Robot Branching System

Abstract

A security checkpoint system is provided. The security checkpoint system includes an automated robotic vehicle including a chassis having a bin secured to the chassis. The security checkpoint system further includes an identification system that associates an individual who places an object in the bin with the automated robotic vehicle. The security checkpoint system further includes a scanner that scans the object in the automated robotic vehicle as the automated robotic vehicle passes through it. The security checkpoint system further includes a computing device including a processing unit that moves the automated robotic vehicle to the location of the individual after the automated robotic vehicle passes through the scanner.

Description

[Technical Field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit of U.S. Provisional Patent Application No. 63 / 426,003, filed November 16, 2022, and entitled "ROBOTIC DIVESTITURE SYSTEM," the entire contents of which are incorporated herein by reference. [Background technology]

[0002] Contactless screening is an important tool for detecting the presence of contraband or dangerous materials carried by individuals entering restricted areas or transportation hubs, such as security buildings, airports, or train stations. Various technologies, including X-ray and millimeter wave imaging, have been used for contactless screening. Such technologies can be used to generate images that reveal hidden objects not visible to the naked eye carried by the person and / or in bags or containers. One approach for such screening is to use a series of empty bins at a transportation access point, such as an airport or train station, that are picked up by individuals at the input stage of a line and conveyor system, moving the bins in and out of an X-ray system. Individuals place items (e.g., including bags, keys, phones, shoes, jackets, and / or combinations and / or multiples thereof) into the bins in a process known as diversion. The bins are then inspected by an X-ray system or the like. The individual can collect the item(s) from the bin after inspection. A bin return system returns the bins to replenish the bin supply at the diversion area. Summary of the Invention [Means for solving the problem]

[0003] According to one embodiment, a security checkpoint system is provided. The security checkpoint system includes an automated robotic vehicle including a chassis having a bin secured to the chassis. The security checkpoint system further includes an identification system that associates an individual who places an object in the bin with the automated robotic vehicle. The security checkpoint system further includes a scanner that scans the object in the automated robotic vehicle as the automated robotic vehicle passes through it. The security checkpoint system further includes a computing device including a processing unit that moves the automated robotic vehicle to the location of the individual after the automated robotic vehicle passes through the scanner.

[0004] According to another embodiment, a method of operating an automated robotic vehicle is provided. The method includes moving the automated robotic vehicle to a diverting station, the automated robotic vehicle including a bin and a chassis to which the bin is secured. The method further includes associating the automated robotic vehicle with an individual in response to the individual placing an object in the bin of the automated robotic vehicle. The method further includes moving the automated robotic vehicle through a scanner to scan the object in the bin of the automated robotic vehicle as the automated robotic vehicle passes the scanner, based at least in part on the movement of the individual. The method further includes moving the automated robotic vehicle to one of an enhanced security location for additional screening or a collection area for the individual to collect the object from the bin of the automated robotic vehicle, based at least in part on the results of the scanning of the object. [Brief explanation of the drawings]

[0005] Exemplary embodiments are illustrated in the accompanying drawings by way of example and are not to be considered as limiting the disclosure.

[0006] [Figure 1] FIG. 1 schematically illustrates an overhead view of a robotic bifurcated system according to some embodiments taught herein. [Figure 2]FIG. 2 illustrates an exemplary robotic bin for use in a robotic diversion system according to some embodiments taught herein. [Figure 3] FIG. 3 is a block diagram of a computing device suitable for use with embodiments of the present disclosure. [Figure 4] FIG. 4 illustrates a schematic diagram of a network environment for use with the systems and methods of some embodiments taught herein. [Figure 5] FIG. 5 illustrates a flow diagram of a method for operating an autonomous robotic vehicle according to one or more embodiments described herein. DETAILED DESCRIPTION OF THE INVENTION

[0007] Described herein in detail is a robotic diverting system and method for its use.

[0008] One approach to screening possessions, such as baggage, at transportation access points, such as airports or train stations, is to use a series of empty bins picked up by individuals at the entry stage of a line (e.g., a diverging area) and a conveyor system to move the bins in and out of the X-ray system. A bin return system returns the bins to refill the entry stage of the line. Conveyor systems can often be approximately 60 to 100 feet long, which can be inconvenient because such systems can exceed the size of small areas and can take up a large amount of otherwise available space in busy transportation hubs. Furthermore, conveyor systems can cost on the order of $100,000 to $200,000. Furthermore, conveyor systems separate individuals from their possessions so that screening of individuals and screening of their possessions are separate. For example, individuals and possessions may pass through a checkpoint at different speeds, or one of the individuals or possessions may undergo further security scrutiny (e.g., enhanced screening) while the other passes through security without issue. Consequences of separating screening of individuals and screening of possessions include the possibility that possessions may be accidentally left behind, or that individuals may become frustrated when they are unable to find their possessions after screening. As used herein, "possession" refers to one or more items associated with an individual. Non-limiting examples of possessions include bags, toolboxes, articles of clothing (e.g., jackets, blankets, shoes, etc.), tools, computing devices (e.g., laptops, smartphones, etc.), containers, and / or the like, including combinations and / or multiples thereof.

