Robotic ordering and delivery apparatuses, systems and methods

• US 7,894,939 B2
• Filed: 05/24/2010
• Issued: 02/22/2011
• Est. Priority Date: 10/14/2005
• Status: Active Grant

• Current Assignee: St Engineering Aethon Incorporated
• Original Assignee: Aethon
• Inventors: Zini, Aldo, Fairley, Stuart, Thorne, Henry F, Skirble, Barry Mark, Allen, Spencer Wayne
• Primary Examiner(s): Nguyen; Kim T
• Application Number:
  US12/785,608
• Publication Number:
  US 20100234990A1
• Time in Patent Office: 274 Days
• Field of Search: 700/245, 700/247, 700/258, 180/21, 180168-169, 318/568.11, 318/568.12, 318/568.16, 318/587, 318/628
• US Class Current: 700/245
• 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 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.

2. The method of claim 1, wherein said final destination is received from a touch screen.

4. The method of claim 1, wherein said final destination is received from a remote host.

5. The method of claim 1, 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.

6. The method of claim 5, 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.

7. The method of claim 6, 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.

8. The method of claim 1, 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.

9. The method of claim 1, wherein said predefined amount of time is approximately 10 seconds.

3. The method of Clam 1, wherein said final destination is received from a web-enabled computer.