# US 12,602,062 B2 · Reducing resistance to movement of devices that include casters > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,602,062 B2 - Document ID: US12602062B2 - Status: Granted - Kind: B2 - Application number: 18/580,887 - Filed: 2022-06-28 - Published: 2024-10-10 - Granted: 2026-04-14 - Earliest claimed: 2021-07-20 - Assignees: Mobile Industrial Robots A/S - Applicants: Mobile Industrial Robots A/S - Inventors: Kristian Thomasberg; Troels Bo Jørgensen; Jeppe Aakær Iversen - Web page: https://patentgrep.com/patent/US12602062B2 ## CPC - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/646: Following a predefined trajectory, e.g. a line marked on the floor or a flight path - B62D 7/14: the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering - B62D 7/1509: {with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle} - G05D 2109/10: Land vehicles - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## Abstract Planning driving sequences of mobile robots and other devices. In one aspect, a method includes receiving an instruction for movement of a device along a supporting surface. The device includes at least one drive wheel and at least one caster that is rotatable about a generally vertical axis. During motion, the caster is configured to reorient so that an swivel joint of the caster to the device leads a wheel of the caster. The method also includes planning a drive instruction for the device to implement the instruction for movement based on an orientation or expected orientation of the at least one caster upon beginning of the movement. The drive instruction is tailored to the drive wheel and the caster of the device and configured to limit reorientation of the caster during motion in accordance with the drive instruction. ## Claims ### Claim 1 A method comprising: receiving an instruction for movement of a device along a supporting surface, the device comprising at least one drive wheel and at least one caster, the at least one caster comprising an undriven wheel, the at least one caster being rotatable about a generally vertical axis associated with a swivel joint, where, during motion, the at least one caster is configured to reorient so that the swivel joint leads the undriven wheel; and planning drive instructions for the device to implement the instruction for movement of the device based on an orientation or an expected orientation of the at least one caster upon beginning of the movement, wherein the drive instructions are tailored to the at least one drive wheel and the at least one caster, and wherein the drive instructions are configured to instruct the device to move in a first direction and, when a predefined threshold is crossed, to instruct the device to move in a second direction that is different from the first direction. ### Claim 2 (depends on 1) The method of claim 1, wherein planning the drive instructions comprises planning a plurality of different drive instructions for the device, wherein the drive instructions together implement the instruction for movement. ### Claim 3 (depends on 2) The method of claim 2, further comprising selecting a drive instruction from among the drive instructions based at least in part on the predefined threshold having been crossed. ### Claim 4 (depends on 1) The method of claim 1, wherein planning the drive instructions comprises applying a rule for conversion of the instruction for movement into a sequence comprising the drive instructions. ### Claim 5 (depends on 4) The method of claim 4, further comprising selecting the rule for conversion from among a plurality of rules for conversion of instructions for movement into the drive instructions. ### Claim 6 (depends on 5) The method of claim 5, wherein selecting the rule comprises selecting the rule based on a load borne by the device or based on a sensitivity of an operational environment of the device to particulates. ### Claim 7 (depends on 1) The method of claim 1, wherein the instruction for movement comprises an instruction for the device to move to and away from a location. ### Claim 8 (depends on 7) The method of claim 7, wherein the drive instructions comprises operations to cause the device to: approach the location at a first angle that is inclined in relation to a straight line trajectory toward the location; rotate the device through an angle along the straight line trajectory to a second angle that is inclined in an opposite direction in relation to the straight line trajectory; and move away from the location at the second angle. ### Claim 9 (depends on 8) The method of claim 8, wherein: the first angle is inclined between 10 and 45 degrees in relation to the straight line trajectory; and the second angle is inclined between 10 and 45 degrees in the opposite direction in relation to the straight line trajectory. ### Claim 10 (depends on 1) The method of claim 1, wherein the device comprises an autonomous mobile robot. ### Claim 11 A mobile robot comprising: a chassis; a drive wheel mounted to the chassis; a motor coupled to drive the drive wheel; a caster mounted to the chassis at a swivel joint, the caster comprising an undriven wheel, wherein the caster is configured to rotate about a generally vertical axis so that, during motion, the caster reorients so that the swivel joint leads the undriven wheel; a transducer configured to measure a resistance to movement of the mobile robot along a supporting surface; and a digital data processing system programmed to implement a drive planner, wherein the drive planner is configured to plan a plurality of drive instructions for the mobile robot to move along the supporting surface, wherein the digital data processing system is configured to instruct the device based on the plurality of drive instructions to move in a first direction and, when a predefined threshold is crossed, to instruct the device to move in a second direction that is different from the first direction, the predefined threshold being based on the resistance to movement of the mobile robot. ### Claim 12 (depends on 11) The mobile robot of claim 11, wherein the transducer comprises an ammeter coupled to measure a current supplied to the motor. ### Claim 13 (depends on 11) The mobile robot of claim 11, wherein the digital data processing system comprises a data store and the drive planner is configured to check to determine if orientation information regarding an orientation or an expected orientation of the caster upon beginning of the movement is stored in the data store and, in response to determining that the orientation information is not stored in the data store, to plan the plurality of drive instructions. ### Claim 14 (depends on 13) The mobile robot of claim 13, wherein the drive planner is configured to, in response to determining that the orientation information is stored in the data store, plan a high-level drive instruction based on the stored orientation information, the high-level instruction comprising a collection of two or more drive instructions. ### Claim 15 (depends on 11) The mobile robot of claim 11, wherein the drive planner is configured to plan the plurality of drive instructions to comport with an excluded or permitted envelope of device drive instructions. ### Claim 16 Non-transitory machine-readable storage storing instructions that are executable by a processing device to perform operations comprising: receiving an instruction for movement of a device along a supporting surface, the device comprising at least one drive wheel and at least one caster, the at least one caster comprising an undriven wheel, the at least one caster being rotatable about a generally vertical axis associated with a swivel joint, where, during motion, the at least one caster is configured to reorient so that the swivel joint leads the undriven wheel; and planning drive instructions for the device to implement the instruction for movement of the device based on an orientation or an expected orientation of the at least one caster upon beginning of the movement, wherein the drive instructions are tailored to the at least one drive wheel and the at least one caster, and wherein the drive instructions are configured to instruct the device to move in a first direction and, when a predefined threshold is crossed, to instruct the device to move in a second direction that is different from the first direction. ### Claim 17 (depends on 16) The non-transitory machine-readable storage of claim 16, wherein planning the drive instructions comprises planning a plurality of different drive instructions for the device, wherein the drive instructions together implement the instruction for movement. ### Claim 18 (depends on 17) The non-transitory machine-readable storage of claim 17, wherein the instructions that are executable comprise selecting a drive instruction from among the plurality of different drive instructions to instruct the device to move in the second direction. ### Claim 19 (depends on 16) The non-transitory machine-readable storage of claim 16, wherein planning the drive instruction comprises applying a rule for conversion of the instruction for movement into a sequence comprising the drive instructions. ### Claim 20 (depends on 19) The non-transitory machine-readable storage of claim 19, wherein the instructions that are executable comprise selecting the rule for conversion from among a plurality of rules for conversion of instructions for movement into the drive instructions.