Autonomous load/unload robot

• US 20070140821A1
• Filed: 12/19/2005
• Published: 06/21/2007
• Est. Priority Date: 12/19/2005
• Status: Abandoned Application

• Current Assignee: Betzalel Robotics, LLC
• Original Assignee: Betzalel Robotics, LLC
• Inventors: Garon, Howard, Gross, Meyer
• Application Number:
  US11/305,941
• Publication Number:
  US 20070140821A1
• Time in Patent Office: Days
• US Class Current: 414/618
• CPC Class Codes: B25J 9/0084 comprising a plurality of manipulators
• CPC Class Codes: B25J 9/026 Gantry-type
• CPC Class Codes: B65G 67/08 using endless conveyors

Abstract

An autonomous robot for loading and unloading cargo of a cargo container includes a first vertical member; a second vertical member spaced in substantially parallel relation to the first vertical member; and a cross-member secured to the first and second vertical members in a substantially perpendicular orientation thereto. The robot further includes a first arm and a second arm secured to the cross-member and extending in a forward direction with respect to the robot. The robot also includes means for imparting vertical movement to the cross-member along the length of the first and second vertical members and means for imparting horizontal movement to the first and second arms along the length of the cross-member. Means for imparting motive force to the robot is/are provided. A processing unit is configured to control directional movement, loading, and unloading routines of the robot. A method for loading/unloading the container is also disclosed.

Claims

1. An autonomous robot for loading and unloading cargo of a cargo container, wherein the robot is comprised of:

a first vertical member;

a second vertical member spaced in substantially parallel relation to the first vertical member;

a cross-member secured to the first and second vertical members in a substantially perpendicular orientation thereto;

means for imparting vertical movement to the cross-member along the length of the first and second vertical members;

a first arm and a second arm secured to the cross-member and extending in a forward direction with respect to the robot;

means for imparting horizontal movement to the first and second arms along the length of the cross-member;

means for imparting motive force to the robot; and

a processing unit configured to control directional movement, loading, and unloading routines of the robot.

2. The autonomous robot of claim 1, further comprising environment sensing hardware secured to the robot, wherein the environment sensing hardware is selected from one or more of:

a multi-element passive photon detector;

a multi-element or single element sound transducer;

a multi-element or single element thermal sensor;

a multi-element or single element passive radio-frequency sensor;

a multi-element or single element active radio-frequency transducer; and

a gas/liquid sampling sensor.

3. The autonomous robot of claim 1, further comprising a conveyor extending in a rearward direction from the robot.

4. The autonomous robot of claim 3, wherein the conveyor includes a loading shelf adapted to receive cargo from the first and second arms of the conveyor, wherein the loading shelf is situated such that in a first position, vertical travel of the cross-member is obstructed by the shelf, and such that in a second position, vertical travel of the cross-member along the length of the first and second vertical members is unobstructed.

5. The autonomous robot of claim 1, wherein the means for imparting vertical movement of the cross-member include at least one:

a linear actuator;

a pulley;

a belt drive; and

a expanding member.

6. The autonomous robot of claim 1, wherein at least one of the first and second arms is non-articulated, articulated, rotatable, or a combination thereof.

7. The autonomous robot of claim 6, wherein the first arm is configured to move independently of the second arm.

8. The autonomous robot of claim 6, wherein at least one of the first and second arms includes a pressure sensor for conveying pressure data to the processing unit relating to an amount of pressure applied to the cargo.

9. The autonomous robot of claim 1, wherein the means for imparting horizontal movement of the first and second arms includes at least one:

a linear actuator;

a pulley;

a belt drive; and

an expanding member.

10. The autonomous robot of claim 1, wherein the means for imparting motive force to the robot include at least one of:

a retractable foot;

one or more treads; and

a plurality of wheels.

11. The autonomous robot of claim 1, wherein the processing unit is configured to:

detect the size of the cargo;

detect an edge of the cargo;

optionally detect a wall, ceiling, or floor of the cargo container;

detect shifted cargo and the position thereof;

create loading and unloading strategies based upon the size of the cargo;

optimize the loading and unloading strategies during the course of loading and unloading, respectively;

conduct self-tests to ensure operational functionality of the robot;

receive external queries;

or detect unanticipated movement within a predefined perimeter.

12. The autonomous robot of claim 1, further comprising a third and fourth vertical member secured in substantial parallel relation to the first and second vertical members, respectively, wherein the first and second vertical members are configured to move vertically with respect to the third and fourth vertical members, respectively.

13. The autonomous robot of claim 1, further comprising a compound linear actuator for imparting horizontal movement to the first and second arms substantially beyond a width of the robot, wherein the width of the robot is defined by the width of the cross-member.

14. A method of loading a cargo container with cargo, the method comprising the steps of:

providing an autonomous robot configured for movement into and out of the cargo container, wherein the robot includes a first arm and a second arm, environment sensing hardware, and a conveyor;

positioning the robot within the cargo container;

placing the cargo on the conveyor and conveying the cargo toward the first and second arms via the conveyor;

moving the first and second arms to a first position such that the first and second arms are adjacent to the cargo on opposing sides thereof;

applying a suitable holding pressure on the cargo by the first and second arms;

detecting one or more edges of existing cargo within the container to determine an offload space sized to accommodate the cargo;

selecting an offload coordinate within the offload space;

moving the first and second arms to a second position, wherein the second position corresponds to the offload coordinate, whereby the cargo is moved from the conveyor into the offload space; and

reducing the holding pressure applied to the cargo by the first and second arms, whereby the cargo is released into the offload space.

15. The method of claim 14, further comprising the step of imparting forward motion to the robot until a sensor situated on at least one of the first and second arms senses a predetermined amount of pressure exerted thereon.

16. The method of claim 14, further comprising the step of reducing the size of a space between the cargo and existing cargo by using either the first arm or the second arm to push a side of the cargo opposite the existing cargo toward the existing cargo.

17. A method of unloading a cargo container with cargo, the method comprising the steps of:

providing an autonomous robot configured for movement into and out of the cargo container, wherein the robot includes a first arm and a second arm, environment sensing hardware, and a conveyor;

determining the location of the cargo by detecting one or more edges thereof utilizing the environment sensing hardware;

moving the first and second arms to a first position such that the first and second arms are adjacent to the cargo on opposing sides thereof;

applying a suitable holding pressure on the cargo by the first and second arms;

moving the first and second arms to a second position, wherein the second position is defined as an area situated near the conveyor; and

reducing the holding pressure applied to the cargo by the first and second arms, whereby the cargo is conveyed away from the first and second arms via the conveyor.

18. The method of claim 17, further comprising the step of:

moving the cargo from a skewed position to a position conducive for grasping by the first and second arms by utilizing either the first or second arms to push against a front face of the cargo, a side of the cargo, or a combination thereof.

19. An autonomous robot for loading and unloading cargo of a cargo container, wherein the robot is comprised of:

means for grasping the cargo and transferring the cargo from a pick-up point to a drop-off point;

means for detecting cargo within the cargo container;

means for detecting at least one of a wall and a ceiling of the container;

means for imparting motive force to the robot; and

a processing unit configured to control directional movement, loading, and unloading routines of the robot.

20. The autonomous robot of claim 19, wherein the means for detecting the cargo, walls, and ceiling is a multi-element or single-element detector configured to detect energy within the electromagnetic spectrum.

21. The autonomous robot of claim 19, wherein the means for imparting motive force to the robot include at least one of:

a retractable foot;

one or more treads;

or

a plurality of wheels.