ROBOTIC ORDERING AND DELIVERY APPARATUSES, SYSTEMS AND METHODS

• US 20070129849A1
• Filed: 10/16/2006
• Published: 06/07/2007
• Est. Priority Date: 10/14/2005
• Status: Active Grant

• Current Assignee: St Engineering Aethon Incorporated
• Original Assignee: Aethon
• Inventors: Zini, Aldo, Fairley, Stuart, Skirble, Barry, Allen, Spencer, Thorne, Henry
• Granted Patent: US 7,996,109 B2
• Time in Patent Office: Days
• US Class Current: 700/258
• 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 robotic device for retrieving/delivering goods, comprising:

a frame;

at least one motor and wheels attached to said frame for moving said device;

at least one sensor to detect potential obstacles and continuously confirm positioning; and

an onboard controller that includes a map of an environment in which the device is to operate.

2. The device of claim 1, wherein said at least one sensor includes a plurality of directional infrared sensors.

3. The device of claim 2, wherein at least two of said plurality of directional infrared sensors intersect with each other in a vertical plane.

4. The device of claim 2, wherein at least two of said plurality of directional infrared sensors intersect with each other in a horizontal plane.

5. The device of claim 2, wherein said plurality of directional infrared sensors are oriented in a series of generally planar rows, each of said rows at a different angle of incidence with respect to a horizon.

6. The device of claim 1, wherein said at least one sensor includes a sonar.

7. The device of claim 2, wherein said at least one sensor further includes a sonar.

8. The device of claim 1, further comprising:

a rear-facing sensor to detect objects behind the device.

9. The device of claim 1, wherein said at least one sensor includes a camera.

10. The device of claim 1, further comprising:

a camera.

11. The device of claim 10, wherein said camera is an infrared camera.

12. The device of claim 10, wherein said camera is a stereovision camera.

13. The device of claim 1, further comprising:

an interface; and

a cart attached to said body by said interface.

14. The device of claim 13, wherein said interface both mechanically and electrically connects said cart to said body.

15. The device of claim 13, wherein said interface includes a pressure sensor to measure the weight of the cart.

16. The device of claim 13, wherein said interface includes a rotational sensor to detect a rotational angle between the body and cart as measured at the interface.

17. The device of claim 13, wherein said interface maintains an electrical and mechanical connection between the body and the cart with 360 degrees of rotational freedom along a vertical axis at the interface.

18. The device of claim 13, wherein said cart includes a single-action button to send the device to a next destination from a present destination.

19. The device of claim 13 wherein said cart is a general purpose cart that includes password protected access to inner portions of the cart.

20. The device of claim 19, further comprising:

data storage means on the device to log and track an identification of all persons that access said inner portions of said cart.

21. The device of claim 13, wherein said cart further includes an attachment means on a rear face of the cart.

22. The device of claim 21, wherein said attachment means is a horizontal hook.

23. The device of claim 13, wherein said cart is a dietary cart and includes shelves adapted to accept meal trays.

24. The device of claim 13, wherein said cart is a tote cart adapted to accept a plurality of bulk containers within an open metal frame.

25. The device of claim 13, wherein said cart is a hamper cart defined by a solid floor and at least three solid sides.

26. The device of claim 13, wherein said interface is adapted to removably attach/detach said cart from said body.

27. The device of claim 26, wherein said attachment/detachment occurs automatically.

28. The device of claim 13, wherein said cart includes individual locking drawers, the contents of which are accessible via an electronic keypad-based lock.

29. The device of claim 13 wherein said cart includes an alarm to warn users about potential hazards.

30. The device of claim 29, wherein said alarm is a flashing light.

31. The device of claim 13, wherein said cart includes a speaker to play audible messages.

32. The device of claim 31, wherein said messages are prerecorded.

33. The device of claim 31, wherein said messages are sent to said device via a remote Voice over IP connection.

34. The device of claim 1, wherein said sensor includes a sensor edge along a portion of the device.

35. The device of claim 34, wherein said sensor edge is embedded in a front bumper of the device.

36. The device of claim 34, wherein said sensor edge is embedded in a complete circle around the entire perimeter of the device.

37. The device of claim 1, further comprising:

wireless transmission and reception capabilities.

38. The device of claim 37, wherein said wireless capabilities are adapted to communicate with an external elevator control.

