Robotic device with coordinated sweeping tool and shovel tool

• US 9,827,677 B1
• Filed: 05/16/2016
• Issued: 11/28/2017
• Est. Priority Date: 05/16/2016
• Status: Active Grant

• Current Assignee: X Development LLC (Alphabet Inc.)
• Original Assignee: X Development LLC (Alphabet Inc.)
• Inventors: Gilbertson, Seth, Weber, Jeff, Wilson, Robert
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): Peche, Jorge
• Application Number:
  US15/155,368
• Time in Patent Office: 561 Days
• CPC Class Codes: A47L 11/24 Floor-sweeping machines, motor-driven
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4052 Movement of the tools or the like perpendicular to the cleaning surface
• CPC Class Codes: A47L 11/4055 for lifting the tools to a non-working position
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 2201/00 Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
• CPC Class Codes: B25J 11/008 Manipulators for service tasks
• CPC Class Codes: B25J 11/0085 Cleaning
• CPC Class Codes: B25J 15/0014 having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
• CPC Class Codes: B25J 15/0019 End effectors other than grippers
• CPC Class Codes: B25J 15/0066 with different types of end effectors, e.g. gripper and welding gun B25J15/0057 and B25J15/0061 take precedence
• CPC Class Codes: B25J 15/02 servo-actuated
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/0087 Dual arms double SCARA arms B25J9/043
• CPC Class Codes: B25J 9/046 Revolute coordinate type
• CPC Class Codes: B25J 9/1682 Dual arm manipulator; Coordination of several manipulators
• 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: G05B 2219/39121 Two manipulators operate on same object
• CPC Class Codes: G05D 1/021 specially adapted to land vehicles
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/41 : Tool

Abstract

An example robotic device includes a mobile base and a base linkage. The base linkage has a first end and a second end where the first end is connected to the mobile base. The robotic device also includes a first end effector connected to the second end of the base linkage. The first end effector includes a shovel tool. The robotic device additionally includes an actuated control arm having a first end and a second end. The first end of the actuated control arm is connected to the second end of the base linkage. The robotic device further includes a second end effector connected to the second end of the actuated control arm. The second end effector includes a sweeping tool. The actuated control arm is configured to move the sweeping tool to engage with the shovel tool to sweep one or more objects onto the shovel tool.

Claims

1. A robotic device comprising:

a mobile base;

a base linkage having a first end and a second end, the first end connected to the mobile base;

a first end effector connected to the second end of the base linkage, the first end effector comprising a shovel tool;

an actuated control arm having a first end and a second end, the first end of the actuated control arm connected to the second end of the base linkage; and

a second end effector connected to the second end of the actuated control arm, the second end effector comprising a sweeping tool, wherein the actuated control arm is configured to move the sweeping tool to engage with the shovel tool to sweep one or more objects onto the shovel tool.

2. The robotic device of claim 1, further comprising a control system configured to provide instructions to cause the robotic device to grasp an object by causing the actuated control arm to move the second end effector to push the object against the shovel tool.

3. The robotic device of claim 1, wherein the first end of the base linkage is connected to the mobile base through an actuated rotational joint configured to rotate the base linkage with respect to the mobile base.

4. The robotic device of claim 3, further comprising a control system configured to:

provide instructions to cause the actuated control arm to move the sweeping tool to push an object onto the shovel tool;

provide instructions to cause the base linkage to raise the shovel tool while the object is disposed on the shovel tool by causing the actuated rotational joint to rotate the base linkage with respect to the mobile base;

provide instructions to cause the mobile base to navigate to a drop-off location while the object is disposed on the shovel tool; and

provide instructions to cause the shovel tool to drop off the object at the drop-off location.

