Robotic retrieval apparatus

• US 20060045679A1
• Filed: 08/16/2004
• Published: 03/02/2006
• Est. Priority Date: 08/16/2004
• Status: Abandoned Application

• Current Assignee: Eric Ostendorff
• Original Assignee: Eric Ostendorff
• Inventors: Ostendorff, Eric
• Application Number:
  US10/919,534
• Publication Number:
  US 20060045679A1
• Time in Patent Office: Days
• US Class Current: 414/402
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/0003 Home robots, i.e. small robots for domestic use
• 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 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00

Abstract

A robotic device and method of use for fetching an object, the method including driving the device until a docking signal is acquired and then toward the docking signal to dock with a docking element of a door of a storage cabinet or refrigerator, and then driving the device away from the door so as to open it and then rotating the device about the docking element to place a vertically extended pincer clamp of the device around a target object positioned at a specified location within the door, followed by closing the pincer clamp so as to grip the target object and rotating the device about the docking element while carrying the target object so as to close the door. The object is then carried by the device to a specified programmed location to deliver the object.

Claims

1. A method of using a mobile robotic device for fetching an object, the method comprising the steps of:

placing the apparatus at a known initial location on a two dimensional plane;

signaling the device to initiate an object retrieval sequence;

moving the device from the initial location, over a first preprogrammed course of movement on the two dimensional plane into a vicinity of a docking signal wherein the device is driven along a path approximately orthogonal to a direction of the docking signal;

receiving the docking signal at a first docking sensor on the device as the device moves past the docking element, whereupon the device is halted;

turning the device to move toward the docking signal while locked onto the docking signal;

driving the device toward a source of the docking signal;

docking the device with a docking element of a door of a storage depot by gripping the docking element with a first pincer clamp of the device;

driving the device away from the depot so as to open the door of the depot while turning the device to place a rear axle thereof in line with a hinge of the door;

driving the device so as to rotate the door by approximately 90 degrees;

rotating the device about the docking element to place a vertically extended second pincer clamp of the device around an object positioned within the door;

closing the second pincer clamp so as to grip the object;

rotating the device about the docking element to place the axle of the device in line with the hinge of the door while carrying the object by the second pincer clamp;

driving the device to close the door;

releasing the docking element;

driving the device over a preprogrammed second course of movement on the two dimensional plane while carrying the object to a preprogrammed object delivery point.

2. The method of claim 1 further comprising the step of vertically retracting the second pincer clamp when the object is removed from the shelf of the door so as to lower the center of mass of the device during movement thereof over the two dimensional plane.

3. The method of claim 2 further comprising the step of vertically extending the second pincer to raise the object so as to offer the object to be taken from the second pincer clamp.

4. The method of claim 1 wherein the second preprogrammed course of movement results in the device terminating at the initial position on the two dimensional plane.

5. A method of using a mobile robotic device for fetching an object, the method comprising the steps of:

driving the device until a docking signal is acquired;

driving the device toward the docking signal;

docking the device with a docking element of a door of a storage depot;

driving the device away from the depot while gripping the docking element so as to open the door by approximately 90 degrees;

rotating the device about the docking element to place a vertically extended pincer clamp of the device around a target object positioned within the door;

closing the pincer clamp so as to grip the target object;

rotating the device about the docking element while carrying the target object by the pincer clamp;

driving the device to close the door;

releasing the docking element;

driving the device while carrying the target object to a preprogrammed object delivery point.

6. The method of claim 5 further comprising the step of vertically retracting the pincer clamp when the object is removed from the door so as to lower the center of mass of the device.

7. The method of claim 6 further comprising the step of vertically extending the pincer clamp to offer the object to be taken from the pincer clamp.

8. A combination apparatus comprising:

a mobile robotic device having a horizontal platform supported on a drive wheel and at least two further spaced apart wheels;

a drive system engaging the drive wheel for rotation about a horizontal axis in moving the robotic device over a programmed path on a supporting surface, the drive system further engaging the drive wheel for rotation about a vertical axis in steering the robotic device over the supporting surface;

a first and a second pincer clamps, each movable between an open and a closed attitude, the first of the clamps extending outwardly from the platform, the second of the clamps selectively positionable above the platform;

and a storage depot providing a door having a door pull, the door pull placed for engagement by the first pincer clamp;

the depot door providing, and a shelf positioned for receiving, the second pincer clamp for gripping objects on the shelf, the depot door further providing clearance thereunder for passage of the platform, the first and second pincer clamps spaced apart such that with the first pincer clamp engaging the door pull, the robotic device is able to rotate for positioning the platform under the door thereby placing the second of the pincer clamps adjacent to the shelf for gripping an object.