Granted Patent B1

US 11,630,447 · App. 16/538,237 · Granted Apr 18, 2023

Inventors: Michael Bhaskaran (Sherborn, MA); Weston Harris (Allston, MA); Maimuna Rangwala (North Grafton, MA)

Assignee: Staples, Inc.

G05B19/41895B65G1/1373G05D1/0088G05D1/0272G05D2201/0216

Abstract

Claims (93)

1. An automated guided vehicle (AGV) comprising:

an AGV body;

one or more elevator mechanisms coupled to the AGV body;

a support surface coupled to the AGV body and vertically movable along the AGV body by the one or more elevator mechanisms, the support surface supporting an object from underneath the object when the object is placed on the support surface;

one or more arms coupled to the AGV body and vertically movable along the AGV body by the one or more elevator mechanisms, the one or more arms articulating to move the object from a first position of the object and place the object on the support surface, the one or more arms including a grasping member positioned at an end of the one or more arms distal from the AGV body, the grasping member including:

a grasping member body;

a paddle on a first side of the grasping member and coupled with the grasping member body using a sliding mechanism that slides the paddle horizontally relative to the grasping member body; and

a wrist element on a second side of the grasping member and pivoting the grasping member body relative to the one or more arms, the second side of the grasping member opposing the first side of the grasping member, the wrist element and the sliding mechanism allowing the paddle to slide at variable angles relative to the one or more arms;

and

an AGV controller configured to control one or more operations of the AGV.

2. The AGV of claim 1 , wherein the one or more arms includes a plurality of arms and an arm in the plurality of arms includes:

a hand element comprising the paddle slideable along the hand element, the paddle adapted to hold the object between a plurality of paddles of the plurality of arms, the paddle sliding along the hand element when the object is held between the plurality of paddles of the plurality of arms to move the object.

3. The AGV of claim 2 , wherein the hand element includes:

a finger element mounted to an end of the paddle, the finger element being horizontally pivotable to rest against a second object surface of the object to grasp the object.

4. The AGV of claim 1 , wherein the one or more arms includes a plurality of arms and an arm in the plurality of arms includes:

a shoulder element coupling the arm to the AGV body, the shoulder element adapted to horizontally pivot the arm around the shoulder element to adjust a distance between a plurality of paddles of the plurality of arms based on the object; and

the wrist element coupling a hand element of the arm to the arm, the wrist element adapted to horizontally pivot the hand element around the wrist element to adjust the distance between the plurality of paddles of the plurality of arms based on the object.

5. The AGV of claim 1 , wherein:

the AGV transports the object to or from a shelving unit; and

the AGV includes one or more legs coupled to the AGV body, the one or more legs satisfying a height threshold associated with a space underneath the shelving unit.

6. The AGV of claim 1 , further comprising:

a plurality of legs coupled to the AGV body and separated by a distance satisfying a distance threshold to accommodate the object between the plurality of legs.

7. The AGV of claim 1 , further comprising:

a user communication unit including a voice interface device, the voice interface device adapted to receive one or more of a voice command and a voice input from a user.

8. The AGV of claim 1 , wherein the AGV controller executes one or more instructions that cause the AGV to:

align the AGV with the first position of the object;

vertically move the support surface along the AGV body to a first surface position relative to the first position of the object;

vertically move the one or more arms along the AGV body to a first arm position relative to the first position of the object;

retrieve the object from the first position of the object using the one or more arms, the one or more arms holding the object; and

move the object towards the support surface by the one or more arms holding the object to place the object on the support surface.

9. A method comprising:

determining a first position of an object in a first area;

aligning an automated guided vehicle (AGV) with the first position of the object, the AGV including a support surface, one or more arms coupled to an AGV body, and two or more legs coupled with the AGV body and providing support to the AGV body, the support surface and the one or more arms being vertically movable along the AGV body, the one or more arms including a grasping member positioned at an end of the one or more arms distal from the AGV body, the grasping member including:

a grasping member body;

a paddle on a first side of the grasping member and coupled with the grasping member body using a sliding mechanism that slides the paddle horizontally relative to the grasping member body; and

a wrist element coupled to a second side of the grasping member and pivoting the grasping member body relative to the one or more arms, the second side of the grasping member opposing the first side of the grasping member, the wrist element and the sliding mechanism allowing the paddle to slide at variable angles relative to the one or more arms;

vertically moving the support surface of the AGV along the AGV body to a first surface position relative to the first position of the object;

vertically moving the one or more arms of the AGV along the AGV body to a first arm position relative to the first position of the object;

retrieving the object from the first position of the object using the one or more arms, the one or more arms holding the object; and

moving the object towards the support surface by the one or more arms holding the object to place the object on the support surface.

10. The method of claim 9 , further comprising:

determining an object size of the object;

adjusting the one or more arms based on the object size of the object; and

responsive to moving the support surface to the first surface position and the one or more arms to the first arm position and responsive to adjusting the one or more arms, retrieving the object from the first position of the object using the one or more arms.