5. The robotic device of claim 3, further comprising a control system configured to:

provide instructions to cause the robotic device to grasp an object between the second end effector and the shovel tool by pressing the object against the shovel tool using the second end effector;

provide instructions to cause the base linkage to raise the object while the object is grasped between the second end effector and the shovel tool by causing the actuated rotational joint to rotate the base linkage with respect to the mobile base; and

provide instructions to cause the shovel tool and the second end effector to perform a coordinated lift, wherein performing a coordinated lift comprises;

maintaining a constant pitch of the shovel tool by adjusting the orientation of the shovel tool as the base linkage raises the object; and

maintaining the second end effector in a constant position in relation to the shovel tool by adjusting the orientation of the actuated control arm in response to adjustments in the orientation of the shovel tool.

6. The robotic device of claim 3, wherein:

the actuated rotational joint is a first actuated rotational joint configured to rotate the base linkage with respect to the mobile base in a first plane;

the robotic device further comprises a second actuated rotational joint;

the second actuated rotational joint is configured to rotate the base linkage with respect to the mobile base in a second plane; and

the second plane is approximately perpendicular to the first plane.

7. The robotic device of claim 1, further comprising a control system configured to:

receive sensor data from one or more sensors on the robotic device, wherein the sensor data is indicative of a plurality of objects within an environment;

based on the received sensor data, select at least one object from the plurality of objects within the environment;

provide instructions to cause the robotic device to pick up the at least one selected object using the shovel tool and the sweeping tool; and

provide instructions to cause the robotic device to move the at least one picked up object to a drop-off location.

8. The robotic device of claim 1, wherein the actuated control arm comprises:

a first linkage section; and

a second linkage section serially connected to the first linkage section through an actuated rotational joint.

9. The robotic device of claim 1, wherein the shovel tool comprises:

a first flat section having a first end and a second end, the first end connected to the second end of the base linkage; and

a second flat section connected to the second end of the first flat section through an actuated rotational joint.

10. The robotic device of claim 1, wherein the second end effector additionally comprises a gripper.

11. The robotic device of claim 10, wherein:

the second end effector is connected to the second end of the actuated control arm through an actuated rotational joint;

the gripper is connected to the actuated rotational joint at a first point on the actuated rotational joint;

the sweeping tool is connected to the actuated rotational joint at a second point on the actuated rotational joint; and

the actuated rotational joint is configured to rotate each of the sweeping tool and the gripper into an operational position.

12. The robotic device of claim 11, wherein (i) the actuated rotational joint is a first actuated rotational joint and (ii) the first end of the base linkage is connected to the mobile base through a second actuated rotational joint configured to rotate the base linkage with respect to the mobile base, the robotic device further comprising a control system configured to:

provide instructions to cause the first actuated rotational joint to rotate the sweeping tool into the operational position;

provide instructions to cause the robotic device to move an object onto the shovel tool with the sweeping tool;

provide instructions to cause the robotic device to raise the shovel tool while the object is disposed on the shovel tool by causing the actuated rotational joint to rotate the base linkage with respect to the mobile base;

provide instructions to cause the mobile base to navigate to a drop-off location;

provide instructions to cause the first actuated rotational joint to rotate the gripper into the operational position;

provide instructions to cause the robotic device to open a container by causing the gripper to grasp and move a lid of the container, wherein the container is located at the drop-off location;

provide instructions to cause the first actuated rotational joint to rotate the sweeping tool into the operational position; and

provide instructions to cause the robotic device to actuate the sweeping tool in order to move the object from the shovel tool to the container.

13. The robotic device of claim 1, wherein:

the first end effector is connected to the second end of the base linkage through a first actuated rotational joint, the first actuated rotational joint configured to move the first actuated end effector in a first plane;

the first end of the actuated control arm is connected to the second end of the base linkage through a second actuated rotational joint, the second actuated rotational joint configured to move the actuated control arm in or parallel to the first plane; and

the second actuated end effector is connected to the second end of the actuated control arm through a third actuated rotational joint, the third actuated rotational joint configured to move the second actuated end effector in or parallel to the first plane.

14. The robotic device of claim 13, wherein:

the sweeping tool comprises a plurality of compliant fingers arranged in at least one row;

the at least one row is oriented parallel to a leading edge of the shovel tool; and

the leading edge of the shovel tool is oriented perpendicular to the first plane.

