Systems and methods for a robotic cart
This application describes systems, devices, computer readable media, and methods for the function and operation of robotic carts. A robotic cart may include a base component configured for the receipt of a payload, a battery unit, and a mobility apparatus. The robotic cart may include a handlebar component coupled with the base component. The handlebar unit may include a sensor unit configured to transmit a hand detection message when the handlebar unit is grasped by one or more hands and to transmit a force direction message indicating a two-dimensional direction associated with a directional force applied by one or more hands. The robotic cart may be configured to map the area around it and to autonomously move the robotic cart along a path to perform a task.
1 . A robotic cart comprising:
a base component configured for receipt of a payload;
a mobility apparatus coupled with the base component;
a handlebar component coupled with the base component;
a first sensor unit configured to detect a force exerted at the handlebar component, the force including a translational force element and a rotational force element;
a second sensor unit configured to detect one or more objects in an area proximate to the robotic cart; and
a control unit configured to:
communicate with the mobility apparatus to autonomously move the robotic cart along a path through a physical space to perform a task while avoiding collisions with the one or more objects,
enter a manual operation mode based on receiving an indication that a hand is detected at the handlebar component, and
communicate with the mobility apparatus to move the robotic cart in a translational direction in accordance with the translational force element and in a rotational direction in accordance with the rotational force element.
2 . The robotic cart recited in claim 1 , wherein communicating with the mobility apparatus to move the robotic cart involves determining whether such movement is predicted to cause a collision with the one or more objects.
3 . The robotic cart recited in claim 2 , wherein the control unit is further configured to communicate with the mobility apparatus to avoid a collision upon determining that such movement is predicted to cause a collision with the one or more objects.
4 . The robotic cart recited in claim 1 , wherein the one or more objects includes a human.
5 . The robotic cart recited in claim 1 , wherein the robotic cart further comprises a display screen including an optical sensor configured to capture image data in an area proximate to the robotic cart, and wherein the robotic cart is configured to process the image data to identify a human.
6 . The robotic cart recited in claim 1 , wherein the robotic cart further comprises a display screen configured to rotate about an axis to face a human when a human is detected in an area proximate to the robotic cart.
7 . The robotic cart recited in claim 1 , wherein the handlebar component includes two vertical bars coupled with the base component and one or more horizontal bars coupled with the two vertical bars, the horizontal bar being coupled with the two vertical bars via two joint units, each of the joint units including a respective force torque sensor.
8 . The robotic cart recited in claim 1 , wherein the mobility apparatus includes four omnidirectional wheels that each include a plurality of rollers arranged around a rim.
9 . The robotic cart recited in claim 1 , wherein the second sensor unit comprises a plurality of visible light cameras located on the base component.
10 . The robotic cart recited in claim 9 , wherein the plurality of visible light cameras collectively provide a 360-degree view of the area proximate to the robotic cart.
11 . The robotic cart recited in claim 10 , wherein the plurality of visible light cameras are also configured to detect infrared light.
12 . The robotic cart recited in claim 11 , further comprising one or more infrared light sources.
13 . The robotic cart recited in claim 1 , wherein the base component includes one or more attachment points configured to physically secure the payload to the base component.
14 . The robotic cart recited in claim 1 , wherein the base component includes one or more attachment points configured to facilitate communication between the control unit and the payload.
15 . The robotic cart recited in claim 1 , wherein the payload comprises a robotic arm configured to move an item between the robotic cart and a different location based on an instruction received from the control unit.
16 . The robotic cart recited in claim 1 , wherein the payload comprises a lift apparatus configured to move an item in a vertical direction, wherein the lift apparatus includes an item mobility apparatus configured to push or pull the item in a horizontal direction.
17 . The robotic cart recited in claim 1 , wherein the payload comprises a conveyer belt configured to receive power from a battery unit and move an item in a horizontal direction based on input from the control unit.
18 . A method implemented at a robotic cart including a base component coupled with a mobility apparatus and a handlebar component, the method comprising:
detecting, via a first sensor unit, a force exerted at the handlebar component, the force including a translational force element and a rotational force element;
detecting, via a second sensor unit, one or more objects in an area proximate to the robotic cart;
communicating with the mobility apparatus via a control unit to autonomously move the robotic cart along a path through a physical space to perform a task while avoiding collisions with the one or more objects;
entering a manual operation mode based on receiving an indication that a hand is detected at the handlebar component; and
communicating with the mobility apparatus via the control unit to move the robotic cart in a translational direction in accordance with the translational force element and in a rotational direction in accordance with the rotational force element.
19 . The method recited in claim 18 , wherein communicating with the mobility apparatus to move the robotic cart involves determining whether such movement is predicted to cause a collision with the one or more objects, wherein the control unit is further configured to communicate with the mobility apparatus to avoid a collision upon determining that such movement is predicted to cause a collision with the one or more objects.
20 . One or more computer readable media having instructions stored thereon for performing a method implemented at a robotic cart including a base component coupled with a mobility apparatus and a handlebar component, the method comprising:
detecting, via a first sensor unit, a force exerted at the handlebar component, the force including a translational force element and a rotational force element;
detecting, via a second sensor unit, one or more objects in an area proximate to the robotic cart;
communicating with the mobility apparatus to autonomously move the robotic cart along a path through a physical space to perform a task while avoiding collisions with the one or more objects;
entering a manual operation mode based on receiving an indication that a hand is detected at the handlebar component; and
communicating with the mobility apparatus to move the robotic cart in a translational direction in accordance with the translational force element and in a rotational direction in accordance with the rotational force element.