39. The device of claim 37, wherein said wireless capabilities are adapted to communicate with an automatic door opener.

40. The device of claim 37, wherein said wireless capabilities are adapted to communicate with a remote host center.

41. A robotic retrieval/delivery system, comprising:

at least one robotic devices for retrieving/delivering goods to a first location;

a home base station adapted to physically and electrically accept one of said at least one robotic devices at said first location and adapted to communicate with all of said at least one robotic devices at said first location; and

a remote host at a second location adapted to communicate with all of said devices through said home base station.

42. The system of claim 41, wherein said home base station includes a computer with a wireless network card for communication with said at least one device.

43. The system of claim 42, wherein said base station computer is communicatively coupled to a separate network operable at said first location.

44. The system of claim 41, wherein said base station includes a touch screen monitor with a user display.

45. The system of claim 44 wherein said user display includes one touch programming of said robotic device to make a delivery to a selected location.

46. The system of claim 44, wherein said touch screen monitor is web-enabled.

47. The system of claim 41, wherein said base station includes a robotic device docking station capable of recharging a battery in said robotic device.

48. The system of claim 41, wherein said robotic device is adapted to perform a diagnostic self-check while docked at the base station, and further wherein said base station is adapted to receive the results of said diagnostic self-check.

49. The system of claim 41 wherein communication between said base station and said remote host is over the Internet.

50. The system of claim 41, further comprising:

at least one annunicator communicatively coupled to said robotic device and adapted to announce when said device is proximate to said annunciator during a retrieval/delivery.

51. The system of claim 41, further comprising:

at least one automated door opener communicatively coupled to said robotic device and adapted to open an automatic door when prompted by said device during a retrieval/delivery.

52. The system of claim 41, further comprising:

at least one pager communicatively coupled to said robotic tug to alter a user about a condition when prompted by the robotic tug.

53. The system of claim 41, further comprising:

an elevator control box communicatively coupled to an existing elevator controller, wherein said elevator control box is adapted to receive elevator commands originating from said robotic device.

54. The system of claim 41, further comprising:

a plurality of RFID tags on assets;

an RFID antenna on said robotic device adapted to search for said RFID tags; and

a database in communication with said robotic device to store information related to the identity and location of detected RFID tags.

55. The system of claim 41, wherein said robotic device further comprises:

a body;

at least one independent motor and wheels attached to said frame for moving said device;

at least one sensor to detect potential obstacles and continuously confirm positioning; and

an onboard controller that includes a map of an environment in which the device is to operate.

56. The system of claim 55, wherein said at least one sensor is a directional infrared sensor.

57. The system of claim 55, wherein said robotic device includes a sensor edge along a front bumper of said device.

58. The system of claim 41, wherein said at least one robotic device is more than one robotic device.

59. The system of claim 58, wherein each of said more than one robotic devices is adapted to communicate with each other robotic device.

60. A method for using a robotic device with attached cart to retrieve/deliver a good, comprising the steps of:

accepting a final destination for the robotic device from an external source;

using an onboard map to determine a plurality of x,y coordinates to which the device will travel;

translating said x,y coordinates to velocity values for wheels on said device in order to move said device towards said final destination;

sensing with at least one onboard sensor to search for obstacles and to constantly determine the position of the device; and

updating the x,y coordinates and wheel velocities based on data gathered in said sensing step.

61. The method of claim 60, wherein said final destination is received from a touch screen.

63. The method of claim 60, wherein said final destination is received from a remote host.

64. The method of claim 60, further comprising the steps of:

sending a request from the device to an elevator control box that the device requires the use of an elevator;

controlling the elevator from said device.

65. The method of claim 64, wherein said controlling step further comprises the steps of:

utilizing the elevator control box to remove the elevator cabin from a hall call loop;

completing all elevator stop requests initiated by an onboard cabin call loop; and

utilizing the elevator control box to send the elevator to the requested floor.

66. The method of claim 65, wherein said elevator control method further comprises the step of:

after said step of completing all elevator stop requests, sending a message to the remote system host that the elevator is available.

67. The method of claim 60, wherein said elevator control method further comprises the step of:

after said step of completing all elevator stop requests, holding said requested elevator in a standby state for a predefined amount of time in order to confirm that the requested elevator is empty.

68. The method of claim 67, wherein said predefined amount of time is approximately 10 seconds.

62. The method of Clam 60, wherein said final destination is received from a web-enabled computer.