[0009] The robotic bin systems and methods taught herein overcome these problems. For example, according to one or more embodiments, the overall length of the system can be reduced to approximately 30 feet (approximately 9.1 meters), resulting in a significant reduction in the area of ​​a transportation hub occupied by security screening compared to existing systems. In some embodiments, the cost to implement the system can be significantly lower than existing systems. Furthermore, the modular nature of the robotic bin means that maintenance and replacement of the robotic bin is inexpensive and can be performed in a separate location while the system continues to operate. Furthermore, the robotic bin can follow individuals through the screening process and be associated with a specific individual by the system, avoiding separating individuals from their belongings. For example, the robotic bin can move an individual's belongings through an X-ray system and then locate and approach the individual on the cleared side of the checkpoint (e.g., after the individual has been screened). This avoids individual frustration and prevents bad actors from attempting to take possessions that do not belong to them. These and other advantages are possible.

[0010] FIG. 1 schematically illustrates an overhead view of a robotic diversion system 100 according to some embodiments taught herein. The robotic diversion system 100 includes one or more robotic bins 120 (also referred to as "automated robotic vehicles"). A robotic bin is a device that can move autonomously and has a means for receiving one or more possessions so that the robotic bin can transport the one or more possessions. The robotic bins 120 can be positioned on tables 108, 108' (e.g., input and output tables, respectively) for access by an individual (e.g., individual 105). The individual 105 at table 108 can load the individual's luggage, items, or possessions onto or into the robotic bin 120 as part of a diversion process in which table 108 is located at diversion station 109. The robotic bin 120 can then transport the luggage, items, or possessions along the main path 116 through a scanner 300 in communication with a computing device, e.g., computing device 150'. The scanner 300 may be any suitable type of scanner for screening possessions, such as, for example, an X-ray scanner, a computed tomography scanner, an ion mobility mass spectrometry scanner, a vapor detection scanner, or a millimeter wave scanner. Based on the results of the screening, the robotic bin 120 may then locate and approach the individual 105 on the cleared side of the checkpoint, for example, at the table 108', or may move the baggage to an enhanced security location 117 for additional screening. According to one or more embodiments described herein, the individual may be presented with instructions at the diversion station 109 instructing the individual how to divert. For example, the instructions may be in the form of text (e.g., codes), audio (e.g., pre-recorded audio messages), video (e.g., pre-recorded video messages), and / or the like, including combinations and / or multiples thereof. According to one or more embodiments described herein, a conversational security-related appliance may be implemented to provide instructions to a user.Conversational security-related appliances can generate objective, specific answers to security-related questions at or near security checkpoints.

[0011] According to one embodiment, the robotic bin 120 may be constructed from proprietary components, commercially available components, or a combination of proprietary and commercially available components. By way of example, the robotic bin 120 may include one or more of a controller, one or more wheels, a direct current (DC) motor that drives the wheels and is controllable by the controller, one or more sensors for transmitting data to the controller, and one or more communication interfaces. The controller may be, for example, a Raspberry Pi, an Arduino, an Nvidia Jetson Nano, and / or the like, including combinations and / or multiples thereof. According to one or more embodiments described herein, an example of a controller is a computing device 150, which is described in more detail herein. The wheels may be Mecanum wheels and / or the like. The DC motor may be a Seed Technology motor, an Adafruit Industry motor, and / or the like, including combinations and / or multiples thereof. In some cases, the DC motor includes or is connected to a gearbox, such as those used in robots and radio-controlled vehicles. The one or more sensors may include infrared sensors, ultrasonic sensors, visual sensors (e.g., cameras), and / or the like, including combinations and / or multiples thereof, such as those manufactured by Adafruit Industry, Raspberry Pi, Makeblock, and others. The one or more communication interfaces may be any suitable interface for communicating with another device, such as computing device 150'. The one or more communication interfaces may support WiFi, Bluetooth, cellular, radio frequency, infrared, and / or any other suitable communication protocol. According to one or more embodiments described herein, the one or more communication interfaces may be integrated into the controller, such as in the case of a Raspberry Pi or Arduino controller, and / or may be stand-alone modules, such as those offered by Murata, DFRobot, and others.The robot bin 120 may include additional components such as chassis(s), bin(s), programming, printed circuit board(s), cables, mechanical connectors, electrical connectors, and / or the like, including combinations and / or multiples thereof.

