion in a second direction away from the first segment.

15. The apparatus according to claim 11, wherein the conveyor comprises:

a first segment extending along the top surface of the moveable cart from a first side of the moveable cart to a second side of the moveable cart between the first robotic manipulator and the second robotic manipulator;

a second segment coupled to and vertically aligned with the first segment and extending along a first portion of the first side; and

a third segment coupled to and vertically aligned with the first segment and extending along a second portion of the first side.

16. The apparatus according to claim 15, wherein the first segment of the conveyor provides locomotion toward the second side of the moveable cart, wherein the second segment of the conveyor provides locomotion to the first segment of the conveyor, and wherein the third segment of the conveyor provides locomotion to the first segment of the conveyor in a direction opposite the locomotion of the second segment.

17. The apparatus of claim 15, wherein the control system is further configured to:

cause the second robotic manipulator to pick up the second object while the first robotic manipulator is placing the first object on the first segment of the conveyor; and

cause the first robotic manipulator to pick up a third object while the first robotic manipulator is placing the second object on the second segment of the conveyor.

18. The apparatus of claim 17, wherein the control system is further configured to:

cause the second robotic manipulator to pick up the second object while the first robotic manipulator is placing the first object on the conveyor; and

cause the first robotic manipulator to pick up a third object while the first robotic manipulator is placing the second object on the conveyor.

19. The apparatus according to claim 11, wherein the moveable cart comprises a holonomic drive system comprising at least one wheel having at least two degrees of freedom of movement, and

wherein the control system is further configured to:

receive data indicating that the first object is out of a range of the first robotic manipulator;

receive data, for one or more objects in the environment, indicating one or more respective distances to the one or more objects;

determine a path to the first object based on the data indicating one or more respective distances to the one or more objects; and

cause the holonomic drive system to move the moveable cart toward the first object based on the determined path.

20. The apparatus according to claim 11, further comprising an actuator coupled between the first segment of the conveyor and the moveable cart;

and

wherein the control system is further configured to cause the actuator to tilt the conveyor toward an object of the plurality of objects.

21. An apparatus comprising:

a moveable cart;

a conveyor provided on the moveable cart, wherein the conveyor comprises;

a frame,

a roller rotatably coupled to the frame, wherein the roller comprises a volume and a plurality of openings to the volume,

an air pump,

a hose coupled between the volume of the roller and the air pump, and

a conveyor belt having a plurality of openings, wherein the conveyor belt wraps around an exterior side of the roller and at least a portion of the plurality of openings align with at least a portion of the plurality of openings of the roller;

an actuator coupled between the moveable cart and the frame of the conveyor; and

a control system configured to;

receive sensor data indicating an environment containing a plurality of objects;

cause the actuator to bring the conveyor belt in contact with an object from the plurality of objects;

cause the air pump to apply a negative pressure to the volume of the roller to engage the object by suction; and

cause the conveyor belt to rotate around the roller toward the moveable cart to place the object on the conveyor belt.

22. The apparatus according to claim 21, wherein the control system is further configured to:

receive sensor data indicating that the object is placed on the conveyor; and

cause the air pump to release the negative pressure of the volume of the roller.

23. The apparatus according to claim 21, wherein the control system is further configured to:

after the object is engaged by suction and before causing the conveyor belt to rotate to place the object on the conveyor, cause the actuator to move the frame of the conveyor towards the moveable cart.