US 12,135,553 B2
Robotic cart
Rodney Allen Brooks, San Francisco, CA (US); Anthony Sean Jules, Hillsborough, CA (US); and Leila Takayama, Palo Alto, CA (US)
Assigned to Robust AI, Inc., San Carlos, CA (US)
Filed by Robust AI, Inc., San Carlos, CA (US)
Filed on Nov. 30, 2021, as Appl. No. 17/538,668.
Prior Publication US 2023/0168679 A1, Jun. 1, 2023
Int. Cl. G05D 1/00 (2024.01); B60B 19/00 (2006.01); B60P 3/20 (2006.01); B62B 5/00 (2006.01); B66F 9/075 (2006.01); B66F 9/19 (2006.01)
CPC G05D 1/0214 (2013.01) [B62B 5/0069 (2013.01); B66F 9/0759 (2013.01); G05D 1/0246 (2013.01); G05D 1/0274 (2013.01); B60B 19/003 (2013.01); B60P 3/20 (2013.01); B66F 9/19 (2013.01)] 24 Claims
OG exemplary drawing
 
1. A robotic cart comprising:
a base component configured for receipt of a payload and including a battery unit comprising one or more batteries;
a mobility apparatus coupled with the base component;
a handlebar component coupled with the base component;
a first sensor unit configured to transmit a hand detection message when the handlebar component is grasped by one or more hands, the first sensor unit including a force sensor configured to detect a translational direction associated with a translational force applied by the one or more hands, the first sensor unit further including a torque sensor configured to detect a rotational direction and rotational magnitude of a rotational force applied by the one or more hands, the first sensor unit being further configured to transmit one or more force messages indicating the translational direction, the rotational direction, and the rotational magnitude;
a second sensor unit configured to detect one or more objects in an area proximate to the robotic cart and to transmit one or more area mapping messages; and
a control unit configured to:
analyze the one or more area mapping messages to autonomously determine a path through a physical space to perform a task while avoiding collisions with the one or more objects,
communicate with the mobility apparatus to autonomously move the robotic cart along the path to perform the task,
enter a manual operation mode based on receiving the hand detection message, and
communicate with the mobility apparatus to move the robotic cart in accordance with the translational direction, the rotational direction, and the rotational magnitude based on the one or more force messages, wherein moving the robotic cart includes rotating the robotic cart around an axis, and 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.