[0012] In some embodiments, the robotic bin system 100 may include an identification system 180, such as a camera system. The identification system 180 may sense which robotic bin 120 carries belongings of a particular individual 105 and associate the robotic bin 120 with that individual 105 in the memory of the computing device 150'. For example, the identification system 180 may use a camera or optical detector to capture images of the individuals and apply image analysis or processing techniques to associate a unique identifier with each individual. More specifically, the identification system 180 may process the images and associate a unique identifier with an individual based on the individual's identifying characteristics (e.g., features). Of course, an image may be captured of an individual, but need not identify the individual in terms of determining who the individual is, such as the individual's name. The identification system 180 may also sense the identity of a particular robotic bin 120 used by the identified individual. For example, the identification system 180 may include an indoor ranging system, a radio frequency identification (RFID) scanner, or an optical system that detects the identification of a particular robot bin 120 (i.e., RFID, barcode, QR code, numeric identifier, and / or the like, including combinations and / or multiples thereof) or tracks the identity of the robot using imaging or ranging techniques. For example, the identification system 180 may capture an image of the robot bin and perform image analysis or processing techniques to identify the robot bin 120 based on a feature or characteristic of the robot bin 120 (e.g., a number printed on the robot bin 120, a barcode printed on the robot bin 120, etc.). According to one or more embodiments described herein, the identification system 180 may associate an individual and a robot bin 120 using a timestamp associated with a captured image of the individual and the associated robot bin 120. According to one or more embodiments described herein, an individual may be associated with one robot bin 120 or multiple robot bins 120.For example, if an individual has more possessions or items than can fit in a single robotic bin 120, the individual can use multiple robotic bins 120, and the identification system 180 can associate each of the multiple robotic bins 120 with the individual. According to one or more embodiments described herein, an RFID reader, a barcode reader, or the like can be used to identify the possessions of the individual 105 without a camera-based system. For example, the individual 105 can enter their possessions into the system to check whether the possessions are authorized, using, for example, an RFID reader, a barcode reader, and / or the like, including combinations and / or multiples thereof. The possessions can have an associated RFID tag, barcode, QR code, etc., which can be used to determine whether the possessions are authorized.

[0013] In embodiments with multiple robotic bins 120, the robotic bins can automatically position themselves among them to smoothly move each robotic bin 120 through the scanner 300 and avoid collisions with each other or the scanner 300. In some embodiments, the robotic bins 120 communicate with the computing device 150′. Through the identification system 180, the computing device 150′ knows the location of the robotic bins 120 in relation to other elements of the robotic docking system 100 and in relation to each other. The queuing module 466 (see FIG. 3 ) of the computing device 150′ can determine the order in which loaded robotic bins 120 should proceed through the scanner 300. For example, the queuing module 466 can direct the robotic bins 120 based on the order of screening of individuals associated with the robotic bins 120. For example, a robotic bin 120 can be queued first to be screened by the scanner 300 in response to determining that an individual associated with that robotic bin 120 will be screened next by the body scanner. As another example, if an individual associated with a robotic bin 120 is delayed (e.g., selected for additional screening), the robotic bin 120 associated with that individual may be moved to a later location in the queue to screen their belongings. The computing device 150' sends navigation commands to individual robotic bins 120 based on the order determined by the queuing module 466.

[0014] In some embodiments, each robotic bin 120 includes one or more sensors 124 (as shown in FIG. 2 ) that communicate sensory signals to a computing device 150 on the robotic bin 120, enabling the robotic bin 120 to sense the presence of other robotic bins 120 in the area. The one or more sensors 124 help the robotic bin 120 avoid obstacles (e.g., each other, the scanner 300, and / or the like, including combinations and / or multiples thereof). If the robotic bin senses that an obstacle (e.g., another robotic bin 120, an edge, or a wall) is in or coming into the robotic bin's path, the computing device 150 can stop the robotic bin 120's movement and / or modify the direction or speed of movement to avoid a collision. In some embodiments, the one or more sensors 124 can include an image sensor, an infrared sensor, a limit switch for detecting physical contact, radar, lidar, GPS, or ultrasonic sensor to provide situational or location awareness. In some embodiments, the robotic bin 120 can use ultrasonic sensors while moving through the scanner 300 to enable the robotic bin 120 to determine its position within the scanner housing of the scanner 300. In some embodiments, the robotic bin 120 can navigate using position-based information. For example, in some embodiments, the robotic bin 120 can use GPS information, markers, infrared beams, lasers, beams on the floor or inside the scanner 300, and / or the like, including combinations and / or multiples thereof, to enable the robotic bin 120 to determine its position within the scanner housing of the scanner 300. The computing device 150 can use the sensed position information to determine whether or where to stop within the scanner 300, or to determine its speed within the scanner 300 to improve computed tomography imaging (e.g., by slowing down or stopping at a center point within the scanner 300).