15. The robotic device of claim 1, wherein:

the actuated control arm comprises (i) a first linkage section having a first end and a second end, and (ii) a second linkage section having a first end and a second end;

the first end of the first linkage section is connected to the second end of the base linkage through a first actuated rotational joint configured to move the actuated control arm in a first plane;

the first end of the second linkage section is connected to the second end of the first linkage section through a second actuated rotational joint configured to move the second linkage section in or parallel to the first plane;

the actuated control arm is offset from the base linkage in a direction perpendicular to the first plane by a first distance to allow the robotic device to fold into a compact form, wherein folding into a compact form comprises;

positioning the first linkage section parallel to the base linkage such that the second end of the second linkage is positioned adjacent to the first end of the base linkage; and

positioning the second linkage section parallel to the base linkage and the first linkage such that the second end of the second linkage is positioned adjacent to the first end of the first linkage and the second end of the base linkage; and

the robotic device further comprises a control system configured to provide instructions to cause the robotic device to fold into the compact form.

16. The robotic device of claim 1, wherein the mobile base stores thereon a plurality of other end effectors, and wherein the robotic device further comprises a control system configured to:

provide instructions to cause the robotic device to swap at least one of the first end effector and the second end effector for at least one of the plurality of other end effectors.

17. A method comprising:

causing an actuated control arm of a robotic device to move a sweeping tool to push an object onto a shovel tool, wherein the shovel tool and a first end of the actuated control arm are each connected to a second end of a base linkage of the robotic device, and wherein the sweeping tool is connected to a second end of the actuated control arm;

causing the base linkage to raise the actuated control arm and the shovel tool while the object is disposed on the shovel tool by causing an actuated rotational joint to rotate the base linkage with respect to a mobile base of the robotic device, wherein the actuated rotational joint connects a first end of the base linkage to the mobile base;

causing the mobile base to navigate to a drop-off location while the object is disposed on the shovel tool; and

causing the shovel tool to drop off the object at the drop-off location.

18. The method of claim 17, further comprising:

causing the actuated control arm to use the sweeping tool to retain the object on the shovel tool by pushing the object against the shovel tool;

causing the shovel tool to maintain a constant pitch by adjusting the orientation of the shovel tool as the base linkage raises the actuated control arm and the shovel tool while the object is disposed on the shovel tool; and

causing the sweeping tool to maintain a constant position in relation to the shovel tool by adjusting the orientation of the actuated control arm in response to adjustments in the orientation of the shovel tool.

19. The method of claim 17, wherein the robotic device further comprises a gripper connected to the second end of the actuated control arm, the method further comprising:

causing the gripper to move a second object onto the shovel tool;

causing the gripper to hold the second object disposed on the shovel tool;

causing the base linkage to raise the actuated control arm and the shovel tool while the second object is disposed on the shovel tool and held by the gripper by causing the actuated rotational joint to rotate the base linkage with respect to the mobile base;

causing the mobile base to navigate to a drop-off location; and

causing the gripper to remove the object from the shovel tool at the drop-off location.

20. A non-transitory computer readable medium having stored thereon instructions that, when executed by a computing device, cause the computing device to perform operations comprising:

causing an actuated control arm of a robotic device to move a sweeping tool to push an object onto a shovel tool, wherein the shovel tool and a first end of the actuated control arm are each connected to a second end of a base linkage of the robotic device, and wherein the sweeping tool is connected to a second end of the actuated control arm;

causing the base linkage to raise the actuated control arm and the shovel tool while the object is disposed on the shovel tool by causing an actuated rotational joint to rotate the base linkage with respect to a mobile base of the robotic device, wherein the actuated rotational joint connects a first end of the base linkage to the mobile base;

causing the mobile base to navigate to a drop-off location while the object is disposed on the shovel tool; and

causing the shovel tool to drop off the object at the drop-off location.