US 11,945,649 B2
Bin retrieval and transport systems and methods
Thomas Galluzzo, Gibsonia, PA (US); and Vladimir Altman, Pittsburgh, PA (US)
Assigned to IAM Robotics, LLC, Pittsburgh, PA (US)
Filed by IAM ROBOTICS, LLC, Pittsburgh, PA (US)
Filed on Jun. 17, 2021, as Appl. No. 17/350,911.
Claims priority of provisional application 63/130,036, filed on Dec. 23, 2020.
Claims priority of provisional application 63/059,161, filed on Jul. 30, 2020.
Claims priority of provisional application 63/040,013, filed on Jun. 17, 2020.
Prior Publication US 2021/0395007 A1, Dec. 23, 2021
Int. Cl. B65G 1/04 (2006.01); B65G 1/137 (2006.01); B65G 1/08 (2006.01)
CPC B65G 1/0421 (2013.01) [B65G 1/1371 (2013.01); B65G 1/1375 (2013.01); B65G 1/08 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A bin retrieval robot comprising:
a mobile base having first and second ends defining a longitudinal length therebetween;
a plurality of sensors;
one or more processors;
a remote communication device;
a memory comprising computer program instructions executable by the one or more processors to receive data from and send data to a central server, process data received from each of the plurality of sensors, and output control signals to the mobile base;
a support frame installed on and extending above the mobile base and provided with a plurality of storage trays projecting horizontally from a first side of the support frame and distributed in a vertical direction thereon; and
a bin handling platform having an upper surface comprising a bin retrieval device, wherein the bin handling platform projects from a second side of the support frame opposite the first side and is moveable vertically along the support frame and positionable at each of the plurality of storage trays,
wherein the bin retrieval device is configured to extend along a horizontal plane from the bin handling platform to a position under a bin, and retract horizontally to pull the bin onto the bin handling platform, and
wherein, the bin handling platform is configured to deliver the bin to one of the plurality of storage trays without rotation of the bin handling platform or bin retrieval device, and
wherein the plurality of sensors include forward and rear facing cameras and at least one laser ranging device, wherein the at least one laser ranging device is positioned in a horizontal cavity of the mobile base, the horizontal cavity located in one of the first and second ends of the mobile base and configured to afford the at least one laser ranging device a 180-degree field of view on a horizontal plane elevated from and parallel with a floor surface.