[0015] In various embodiments, the robot bins 120 may be arranged in an organized and / or predetermined pattern or may be self-positioned before an individual approaches the table 108. In other embodiments, the robot bins 120 may be randomly distributed on the table 108, 108'. In some embodiments, a large number of robot bins, ranging from 12 to 24 robot bins, are accessible as part of the robotic diverting system 100, although other numbers of robot bins are possible. In some embodiments, the table 108, 108' may be rounded or include a rounded portion to allow the individual 105 to nominally reach the center of the table 108, 108'. By allowing the individual 105 to reach the center of the table 108, 108', the individual 105 is more likely to be able to access at least one robot bin 120 upon arriving at the table 108. In some embodiments, the tables 108, 108' may be the same shape or different shapes. In some embodiments, the tables 108, 108' may be shapes other than circular. In some embodiments, the tables 108, 108' may be made of stainless steel or another suitable material.

[0016] Of course, in other embodiments, the robotic bin 120 may be sized appropriately to operate on the floor of a screening area or other non-elevated environment. That is, the robotic bin 120 may be sized so that the robotic bin 120 can move along the floor of the screening area rather than being placed on a top surface (e.g., table 108, 108′, main pathway 116, etc.), thereby allowing the bin 126 (see FIG. 2) to be movable on the floor. In such an arrangement, the robotic bin 120 at a suitable height allows an individual to access the robotic bin 120 without bending or reaching.

[0017] As the robotic bin 120 exits the scanner 300 along the main path 116, the computing device 150′ determines whether the property scanned by the scanner 300 was cleared or flagged for enhanced screening. “Clear” indicates that the scanner 300 did not identify contraband, hazardous materials, or other unauthorized items. “Flagged for enhanced screening” indicates that the scanner 300 identified contraband, hazardous materials, or some other unauthorized item(s), or that the results of the scan were inconclusive. In such cases, further evaluation, such as by a human operator, or a rescan by the scanner 300 may be performed as part of enhanced screening. If enhanced screening is performed, the computing device 150′ may send a navigation command or notify the computing device 150 of the robotic bin 120 to execute the navigation module 460 to proceed the robotic bin 120 to the enhanced screening location 117. If the possessions are cleared, the computing device 150' can send a navigation command or notify the computing device 150 of the robotic bin 120 to execute the navigation module 460 to proceed to the table 108' in the collection area 111 for the individual to collect their possessions from the robotic bin 120. In some embodiments, the robotic bin 120 can proceed to a predetermined position near the edge of the table 108 and await individual retrieval of the possessions in the collection area 111. In some embodiments, the computing device 150' can use the identification system 180 to locate the individual on the cleared side of the checkpoint associated with the particular robotic bin 120 that cleared screening. The computing device 150' can then move the robotic bin 120 to the position on the table 108' where the individual is located. In some embodiments, the computing device 150' may not be able to locate the individual associated with the particular robotic bin 120.This may occur, for example, if an individual is removed for enhanced screening or if property processing is progressing more quickly than the individual is being screened. In such cases, the computing device 150' may move the robotic bin 120 to a holding area away from any individuals to await further instructions. In some embodiments, the holding area may be the enhanced screening location 117. The computing device 150' may continue to observe individuals using the identification system 180 until the individual associated with a particular robotic bin 120 is identified. The computing device 150' may then move the robotic bin to the associated individual's location. In some embodiments, the robotic diversion system 100 may recognize when an individual other than the individual associated with the bin (i.e., an unauthorized or unexpected user) removes an object or item from a bin 120. In some embodiments, the robotic diversion system 100 may display an alert to a system operator if such an individual removes an item from a bin 120.

