Mobile platform and manipulator base, and systems and methods of using the same
Devices and systems for performing an operation are provided. The system comprises a mobile platform comprising a frame having side supports and a rear support, side wheel assemblies coupled to the side supports, and a rear wheel assembly coupled to the rear support. The wheel assemblies each comprise wheels and a wheel frame, the wheel frame being pivotally connected to the side and rear supports. The system further comprises a first control system for controlling movement of the mobile platform and a manipulator element coupled to the mobile platform. The manipulator element is configured to removably connect to the mobile platform and to perform an operation. The manipulator element comprises a second control system for controlling the operation. The first control system and the second control system are configured to communicate to cause the mobile platform to move and to cause the manipulator element to perform the operation.
1 . A system for performing an operation, the system comprising:
a mobile platform comprising:
a frame having a first side support, a second side support, and a rear support, wherein the first side support is on a side of the frame opposite a side of the second side support;
a first side wheel assembly coupled to the first side support;
a second side wheel assembly coupled to the second side support;
a rear wheel assembly coupled to the rear support;
the first and the second side wheel assemblies each comprising at least two wheels coupled to a wheel frame, wherein the wheel frame of the first wheel assembly is pivotally connected to the first side support and the wheel frame of the second wheel assembly is pivotally coupled to the second side support;
the rear wheel assembly comprising at least two wheels coupled to a wheel frame, wherein the wheel frame of the rear wheel assembly is pivotally connected to the rear support; and
a first control system for controlling movement of the mobile platform; and
a manipulator element removably coupled to the mobile platform, wherein the manipulator element is configured to removably connect to the mobile platform and to perform the operation, the manipulator element comprising:
a second control system for controlling the operation;
wherein the first control system and the second control system are configured to communicate to cause the mobile platform to move and the manipulator element to perform the operation.
2 . The system of claim 1 , further comprising:
a base configured to removably connect to the mobile platform, and removably connect to the manipulator element.
3 . A mobile platform comprising:
a frame having a first side support, a second side support, and a rear support, wherein the first side support is on a side of the frame opposite a side of the second side support;
a first side wheel assembly coupled to the first side support;
a second side wheel assembly coupled to the second side support; and
a rear wheel assembly coupled to the rear support;
wherein the first and the second side wheel assemblies each comprise at least two wheels coupled to a wheel frame, the wheel frame of the first side wheel assembly being pivotally connected to the first side support, and the wheel frame of the second side wheel assembly being pivotally connected to the second side support,
wherein the rear wheel assembly comprises at least two wheels coupled to a wheel frame, the wheel frame of the rear wheel assembly being pivotally connected to the rear support.
4 . The mobile platform of claim 3 further comprising:
a control system for controlling actuation of the wheels and movement of the mobile platform; and
one or more sensors for detecting obstacles before and during movement of the mobile platform.
5 . The mobile platform of claim 3 further comprising:
a connection port on a surface of the mobile platform configured to removably connect to a manipulator element.
6 . A method of controlling a mobile platform, the method comprising:
receiving, by a processor of the mobile platform, a signal to move to a location, the mobile platform comprising wheel assemblies, wherein at least two of the wheel assemblies each comprise a drive wheel and a support wheel, the drive wheel and the support wheel being coupled to a wheel frame, the wheel frame being pivotally connected to a frame of the mobile platform;
detecting, by sensors of the mobile platform, obstacles that are present between the mobile platform and the location;
when no obstacles are detected, transmitting signals to the at least two wheel assemblies of the mobile platform to actuate the drive wheel of each of the wheel assemblies; and
when obstacles are detected, determining a path for the mobile platform to avoid the obstacles.
7 . The method of claim 6 , further comprising:
transmitting, by the processor, a signal to a processor of a robotic arm to move the robotic arm into a predetermined position;
when the mobile platform arrives at the location, transmitting a signal to the processor of the robotic arm to perform an operation;
detecting, by sensors of the robotic arm, obstacles that are present between the robotic arm and an area for the operation;
when no obstacles are detected, actuating the robotic arm to perform the operation; and
when obstacles are detected, determining movement of the robotic arm to avoid the obstacles.
8 . The system of claim 1 , wherein the manipulator element is a robotic arm.
9 . The system of claim 1 , wherein the mobile platform further comprises sensors, wherein the first control system is configured to detect, by the sensors, obstacles that are present between the mobile platform and a location for the mobile platform to move to.
10 . The system of claim 1 , wherein the first and the second side supports are positioned on the frame such that a weight of the mobile platform is uniformly distributed to all of the wheels.
11 . The system of claim 1 , wherein the mobile platform further comprises at least one bin holder on a top surface of the mobile platform.
12 . The system of claim 1 , wherein the manipulator element comprises sensors for detecting objects and wherein the operation is to grab a detected object.
13 . The mobile platform of claim 3 , further comprising a manipulator element coupled to a top surface of the frame.
14 . The mobile platform of claim 3 , wherein the first and the second side supports are positioned on the frame such that a weight of the mobile platform is uniformly distributed to all of the wheels.
15 . The mobile platform of claim 3 , further comprising at least one bin holder on a top surface of the frame.
16 . The mobile platform of claim 5 , wherein the manipulator element comprises sensors for detecting objects and the manipulator element is configured to grab a detected object.
17 . The system of claim 1 , wherein the at least two wheels of the first and the second side wheel assemblies comprise a drive wheel and a support wheel, wherein the support wheel is coupled to a first end of the wheel frame and the drive wheel is coupled to a second end of the wheel frame.
18 . The mobile platform of claim 3 , wherein the at least two wheels of the first and the second side wheel assemblies comprise a drive wheel and a support wheel, wherein the support wheel is coupled to a first end of the wheel frame and the drive wheel is coupled to a second end of the wheel frame.