Robot for Loading and Securing Articles Thereto

Abstract

A mobile robot is provided having a support surface for supporting a plurality of articles and securing material secured to and positioned for operable communication with the robot for securing the plurality of articles on the support surface. A robotic arm member also is provided that is secured to the robot and configured to autonomously gather the articles from a location remote from the mobile robot, place the articles in desired positions on the support surface and autonomously secure, via the securing material, the plurality of articles on the support surface to substantially restrict movement of the articles on the support surface and without requiring any outside intervention or human input to secure the articles.

1 . A mobile robot comprising:
 a support surface for supporting a plurality of articles;   one or more controllers;   a robotic arm member; and   at least four wheels supporting the support surface and the robotic arm member, wherein the robotic arm member and the one or more controllers are configured to:
 while the mobile robot is moving only in a horizontal direction and parallel to a floor on which the mobile robot is moving on the at least four wheels, autonomously secure a set of desired articles on the support surface to at least partially restrict movement of the set of desired articles on the support surface. 
   
     
     
         2 . The mobile robot as defined in  claim 1 , wherein a securing material is used to autonomously secure the set of desired articles, and the securing material comprises at least one of a packaging material or strapping material. 
     
     
         3 . The mobile robot as defined in  claim 1 , further comprising:
 One or more end effectors, wherein the one or more end effectors comprise at least one of a gripping device, a suction device, an electromagnet, or a clasp.   
     
     
         4 . The mobile robot as defined in  claim 1 , wherein the support surface is a pallet device that is removably secured to the mobile robot. 
     
     
         5 . The mobile robot as defined in  claim 1 , wherein at least some of the set of desired articles comprise different sizes. 
     
     
         6 . The mobile robot as defined in  claim 1 , wherein the robotic arm member is configured to secure the set of desired articles on the support surface after the support surface is loaded. 
     
     
         7 . The mobile robot as defined in  claim 1 , further comprising a pallet jack configured to support a pallet during the autonomously securing of the set of desired articles, wherein the pallet defines at least a portion of the support surface. 
     
     
         8 . The mobile robot as defined in  claim 1 , further comprising a lift platform configured to support a pallet during the autonomously securing of the set of desired articles, wherein the pallet defines at least a portion of the support surface. 
     
     
         9 . The mobile robot as defined in  claim 1 , wherein the mobile robot is configured to move, after the set of desired articles are secured, to another location within an operating environment and transport the set of desired articles to the another location. 
     
     
         10 . The mobile robot as defined in  claim 1 , wherein the one or more controllers are configured to determine parameters with regard to a transport of the set of desired articles to a final destination location and movement of the mobile robot to prevent the set of desired articles from falling off the support surface while the mobile robot is moving. 
     
     
         11 . The mobile robot as defined in  claim 10 , wherein the parameters comprise at least one of a first speed of the mobile robot, a first acceleration of the mobile robot, a first deceleration and path of the mobile robot, a three-dimensional stable article arrangement of the set of desired articles on the support surface, a second speed of the robotic arm member, a second acceleration of the robotic arm member, or a second deceleration and path of the robotic arm member. 
     
     
         12 . The mobile robot as defined in  claim 1 , further comprising at least one of a second robotic arm member, one or more sensors, or one or more processing devices. 
     
     
         13 . The mobile robot as defined in  claim 1 , wherein the one or more controllers are configured to generate a signal instructing the robotic arm member to secure the set of desired articles on the support surface in a three-dimensional stable article arrangement as the mobile robot is moving to a final destination location. 
     
     
         14 . The mobile robot as defined in  claim 1 , wherein the one or more controllers are configured to select an engagement technique used by at least one of the mobile robot or the robotic arm member to engage or gather one or more of the set of desired articles, the engagement technique being based on at least one of a type of the one or more of the set of desired articles, a state of the one or more of the set of desired articles, a relative orientation of the one or more of the set of desired articles, or an intended movement or transportation of the one or more of the set of desired articles. 
     
     
         15 . The mobile robot as defined in  claim 14 , wherein the engagement technique defines at least one of a gripping force for gathering the one or more of the set of desired articles, a range of gripping forces for gathering the one or more of the set of desired articles, a relative end effector spatial orientation, or how far to open at least one of the one or more end effectors when gathering the one or more of the set of desired articles. 
     
     
         16 . A method comprising:
 gathering, using one or more robotic arm members on a mobile robot, each article of a set of desired articles from a location remote from the mobile robot;   placing, using one or more robotic arm members, each article in a corresponding position on a support surface of the mobile robot; and   securing, while the mobile robot is moving only in a horizontal direction on at least four wheels and using the one or more robotic arm members, the set of desired articles on the support surface to at least partially restrict movement of the set of desired articles on the support surface.   
     
     
         17 . The method of  claim 16 , further comprising:
 after the set of desired articles are secured, moving the mobile robot to a different location within an operating environment and transporting the set of desired articles to the different location.   
     
     
         18 . The method of  claim 16 , wherein one or more controllers on the mobile robot are configured to determine parameters with regard to a transport of the set of desired articles to a final destination location and a movement of the mobile robot to prevent the set of desired articles from falling off the support surface while the mobile robot is moving, wherein the parameters comprise at least one of a first speed of the mobile robot, a first acceleration of the mobile robot, a first deceleration and path of the mobile robot, a three-dimensional stable article arrangement of the set of desired articles on the support surface, a second speed of the one or more robotic arm members, a second acceleration of the one or more robotic arm members, or a second deceleration and path of the one or more robotic arm members. 
     
     
         19 . The method of  claim 16 , wherein one or more controllers on the mobile robot are configured to generate a signal instructing the one or more robotic arm members to secure the set of desired articles on the support surface in a stable article arrangement as the mobile robot is moving to a final destination location. 
     
     
         20 . The method of  claim 16 , wherein one or more controllers on the mobile robot are configured to select an engagement technique used by at least one of the mobile robot or the one or more robotic arm members to engage or gather one or more of the set of desired articles, the engagement technique being based on at least one of a type of the one or more of the set of desired articles, a state of the one or more of the set of desired articles, a relative orientation of the one or more of the set of desired articles, or an intended movement or transportation of the one or more of the set of desired articles, wherein the engagement technique defines at least one of a gripping force for gathering the one or more of the set of desired articles, a range of gripping forces for gathering the one or more of the set of desired articles, a relative end effector spatial orientation, or how far to open at least one of the one or more end effectors when gathering the one or more of the set of desired articles.