[0018] After the individual 105 removes their belongings from the robotic bin 120 at the table 108' in the collection area 111 on the cleared side of the scanner 300, the robotic bin 120 can move on a return path 115 back to the table 108 in preparation for transporting another individual's belongings through the scanner 300. The return path 115, in some embodiments, may be a table that runs at least partially parallel to and adjacent to the main path 116. In some embodiments, the return path 115 runs above or below the main path 116 and above or below the scanner 300. According to one or more embodiments described herein, the return path 115 is the same as the main path 116, such that a separate return path is omitted. That is, the robotic bin 120 can shuttle back and forth through the scanner 300 along the main path 116.

[0019] In some embodiments, the main path 116, the return path 117, or both, may not include conveyor belts or roller assemblies. By eliminating the conveyor belts or roller assemblies, the robotic bin 120 can move through the scanner 120 at a constant or variable speed. Because the robotic bin 120 is automatically driven, the surfaces of the main and return paths need not include moving elements. By avoiding the use of conveyor belts used in existing systems, the robotic diverter system 100 can improve safety, reduce maintenance costs, and lower costs.

[0020] FIG. 2 shows an example of a robotic bin 120 (e.g., an automated robotic vehicle) for use within a robotic diversion system (e.g., robotic diversion system 100) according to some embodiments taught herein. The robotic bin 120 may include a chassis 122 having a loading surface 123. A bin 126 may be permanently or removably secured to the loading surface 123 of the chassis 122 using, for example, rivets, bolts, hook-and-loop fasteners, adhesives, or other fastening means known in the art. According to one or more embodiments described herein, the bin 126 may be integrally formed with the chassis 122. A means of locomotion, such as wheels 125, is coupled to the chassis to enable the robotic bin 120 to move. In some embodiments, the wheels 125 are omnidirectional wheels that can rotate forward but slide sideways with little friction to avoid skipping during rotation. The wheels 125 can rotate to allow the robotic bin 120 to change orientation in small spaces while remaining substantially stationary. In embodiments using omnidirectional wheels, the position of the bin 126 remains stationary on the chassis 122. Holding the position of the bin 126 stationary can improve imaging results during scanning by the scanner 300 because objects in the bin being scanned do not bend one way or the other while passing through the scanner 300, but remain on a fixed path relative to the computed tomography X-ray gantry. In another example, a continuous track can be used to move the robotic bin 120. For example, the robotic bin 120 can include two continuous tracks located on either side of the robotic bin 120, which can be powered (e.g., using one or more motors connected to the wheels) to drive the robotic bin 120 along a specific path and / or to a specific position.

[0021] A robotic bin 120 includes one or more of a sensor 124 and a computing device 150. The computing device 150 of a robotic bin 120 can use a communication interface to directly communicate with other robotic bins 120 or computing devices 150' to send and receive information, such as the position, orientation, or speed information of the robotic bin 120 or other robotic bins 120. According to one or more embodiments described herein, the robotic bin 120 can change its speed within the scanner, which aids in scanning possessions within the robotic bin 120, such as when undesirable objects or substances are to be more closely identified and inspected. In some embodiments, the one or more sensors 124 on the robotic bin can include an optical detector for capturing an image of an individual using the bin 120, allowing the robotic bin 120 to associate the individual with the robotic bin 120.

[0022] Computing device 150, in some embodiments, may include a navigation module 460 and a communication interface 462. Navigation module 460 can control the direction and speed of wheels 125 (e.g., using one or more motors connected to the wheels) to drive robotic bins 120 along specific paths and / or to specific locations. In some embodiments, navigation module 460 is located within computing device 150′ and communicates navigation commands to one or more robotic bins 120 from communication interface 154 of computing device 150′ to communication interface 462 of the robotic bins 120.

[0023] In some embodiments, one or more components of the robot bin 120 may be shielded from X-ray radiation or may use radiation-hardened materials. Shielding provides the advantage that electronic components within the robot bin 120 are not affected by the radiation and that the internal structure of the robot bin 120 is prevented from appearing in the reconstructed image resulting from the X-ray scanning process. In some embodiments, the scanner 300 may employ machine learning or artificial intelligence to recognize the structure of the robot bin 120 and remove this structure from the resulting reconstructed image of the objects within the bin 126.

