# US 10,481,607 B2 · Systems and methods for robotic garbage container delivery > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,481,607 B2 - Document ID: US10481607B2 - Status: Granted - Kind: B2 - Application number: 15/378,459 - Filed: 2016-12-14 - Published: 2018-06-14 - Granted: 2019-11-19 - Earliest claimed: 2016-12-14 - Applicants: Alan Dumitras - Inventors: Alan Dumitras - Web page: https://patentgrep.com/patent/US10481607B2 ## CPC - G05D 1/0225: {involving docking at a fixed facility, e.g. base station or loading bay (parking aids B62D15/027)} - B25J 9/1664: {characterised by motion, path, trajectory planning} - B25J 9/1676: {Avoiding collision or forbidden zones} - B65F 1/00: Refuse receptacles; {Accessories therefor}(containers not specially adapted for refuse, features of refuse receptacles of general interest B65D) - B65F 1/1468: {Means for facilitating the transport of the receptacle, e.g. wheels, rolls (hand-operated refuse vehicles B65F3/005)} - G01G 19/52: Weighing apparatus combined with other objects, e.g. furniture (with walking sticks A45B3/08) - B65F 2210/128: Data transmitting means - B65F 2210/1443: Electrical - B65F 2210/168: Sensing means - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B65F: GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE (disinfecting refuse A61L; refuse disintegrators B02C; sorting refuse B03B; B07B; handcarts for transporting refuse receptacles B62B; sack holders B65B67/00; converting refuse into fertilisers C05F; converting refuse into solid fuels C10L; sewers, cesspools E03F; arrangements in buildings for the disposal of refuse E04F17/10; refuse-consuming furnaces F23G; {for surgical articles A61B50/36}) - G01G: WEIGHING (sorting by weighing B07C5/16) ## Abstract A robotic garbage unit can include a garbage container, a robotic drive system, and sensors. The robotic garbage unit can determine a travel path and drive along the travel path to get to a garbage pickup location. The robotic garbage unit can detect a garbage pickup event based on garbage sensors. When a garbage pickup event is detected, the robotic garbage unit determines a travel path to a docking station and drives to the docking station. The robotic garbage unit can avoid obstructions while traveling by adjusting a travel path. ## Claims ### Claim 1 An apparatus comprising: a garbage container comprising a bottom and four sides; a robotic drive system configured to transport the garbage container; at least one proximity detection sensor configured to sense a distance and a direction of objects within a proximity of the robotic drive system; and at least one garbage sensor configured to determine a quantitative measurement of an amount of garbage in the garbage container based at least in part on a distance measurement between a first reference point for the garbage container and a second reference point associated with the amount of garbage. ### Claim 2 (depends on 1) The apparatus of claim 1, further comprising at least one positioning sensor configured to determine a position of the robotic drive system. ### Claim 3 (depends on 2) The apparatus of claim 2, wherein the position of the robotic drive system is at least one of: a relative position of the robotic drive system in relation to a docking station or a global positioning location. ### Claim 4 (depends on 1) The apparatus of claim 1, wherein the at least one garbage sensor is further configured to determine a weight of the garbage in the garbage container. ### Claim 5 (depends on 1) The apparatus of claim 1, further comprising at least one computing device configured to at least: determine a travel path for the robotic drive system to travel to a location designated for garbage pickup; cause a first signal to be transmitted to open a garage door; cause the robotic drive system to transport the garbage container to be proximate to the first location; and cause a second signal to be transmitted to close the garage door. ### Claim 6 (depends on 5) The apparatus of claim 5, further comprising the at least one computing device configured to at least: detect, via the at least one garbage sensor, that the amount of garbage in the garbage container has been reduced; determine a second location of a docking station; determine a second travel path for the robotic drive system to travel to the second location; cause the robotic drive system to transport the garbage container to be proximate to the second location; and cause the robotic drive system to electrically couple with the docking station. ### Claim 7 A system, comprising: a robotic drive system; and at least one computing device communicably connected to the robotic drive system, the at least one computing device being configured to at least: cause the robotic drive system to transport a garbage container to be proximate to a first location, the first location being designated for garbage pickup on a predefined frequency; detect, via at least one garbage sensor, that an amount of garbage in the garbage container has been reduced based at least in part on a distance measurement between a first reference point for the garbage container and a second reference point associated with the amount of garbage; in response to detecting the amount of garbage is reduced, determine a second location of a docking station; cause the robotic drive system to transport the garbage container to be proximate to the second location; and cause the robotic drive system to electrically couple with the docking station. ### Claim 8 (depends on 7) The system of claim 7, wherein the robotic drive system further comprises a clamping mechanism to attach to the garbage container. ### Claim 9 (depends on 7) The system of claim 7, wherein the at least one computing device is further configured to at least determine a travel path for the robotic drive system to travel to the first location, wherein the robotic drive system travels the travel path to be proximate to the first location. ### Claim 10 (depends on 9) The system of claim 9, wherein the at least one computing device is further configured to: detect, via a proximity sensor, an obstruction along the travel path; and modify the travel path to avoid the obstruction. ### Claim 11 (depends on 9) The system of claim 9, wherein the at least one computing device is further configured to: determine that an unobstructed travel path to the first location is unavailable; and disable operation of the robotic drive system. ### Claim 12 (depends on 7) The system of claim 7, wherein the at least one computing device is further configured to at least determine a travel path for the robotic drive system to travel to the second location. ### Claim 13 (depends on 7) The system of claim 7, wherein the at least one computing device is further configured to: cause a first signal to be transmitted to open a garage door; and cause a second signal to be transmitted to close the garage door. ### Claim 14 A method, comprising: detecting a garbage pickup event based at least in part on a detection, via a garbage sensor, of a change of a level of garbage in a garbage container with respect to a reference point on the garbage container; identifying a first location of a robotic drive system; identifying a second location of a robotic docking station; generating a travel path to travel from the first location to the second location; in response to detecting the garbage pickup event, transporting, via the robotic drive system, the garbage container along the travel path; determining that the robotic drive system is proximate to the robotic docking station; and initiating a docking sequence to electrically couple the robotic drive system with the robotic docking station. ### Claim 15 (depends on 14) The method of claim 14, wherein the docking sequence comprises: positioning the robotic drive system on a docking side of the robotic docking station; aligning a coupling connector of the robotic drive system with a docking port of the robotic docking station; transporting the robotic drive system to move the coupling connector in a direction of the docking port; and connecting the coupling connector with the docking port. ### Claim 16 (depends on 14) The method of claim 14, further comprising; detecting, via a proximity sensor, an obstruction along the travel path; and adjusting, via the robotic drive system, the travel path to avoid the obstruction. ### Claim 17 (depends on 16) The method of claim 16, wherein the travel path is adjusted based at least in part on a plurality of measurements from the proximity sensor while traveling to avoid the obstruction. ### Claim 18 (depends on 14) The method of claim 14, further comprising: determining that a second garbage pickup event is scheduled within a threshold period of time; undocking the robotic drive system from the robotic docking station; generating a second travel path from the second location to the first location; and transporting the robotic drive system and the garbage container to the first location along the second travel path. ### Claim 19 (depends on 14) The method of claim 14, wherein detecting the garbage pickup event further comprising detecting, via the garbage sensor, that an amount of garbage in the garbage container has been reduced. ### Claim 20 (depends on 14) The method of claim 14, further comprising charging a battery on the robotic drive system via an electrical connection to the robotic docking station.