US 12,172,319 B2
Systems and methods for process tending with a robot arm
Daniel Cantor, Kitchener (CA); Ryan Christopher Gariepy, Kitchener (CA); Roydyn Clayton, Kitchener (CA); Yvan Geoffrey Rodrigues, Kitchener (CA); Anthony William Tod, Kitchener (CA); and Bryce William Vondervoort, Kitchener (CA)
Assigned to ROCKWELL AUTOMATION TECHNOLOGIES, INC., Mayfield Heights, OH (US)
Filed by Clearpath Robotics Inc., Kitchener (CA)
Filed on Dec. 8, 2023, as Appl. No. 18/534,005.
Application 18/534,005 is a continuation of application No. 17/979,597, filed on Nov. 2, 2022, granted, now 11,872,706.
Application 17/979,597 is a continuation of application No. 16/561,519, filed on Sep. 5, 2019, granted, now 11,518,029, issued on Dec. 6, 2022.
Application 16/561,519 is a continuation of application No. PCT/CA2018/050610, filed on May 25, 2018.
Claims priority of provisional application 62/511,123, filed on May 25, 2017.
Prior Publication US 2024/0149451 A1, May 9, 2024
Int. Cl. B25J 9/16 (2006.01); B25J 5/00 (2006.01); G05B 15/00 (2006.01); G05B 15/02 (2006.01); G05D 1/00 (2024.01); G05D 1/43 (2024.01)
CPC B25J 9/1666 (2013.01) [B25J 5/007 (2013.01); G05B 15/02 (2013.01); G05B 2219/31007 (2013.01); G05B 2219/40298 (2013.01); G05D 1/00 (2013.01); G05D 1/02 (2013.01); G05D 1/43 (2024.01)] 14 Claims
OG exemplary drawing
 
1. A system for process tending with a self-driving vehicle having a robot arm, the system comprising:
a server configured to provide a process location;
the self-driving vehicle having:
a vehicle control system storing a map and configured to:
capture a machine image and determine a machine identifier based on the machine image;
receive the process location from the server;
determine a waypoint based on the one or more of the process location and the machine identifier; and
autonomously navigate the self-driving vehicle to the waypoint based on the map; and
a vision system operable by the vehicle control system for capturing the machine image;
at least one vehicle safety sensor in communication with the vehicle control system, for sensing a vehicle obstacle in the environment of the self-driving vehicle, such that the vehicle control system autonomously navigates the self-driving vehicle to the waypoint based at least on the map and the vehicle obstacle; and
the robot arm mounted on the vehicle, the robot arm having a robot arm control system storing at least one program executable by the robot arm, the robot arm control system being configured to:
select a target program from the at least one program based on the one or more of the process location and the machine identifier; and
execute the target program for at least operating the robot arm at the waypoint; and
the robot arm control system comprises at least one robot arm safety sensor in communication with the robot arm control system, for sensing a robot arm obstacle in the environment of the robot arm, such that the robot arm control system alters a movement of the robot arm based at least on the robot arm obstacle.