[0024] 3 is a block diagram of a computing device 150′ suitable for use with embodiments of the present disclosure. Computing device 150′ may be, but is not limited to, a smartphone, a laptop, a tablet, a desktop computer, a microcontroller (e.g., Arduino), a system-on-a-chip (e.g., RasPi), a server, or a network appliance. Computing device 150′ includes one or more non-transitory computer-readable media for storing one or more computer-executable instructions or software for implementing various embodiments taught herein. Non-transitory computer-readable media may include, but are not limited to, one or more types of hardware memory (e.g., memory 156), non-transitory tangible media (e.g., storage device 426, one or more magnetic storage disks, one or more optical disks, one or more flash drives, one or more solid-state disks), etc. For example, memory 156 included in computing device 150′ may store computer-readable and computer-executable instructions or software, such as a queuing module 466 or a navigation module 460, for implementing the operation of computing device 150′. Computing device 150′ also includes a configurable and / or programmable processor 155 and associated core(s) 404, and in some embodiments, one or more additional configurable and / or programmable processor(s) 402′ and associated core(s) 404′ (e.g., in the case of a computer system having multiple processors / cores), for executing computer-readable and computer-executable instructions or software stored in memory 156 and other programs for implementing embodiments of the present disclosure. Processor 155 and processor(s) 402′ may each be a single-core processor or a multi-core (404 and 404′) processor. Either or both of processor 155 and processor(s) 402′ may be configured to execute one or more of the instructions described in connection with computing device 150′.According to one or more embodiments described herein, the computing system 150' may include a graphics processing unit (GPU) module (e.g., an Nvidia jetson nano).

[0025] Virtualization may be employed in computing device 150' so that infrastructure and resources within computing device 150' may be dynamically shared. Virtual machines 412 may be provided to handle processes running on multiple processors so that the processes appear to be using only one computing resource rather than multiple computing resources. Multiple virtual machines may also be used on a single processor.

[0026] The memory 156 may include computer system memory or random access memory such as DRAM, SRAM, EDO RAM, etc. The memory 156 may also include other types of memory or combinations thereof.

[0027] A user may interact with computing device 150' through a visual display device 414, such as a computer monitor, which may display one or more graphical user interfaces 416. A user may interact with computing device 150' using a multi-point touch interface 420 or a pointing device 418.

[0028] The computing device 150' may also include one or more computer storage devices 426, such as a hard drive, CD-ROM, or other computer-readable medium for storing data and computer-readable instructions, modules 466, 460, and / or software (e.g., applications) that implement exemplary embodiments of the present disclosure. For example, an exemplary storage device 426 may include a navigation module 460 or a cueing module 466. The storage device 426 may also include a reconstruction algorithm 468 that may be applied to image data and / or other data to reconstruct an image of the scanned object.

[0029] Computing device 150′ may include a communication interface 154 configured to interface with one or more networks, e.g., a local area network (LAN), a wide area network (WAN), or the Internet, via one or more network devices 424, via various connections, including, but not limited to, a standard telephone line, a LAN or WAN link (e.g., 802.11, T1, T3, 56 kb, X.25), a broadband connection (e.g., ISDN, Frame Relay, ATM), a wireless connection, a Controller Area Network (CAN), or some combination of any or all of the above. In an exemplary embodiment, computing device 150′ may include one or more antennas 422 to facilitate wireless communication (e.g., via a network interface) between computing device 150′ and a network and / or between computing device 150′ and components of a system, such as identification system 180 or robotic bin 120. Communications interface 154 may include an internal network adapter, a network interface card, a PCMCIA network card, a card bus network adapter, a wireless network adapter, a USB network adapter, a modem, or any other device suitable for interfacing computing device 150′ to any type of network capable of performing the communications and operations described herein.

[0030] Computing device 150′ may execute operating system 410, such as versions of the Microsoft® Windows® operating system, different releases of Unix® and Linux® operating systems, versions of MacOS® for Macintosh computers, embedded operating systems, real-time operating systems, open source operating systems, dedicated operating systems, or other operating systems capable of running on computing device 150′ and performing the operations described herein. In an exemplary embodiment, operating system 410 may run in native mode or in an emulated mode. In an exemplary embodiment, operating system 410 may run on one or more cloud machine instances.

[0031] 4 illustrates a network environment 500 including a computing device 150′ and other elements of the systems described herein suitable for use in exemplary embodiments. The network environment 500 may include an identification system 180, first through nth robotic bins 120, each including a computing device 150, one or more databases 152, and a scanner 300 including computing devices 150′ that can communicate with each other via a communications network 505. While the computing devices 150′ have been described above as components of the scanner 300, some embodiments of the robotic bin system 100 and the network environment 500 may include a stand-alone central server 550 that communicates with other elements of the robotic bin system 100 using the communications network 505. The central server 550 is an example of a computing device 150′.

