US 12,049,359 B2
Autonomous domestic robotic systems for item retrieval and transport
Michael Dooley, Pasadena, CA (US); and Nikolai Romanov, Oak Park, CA (US)
Assigned to Labrador Systems, Inc., Oak Park, CA (US)
Filed by Labrador Systems, Inc., Oak Park, CA (US)
Filed on Oct. 28, 2022, as Appl. No. 17/976,188.
Application 17/976,188 is a continuation of application No. 16/761,147, granted, now 11,485,575, previously published as PCT/US2018/058706, filed on Nov. 1, 2018.
Claims priority of provisional application 62/581,564, filed on Nov. 3, 2017.
Prior Publication US 2023/0063018 A1, Mar. 2, 2023
Int. Cl. G06F 7/00 (2006.01); B65G 1/04 (2006.01); B65G 1/137 (2006.01); B65G 65/00 (2006.01); B65G 65/02 (2006.01)
CPC B65G 1/0492 (2013.01) [B65G 1/1373 (2013.01); B65G 65/005 (2013.01); B65G 65/02 (2013.01)] 23 Claims
OG exemplary drawing
 
1. A robotic item retrieval and/or transport system comprising:
a robotic item retrieval and/or transport apparatus and a pallet element;
wherein the pallet element comprises:
a base configured to be supported from below by at least one underlying support surface separate from the pallet element and that is bounded in part by a support surface lateral edge;
an item support surface arranged generally above the base; and
a downwardly extending wall arranged along a proximal edge of the pallet element, wherein the base is configured to be positioned on the at least one underlying support surface with the downwardly extending wall arranged proximate to the support surface lateral edge;
wherein the robotic item retrieval and/or transport apparatus comprises:
a mobile drive base configured to promote autonomous movement of the robotic item retrieval and/or transport apparatus within a substantially unstructured environment;
a deck arranged above the mobile drive base, the deck being configured to support at least one retrievable item; and
an item retrieval mechanism comprising at least one actuator and at least one movable implement configured for lateral transport of the at least one retrievable item between the deck and the item support surface; and
wherein the downwardly extending wall is configured to be restrained between (i) the support surface lateral edge and (ii) the robotic item retrieval and/or transport apparatus, to inhibit movement of the pallet element during lateral transport of the least one retrievable item between the deck and the item support surface.
 
16. A pallet element configured for use with a robotic item retrieval and/or transport apparatus, the pallet element comprising:
a base configured to be supported from below by an underlying support surface that is separate from the pallet element, is predominantly horizontal, and is bounded in part by a support surface lateral edge;
an item support surface arranged generally above the base and configured to support at least one retrievable item; and
a downwardly extending wall arranged along a proximal edge of the pallet element, wherein the base of the pallet element is configured to be positioned on the underlying support surface and the downwardly extending wall is configured to be positioned against the support surface lateral edge and proximate to a deck of the robotic item retrieval and/or transport apparatus to inhibit movement of the pallet element during lateral transport by the robotic item retrieval and/or transport apparatus of the at least one retrievable item between the item support surface and the deck.