Positioning of a mobile platform using a bumper
A method for positioning a mobile platform at a station that includes moving the mobile platform near a bumper by applying torque to a drive shaft. The mobile platform is maneuvered until a contact stop of the platform is touching the bumper. A locking mechanism is engaged to the mobile platform before the torque to the drive shaft is released to assure position retention at the station. A system for precise positioning of a mobile platform at a station is provided that includes a stationary bumper at the station. A mobile platform has contact stops, a drive shaft, and sensors for measuring contact with the stationary bumper. The mobile platform having a locking mechanism for preventing movement of the drive shaft in response to input from at least one of the sensors in response to contact with the stationary bumper to provide the precise positioning of the mobile platform.
1. A method for positioning a mobile platform at a station, said method comprising:
autonomously moving said mobile platform near a bumper by applying torque to a drive shaft;
maneuvering said mobile platform until at least three non-collinearly positioned stops on said mobile platform are in contact with said bumper;
determining both position and orientation of said mobile platform relative to the bumper; and
then, applying a locking mechanism to said mobile platform before the torque to said drive shaft is released to assure positioning at the station in response to input from at least one sensor for measuring contact of said stops with said bumper.
2. The method of claim 1 wherein said mobile platform is omni-directional.
3. The method of claim 1 wherein a first contact stop of the at least three non-linear stops is a caster wheel.
4. The method of claim 1 wherein said mobile platform is configured with proximity sensors for automatically aligning said platform in contact with said bumper.
5. The method of claim 1 further comprising repositioning said mobile platform vertically based on the vertical position of a first contact relative to a preselected height position of said bumper.
6. A system for precise positioning of a mobile platform at a station, said system comprising:
a stationary bumper at said station; and
an autonomous mobile platform with a plurality of non-collinearly positioned contact stops, a drive shaft, and sensors for measuring contact with said stationary bumper, said mobile platform having a locking mechanism for preventing movement of the drive shaft in response to simultaneous input from at least three points of contact of the sensors for measuring contact with said stationary bumper to provide the precise positioning of said mobile platform.
7. The system of claim 6 wherein said mobile platform further comprises a plurality of proximity sensors to automatically position said mobile platform against said bumper.
8. The system of claim 6 wherein said mobile platform is omni-directional.
9. The system of claim 6 wherein said mobile platform further comprises a caster.
10. The system of claim 9 wherein said caster has a sensor for measuring contact coupled thereto to trigger said locking mechanism to be applied.
11. The system of claim 6 further comprising a vertical platform adjustment mechanism activated in response to a vertical position sensing of one of said plurality of non-linear contact stops relative to said stationary bumper.