[0032] The computing device 150′ can host one or more applications (e.g., the navigation module 460 or the cueing module 466, and any mechanical, kinematic, or electronic systems associated with these system aspects, the reconstruction algorithm 462, or the graphical user interface 416) configured to interact with one or more components of the robotic branch system 100 and / or facilitate access to the contents of the database. The database 152 may store information or data, including instructions or software modules (i.e., the navigation module 460 or the cueing module 466), the reconstruction algorithm 462, or image data, as described above. Information from the database 152 may be retrieved by the computing device 150′ over the network 505 during imaging or scanning operations. The database 152 may be located in one or more geographically distributed locations remote from some or all of the system components and / or the computing device 150′. Alternatively, the database 152 may be located in the same geographic location as the computing device 150′ and / or in the same geographic location as the system components. The computing device 150' may be geographically remote from the scanner 300 or other system components. For example, the computing device 150' and operator may be located in a secure room isolated from the location where scanning of individuals or property occurs to mitigate privacy concerns. The computing device 150' may also be located completely off-site at a remote facility.

[0033] In an example embodiment, one or more portions of the communications network 505 may be an ad-hoc network, a mesh network, an intranet, an extranet, a virtual private network (VPN), a local area network (LAN), a wireless LAN (WLAN), a wide area network (WAN), a wireless wide area network (WWAN), a metropolitan area network (MAN), a portion of the Internet, a portion of the public circuit-switched telephone network (PSTN), a cellular network, a wireless network, a Wi-Fi network, a WiMAX network, an Internet of Things (IoT) network established using Bluetooth® or any other protocol, any other type of network, or a combination of two or more such networks.

[0034] 5 shows a flow diagram of a method 501 for operating an automated robotic vehicle according to one or more embodiments described herein. In block 502, the automated robotic vehicle is moved to a diverging station. For example, computing device 150′ and / or computing device 150 may use navigation module 460 to move robotic bin 120 (e.g., the automated robotic vehicle) to diverging station 109. The automated robotic vehicle includes bin 126 and chassis 122 to which bin 126 is secured.

[0035] In block 504, in response to the individual placing an object in a bin of the automated robotic vehicle, the automated robotic vehicle is associated with the individual. For example, the identification system 180 and / or one or more sensors 124 may be used to associate the individual 105 with one or more of the robotic bins 120.

[0036] In block 506, based at least in part on the individual's movement, the automated robotic vehicle moves to the scanner 300 to scan the objects in the robotic bin 120. In some embodiments, the robotic bin 120 stops within the scanner for the scanning process and moves toward the scanner's exit once the scanning process is complete. In some embodiments, the robotic bin 120 continues to move toward the scanner's exit during the scanning process. Once the robotic bin 120 exits the scanner 300, the identification system 180 and / or one or more sensors 124 can be used to track the movement of the individual 105, and the movement of the individual 105 is used to determine how to move the robotic bin 120. For example, if the individual 105 is delayed passing through a body scanner (not shown), the robotic bin 120 may be moved to a holding area before passing through the scanner 300. As another example, if the individual 105 is selected for enhanced screening, the robotic bin 120 may be moved to an enhanced security location 117 or another holding area.

[0037] In block 508, based at least in part on the results of the scan of the object's location within the robotic bin 120, the robotic bin 120 moves to one of an enhanced security location for additional screening or a collection area for an individual to collect the object from the robotic bin 120. For example, if the object is "cleared," the robotic bin 120 moves to table 108' in collection area 111 where the individual 105 may retrieve their belongings (e.g., luggage) from the robotic bin 120. As another example, if the object is "flagged" for enhanced screening, the robotic bin 120 moves to enhanced security location 117 for further evaluation.

[0038] According to one or more embodiments described herein, if an unauthorized individual (e.g., an individual other than the individual associated with the automated robotic vehicle) attempts to collect an object from the bin of the automated robotic vehicle, an alert can be issued to a human operator (e.g., a security officer), or the like.

[0039] According to one or more embodiments described herein, after an individual collects an object from the bin of the automated robotic vehicle, the automated robotic vehicle can automatically move back to the diversion station 109.

[0040] It should be understood that additional processes may be included, and that the processes shown in Figure 5 represent examples, and that other processes may be added, or existing processes may be removed, modified, or reconfigured, without departing from the scope of the present disclosure. It should also be understood that the processes shown in Figure 5 may be implemented as program instructions stored on a non-transitory computer-readable storage medium that, when executed by a processor (e.g., processor 155) of a computing system (e.g., central server 555), cause the processor to perform the processes described herein.

