Mobile Robot Payload Sensing for Adaptive Cart Towing
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Solution Overview
Problem
Current autonomous mobile robots require retrofitting of cart bases to interface with existing carts, which is labor-intensive, costly, and limits their utility to specific cart types, compromising navigation and safety due to variable load sizes and obscured sensor coverage.
Innovation Solution
A mobile robot system that uses a universal hitch with a unique identifier to detect and adjust its behavior based on the towed cart's attributes, allowing self-configuration for different cart types, and dynamically adjusts sensor coverage to ensure safe and efficient navigation and handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a mobile robot uses a fixed gripper or attachment modality designed for a uniform cart type, then the robot can reliably attach to and tow that specific cart type, but the robot's utility is limited to a single cart type and it cannot adapt to variable cart constructions
Solution Approach 1:
The robot is equipped with a universal hitch mechanism that can attach to multiple cart types through a standardized interface. The hitch system uses adjustable arms and universal mounting points that accommodate various cart constructions, allowing a single robot to serve multiple cart types without requiring type-specific attachment mechanisms
Solution Approach 2:
The robot dynamically adjusts its attachment configuration based on the detected cart type. The hitch mechanism includes movable components that can be repositioned to match different cart geometries, and the robot modifies its towing behavior in real-time based on sensor feedback about the attached load
2Adaptability or versatility
If the mobile robot tows carts with variable sizes and shapes without a fixed known footprint, then the robot can handle diverse cart types, but the robot's sensor coverage is obscured and navigation safety is compromised
Solution Approach 1:
Before towing begins, the robot performs preliminary actions to establish safe operation parameters: it detects the cart's dimensions and characteristics, calculates the appropriate sensor coverage requirements, and positions its sensors to ensure unobstructed views of critical navigation areas. This preliminary configuration ensures safety is established before movement commences
Solution Approach 2:
The robot continuously monitors sensor coverage during towing operations and adjusts its navigation and sensor positioning in real-time based on feedback from its environment. The system uses sensor data to detect when coverage is compromised and automatically compensates by adjusting sensor angles, positions, or navigation paths to maintain safe operation
3Measurement precision
If the mobile robot requires retro-fitting cart bases onto existing carts to establish a known size for navigation, then the robot can accurately calculate its navigation envelope, but labor-intensive installation and high expenses are incurred
Solution Approach 1:
The patent replaces the mechanical retrofitting approach with an optical/electronic measurement system. Instead of physically modifying carts with standardized bases, the robot uses cameras, LIDAR, or other sensing systems to detect and measure cart dimensions, automatically calculating the navigation envelope through software processing of the detected geometry
Solution Approach 2:
The robot performs self-measurement of cart dimensions without requiring external intervention or pre-installation of measurement fixtures. The system autonomously detects cart characteristics, calculates appropriate navigation parameters, and configures its own operation envelope based on the detected load, eliminating the need for manual retrofitting services
Data Source
AI summary
Embodiments relate to a robotic system having a plurality of sensors attached to a robot. The system includes an identifier attached to a receiver hitch of a cart. The identifier includes information related to a cart with which the identifier is attached. At least one sensor of the plurality of sensors is configured to detect the identifier and transmit sensor data to a computing unit of the robot. The computing unit of the robot operates the robot and/or the plurality of sensors based on the cart information. Some embodiments include a facility sensor attached to a facility. The facility sensor is configured to detect presence or absence of a cart.