11. The method of claim 9 , wherein an arm in the one or more arms includes:

a shoulder element coupling the arm to the AGV body, the arm being horizontally pivotable around the shoulder element;

a hand element including the paddle slideable along the hand element and a finger element mounted to an end of the paddle, the finger element being pivotable to rest against an object surface of the object; and

the wrist element coupling the hand element to the arm, the hand element being horizontally pivotable around the wrist element.

12. The method of claim 11 , wherein the one or more arms include a plurality of arms, and the method comprises:

determining an object size of the object; and

horizontally pivoting one or more of the arm and the hand element of the arm to adjust a distance between a plurality of paddles of the plurality of arms based on the object size of the object.

13. The method of claim 11 , wherein:

the one or more arms include a plurality of arms; and

retrieving the object from the first position of the object and moving the object towards the support surface includes:

sliding the paddle forward to hold the object between a plurality of paddles of the plurality of arms;

pivoting the finger element to rest the finger element against a second object surface of the object to grasp the object; and

sliding the paddle backward along the hand element to move the object being held by the plurality of paddles of the plurality of arms towards the support surface and place the object on the support surface.

14. The method of claim 9 , further comprising:

determining the first surface position for the support surface based on the first position of the object, a distance between the first surface position of the support surface and a bottom surface of the object located at the first position satisfying a first distance threshold; and

determining the first arm position for the one or more arms based on the first position of the object, a distance between the first arm position of the one or more arms and a top surface of the object located at the first position satisfying a second distance threshold.

15. The method of claim 9 , further comprising:

responsive to placing the object on the support surface of the AGV, transporting the object situated on the support surface to a second area;

determining a second position for the object in the second area;

aligning the AGV with the second position of the object;

vertically moving the support surface of the AGV along the AGV body to a second surface position relative to the second position of the object;

vertically moving the one or more arms of the AGV along the AGV body to a second arm position relative to the second position of the object; and

moving the object situated on the support surface of the AGV by the one or more arms holding the object to place the object at the second position of the object.

16. The method of claim 15 , further comprising:

determining the second surface position for the support surface based on the second position of the object, a distance between the second surface position of the support surface and the second position of the object satisfying a first distance threshold;

determining a moving direction and a moving distance for the support surface to move to the second surface position; and

determining the second arm position for the one or more arms based on the moving direction and the moving distance of the support surface.

17. The method of claim 15 , wherein:

the one or more arms include a plurality of arms; and

moving the object to the second position of the object includes:

pivoting a finger element of an arm away from an object surface of the object against which the finger element rested; and

sliding a paddle forward along a hand element of the arm to move the object being held by the plurality of arms from the support surface of the AGV to the second position of the object.

18. The method of claim 9 , further comprising:

monitoring a tracking device associated with a user, the tracking device indicating a current position of the user in an operating environment;

placing a first object on the support surface of the AGV; and

responsive to placing the first object on the support surface of the AGV, maintaining a following distance between the AGV and the tracking device to automatically follow the user in the operating environment.

19. The method of claim 18 , further comprising:

responsive to determining that a height distance of the current position of the user to a floor surface satisfies a height threshold, determining a surface position for the support surface based on the current position of the user; and

vertically moving the support surface of the AGV on which the object is situated along the AGV body to the surface position.

20. An automated guided vehicle (AGV) comprising:

an AGV body;

one or more elevator mechanisms coupled to the AGV body;

a support surface coupled to the AGV body and vertically movable along the AGV body by the one or more elevator mechanisms, the support surface supporting an object from underneath the object when the object is placed on the support surface;

a plurality of arms coupled to the AGV body and vertically movable along the AGV body by the one or more elevator mechanisms, the plurality of arms articulating to move the object from a first position of the object and place the object on the support surface, an arm in the plurality of arms including:

a hand element positioned at an end of the arm distal from the AGV body and comprising a paddle slideable along the hand element using a sliding mechanism and a finger element mounted to an end of the paddle, the paddle adapted to hold the object between a plurality of paddles of the plurality of arms, the finger element adapted to pivot to rest against a second object surface of the object to grasp the object, the paddle being located on a first side of the hand element,

a wrist element positioned at a second side of the hand element and coupling the hand element to the arm, the wrist element adapted to horizontally pivot the hand element around the wrist element the wrist element and the sliding mechanism allowing the paddle to slide at variable angles relative to the arm, the second side of the hand element opposing the first side of the hand element, and

a shoulder element coupling the arm to the AGV body, the shoulder element adapted to horizontally pivot the arm around the shoulder element to adjust a distance between the plurality of paddles of the plurality of arms based on the object;

two or more legs coupled to the AGV body and providing support to the AGV body, the two or more legs including one or more multi-directional wheels at a position on the two or more legs distal from the AGV body, the two or more legs including a first leg and a second leg, the first leg being separated from the second leg to form an opening that allows at least a portion of the support surface to move vertically into the opening between the two or more legs; and

an AGV controller configured to control one or more operations of the AGV.

Assignments (8)

Cited By (4)

US 12,508,706 US 12,596,380 US 12,617,614 US 12,617,636