[0041] In describing the exemplary embodiments, specific terminology is used for clarity. Moreover, in some instances where a particular exemplary embodiment includes multiple system elements, device components, or method steps, those elements, components, or steps may be replaced with a single element, component, or step. Similarly, a single element, component, or step may be replaced with multiple elements, components, or steps that serve the same purpose. Moreover, while the exemplary embodiments have been illustrated and described with reference to specific embodiments thereof, those skilled in the art will recognize that various substitutions and changes in form and detail may be made therein without departing from the scope of the present disclosure. Still further, other aspects, features, and advantages are also within the scope of the present disclosure.

[0042] The exemplary flowcharts are provided herein for illustrative purposes and are non-limiting examples of methods. Those skilled in the art will recognize that the exemplary methods may include more or fewer steps than illustrated in the exemplary flowcharts, and that the steps of the exemplary flowcharts may be performed in a different order than that shown in the exemplary flowcharts.

Claims

1. 1. A security checkpoint system comprising: an autonomous robotic vehicle including a chassis having a bin secured to the chassis; an identification system for associating an individual who placed an object in the bin with the automated robotic vehicle; a scanner for scanning the object within the autonomous robotic vehicle as the autonomous robotic vehicle passes by it; a computing device including a processing unit that moves the automated robotic vehicle to a location of the individual after the automated robotic vehicle passes through the scanner.

2. 2. The security checkpoint system of claim 1, wherein the chassis of the automated robotic vehicle comprises a loading surface, and the bin is secured to the loading surface of the chassis.

3. 3. The security checkpoint system of claim 2, wherein said bin is removably secured to said loading surface of said chassis.

4. 3. The security checkpoint system of claim 2, wherein said bin is permanently secured to said loading surface of said chassis.

5. The security checkpoint system of claim 1 , wherein the automated robotic vehicle comprises one or more sensors.

6. 6. The security checkpoint system of claim 5, wherein the one or more sensors comprise an optical detector for acquiring an image of the individual, the image of the individual being used to associate the automated robotic vehicle with the individual.

7. 10. The security checkpoint system of claim 1, wherein the automated robotic vehicle comprises a communication interface for communicating with at least one of another robotic bin and the computing device.

8. The security checkpoint system of claim 7 , wherein the communication interface is used to transmit and receive location, orientation, and speed information.

9. The security checkpoint system of claim 1 , wherein the automated robotic vehicle comprises wheels coupled to the chassis.

10. 5. The security checkpoint system of claim 4, wherein the wheel is an omnidirectional wheel.

11. 10. The security checkpoint system of claim 1, wherein the location is an enhanced security location for additional screening of the object.

12. 2. The security checkpoint system of claim 1, wherein the location is a collection area for the individual to collect the object from the bin of the automated robotic vehicle.

13. 1. A method for operating an autonomous robotic vehicle, the method comprising: moving the automated robotic vehicle to a diverging station, the automated robotic vehicle comprising a bin and a chassis to which the bin is secured; In response to an individual placing an object in the bin of the automated robotic vehicle, associating the automated robotic vehicle with the individual; moving the automated robotic vehicle through a scanner based at least in part on the movement of the individual, and scanning the object in the bin of the automated robotic vehicle as the automated robotic vehicle passes the scanner; and moving the automated robotic vehicle to one of an enhanced security location for additional screening or a collection area for the individual to collect the object from the bin of the automated robotic vehicle based at least in part on results of the scan of the object.

14. 14. The method of claim 13, further comprising issuing an alert in response to identifying an unauthorized individual attempting to collect the object from the bin of the automated robotic vehicle, the unauthorized individual being other than the individual associated with the automated robotic vehicle.

15. 14. The method of claim 13, further comprising returning the automated robotic vehicle to the diverging station in response to the individual collecting the object from the bin of the automated robotic vehicle.

16. 14. The method of claim 13, wherein the chassis comprises a loading surface, the bin is secured to the loading surface, and the bin is configured to receive the object from the individual.

17. The method of claim 13 , wherein the automated robotic vehicle comprises wheels for moving the automated robotic vehicle.

18. The method of claim 13 , wherein the autonomous robotic vehicle comprises a sensor for associating the autonomous robotic vehicle with the individual.

19. The method of claim 13 , wherein the automated robotic vehicle comprises a communication interface for communicating with at least one of another robotic bin and a computing device.

20. The method of claim 13 , wherein the automated robotic vehicle comprises a navigation module for moving the automated robotic vehicle, the navigation module causing the automated robotic vehicle to vary its velocity.

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