# US 2019/0168394 A1 · Mobile work station for transporting a plurality of articles > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0168394 A1 - Document ID: US20190168394A1 - Status: Published application - Kind: A1 - Application number: 16/303,040 - Filed: 2017-03-10 - Published: 2019-06-06 - Earliest claimed: 2016-09-06 - Assignees: Advanced Intelligent Systems Inc. - Applicants: Advanced Intelligent Systems Inc. - Inventors: Farhang Bidram - Web page: https://patentgrep.com/patent/US20190168394A1 ## CPC - G05D 1/0234: {using optical markers or beacons (optical beacons per se G01S1/70)} - B25J 5/007: {mounted on wheels} - B25J 9/0093: {co-operating with conveyor means} - B25J 15/0206: {comprising articulated grippers} - B25J 19/02: Sensing devices - B60P 1/48: using pivoted arms raisable above load-transporting element ({for refuse collecting vehicles B65F3/041}; load engaging elements B66C1/00 - B66C3/00) - G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target} - G05D 1/024: {in combination with a laser (lasers per se H01S)} - G05D 1/0242: {using non-visible light signals, e.g. IR or UV signals} - G05D 1/0276: {using signals provided by a source external to the vehicle (involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058)} - G05D 1/028: {using a RF signal} - G05D 1/242: Means based on the reflection of waves generated by the vehicle (using passive navigation aids external to the vehicle G05D1/244; using signals provided by artificial sources external to the vehicle G05D1/247) - G05D 1/247: using signals provided by artificial sources external to the vehicle, e.g. navigation beacons - G05D 1/6895: {the payload being a manipulator arm} - G05D 2105/28: of freight - G05D 2107/21: {Farming, e.g. fields, pastures or barns} - G05D 2109/10: Land vehicles - G05D 2111/17: {Coherent light, e.g. laser signals} - G05D 2111/30: Radio signals - 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}) - B60P: VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS (vehicles with special provisions for transporting patients or disabled persons, or their personal conveyances A61G3/00) ## Abstract An apparatus and method for transporting a plurality of articles is disclosed. The apparatus includes a wheeled chassis, and a platform disposed on the wheeled chassis. The apparatus also includes a manipulator coupled to the wheeled chassis and operably configured to load a first article of the plurality of articles at a first position on the platform, or unload the first article of the plurality of articles from the first position on the platform. The apparatus further includes at least one actuator operably configured to cause successive relative rotational movements between the manipulator and the platform to provide access to successive rotationally spaced apart positions on the platform for loading or unloading each subsequent article in the plurality of articles. ## Claims ### Claim 1 An apparatus for transporting a plurality of articles, the apparatus comprising: a wheeled chassis; a platform disposed on the wheeled chassis; a manipulator coupled to the wheeled chassis and operably configured to: load a first article of the plurality of articles at a first position on the platform; or unload the first article of the plurality of articles from the first position on the platform; and at least one actuator operably configured to cause successive relative rotational movements between the manipulator and the platform to provide access to successive rotationally spaced apart positions on the platform for loading or unloading each subsequent article in the plurality of articles. ### Claim 2 (depends on 1) The apparatus of claim 1 wherein the at least one actuator is operably configured to cause one of a rotary movement of the platform about the wheeled chassis and a rotary movement of the manipulator about the wheeled chassis. ### Claim 3 (depends on 1) The apparatus of claim 1 wherein the manipulator is coupled to base rotatable with respect to the wheeled chassis and wherein the at least one actuator comprises: a base actuator operably configured to cause rotary movement of the base and the manipulator about the wheeled chassis; a platform actuator operably configured to cause rotary movement of the platform about the wheeled chassis; and wherein the base actuator and the platform actuator are operable to cause successive relative rotational movements of both the manipulator and the platform about the wheeled chassis for providing access for loading or unloading each subsequent article in the plurality of articles. ### Claim 4 (depends on 3) The apparatus of claim 3 wherein the manipulator is coupled to the wheeled chassis via a support and wherein the base actuator is operably configured to cause rotary movement of the support about the wheeled chassis. ### Claim 5 (depends on 3) The apparatus of claim 3 wherein the wheeled chassis comprises at least one drive for driving wheels of the wheeled chassis and further comprising a controller operably configured to: cause the at least one drive to orient the wheeled chassis for movement in a direction aligned to pick up or place the plurality of articles in a line; cause the base actuator to cause rotary movement of the manipulator about the wheeled chassis to orient the manipulator for loading or unloading the plurality of articles; and cause the platform actuator to cause rotary movement of the platform to: after loading each article, dispose an empty location on the platform in reach of the manipulator for loading a subsequent article; or dispose a subsequent article on the platform in reach of the manipulator for unloading. ### Claim 6 (depends on 1) The apparatus of claim 1 wherein the wheeled chassis comprises a drive for driving at least one wheel of the wheeled chassis and further comprising a controller operably configured to control the drive to orient the wheeled chassis to align the manipulator for loading or unloading each of the first article and the subsequent articles. ### Claim 7 (depends on 1) The apparatus of claim 1 wherein the manipulator comprises: a pair of outwardly directed spaced apart arms operably configured to grasp the article; an arm actuator, operably configured to vertically rotate the arms toward the platform while the article is suspended between the arms; and an end effector distally disposed on each respective arm and wherein the end effectors are operably configured to grasp the article and suspend the article during vertical movement of the arms. ### Claim 8 (depends on 7) The apparatus of claim 7 wherein the arms are mounted for vertical rotation on a driven shaft and wherein the end effectors are coupled to the shaft via a belt such that rotation of the arms causes a respective rotation of the end effectors for maintaining an orientation of the end effectors while grasping the article. ### Claim 9 (depends on 7) The apparatus of claim 7 wherein the pair of outwardly directed spaced apart arms are mounted for one of lateral movement and rotational movement about a pivot to cause the pair of end effectors to move to grasp or release the article. ### Claim 10 (depends on 1) The apparatus of claim 1 further comprising at least one tool operably configured to perform an operation on the articles while transporting the plurality of articles on the wheeled chassis. ### Claim 11 (depends on 10) The apparatus of claim 10 wherein the at least one tool is coupled to the manipulator such that causing rotary movement between the manipulator and the platform provides access to each article for performing the operation. ### Claim 12 (depends on 11) The apparatus of claim 11 wherein the manipulator and the at least one tool are respectively coupled to a common base mounted for rotation on the wheeled chassis such that rotary movement of the common base causes rotary movement of each of the manipulator and the at least one tool. ### Claim 13 (depends on 10) The apparatus of claim 10 wherein the at least one tool is coupled to the wheeled chassis such that causing rotary movement between the wheeled chassis and the platform provides access to each article for performing the operation. ### Claim 14 A method of transporting a plurality of articles on a wheeled chassis, the method comprising: causing a manipulator coupled to the wheeled chassis to: load a first article of the plurality of articles at a first position on a platform disposed on the wheeled chassis; or unload the first article of the plurality of articles from the first position on the platform; and causing successive relative rotational movements between the manipulator and the platform to provide access to successive rotationally spaced apart positions on the platform; and causing the manipulator to load or unload each subsequent article of the plurality of articles to or from the successive rotationally spaced apart positions on the platform. ### Claim 15 (depends on 14) The method of claim 14 wherein causing successive relative rotational movements comprises one of causing rotary movement of the platform about the wheeled chassis and causing rotary movement of the manipulator about the wheeled chassis. ### Claim 16 (depends on 15) The method of claim 15 wherein causing successive relative rotational movements comprises causing rotary movement of both the manipulator and the platform about the wheeled chassis. ### Claim 17 (depends on 16) The method of claim 16 wherein causing rotary movement of both the manipulator and the platform about the wheeled chassis comprises: causing the wheeled chassis to be aligned for movement in a direction aligned to pick up or place the plurality of articles along a line; causing rotary movement of the manipulator to orient the manipulator for loading or unloading the plurality of articles; and causing rotary movement of the platform to: after loading each article, dispose an empty location on the platform in reach of the manipulator for loading a subsequent article; or dispose a subsequent article on the platform in reach of the manipulator for unloading. ### Claim 18 (depends on 14) The method of claim 14 further comprising controlling a drive associated with at least one wheel of the wheeled chassis to orient the wheeled chassis to align the manipulator for loading each of the first article and the subsequent articles. ### Claim 19 (depends on 16) The method of claim 16 further comprising operating at least one tool to perform an operation on the articles while transporting the plurality of articles on the wheeled chassis. ### Claim 20 (depends on 19) The method of claim 19 wherein operating the at least one tool comprises causing rotational movement between the at least one tool and the platform to provide access to each article for performing the operation. ### Claim 21 (depends on 20) The method of claim 20 wherein causing rotational movement between the at least one tool and the platform comprises causing rotational movement of the manipulator, the at least one tool being coupled to the manipulator. ### Claim 22 A method for transporting a plurality of articles between a pickup location and an intended drop-off location on a wheeled chassis having a pair of transceivers disposed in spaced apart relation on the wheeled chassis, the method comprising: positioning a pickup beacon proximate the plurality of articles at the pickup location; positioning a left drop-off beacon and a right drop-off beacon on either side of the intended drop-off location, the left and right drop-off beacons indicating a desired alignment of the plurality of articles at the respective location; receiving location signals at transceivers disposed on each of the beacons and at the pair of transceivers on the wheeled chassis; processing the location signals to determine a location and orientation of the wheeled chassis with respect to the beacons; navigating the wheeled chassis using the determined location and orientation of the wheeled chassis to: pick up successive articles of the plurality of articles proximate the pickup location; move between the pickup location and the drop-off location; and place articles proximate the drop-off location. ### Claim 23 (depends on 22) The method of claim 22 wherein receiving location signals comprises: transmitting ultra-wideband (UWB) signals at the transceivers disposed on each of the beacons and at the pair of transceivers on the wheeled chassis; and receiving the UWB signals at the other transceivers disposed on each of the beacons and at the pair of transceivers on the wheeled chassis. ### Claim 24 (depends on 22) The method of claim 22 wherein navigating comprises: using the location signals to determine a real-time location and orientation for steering the wheeled chassis along a path between the pickup location and drop-off location; receiving proximity signals indicative of obstacles in the path of the wheeled chassis; and using the received proximity signals and location signals to modify the path of the wheeled chassis to avoid detected obstacles. ### Claim 25 (depends on 24) The method of claim 24 wherein receiving the proximity signals comprises generating proximity signals using at least one of an optical sensor, an infrared sensor, light detection and ranging (LIDAR) sensor, and an ultrasonic sensor. ### Claim 26 (depends on 24) The method of claim 24 wherein receiving the proximity signals comprises receiving: a first proximity signal from an infrared sensor operably configured to indicate close range obstacles; and a second proximity signal from a light detection and ranging (LIDAR) sensor indicating mid and far range obstacles. ### Claim 27 (depends on 24) The method of claim 24 further comprising, when the path of the wheeled chassis is within a pre-determined range of the pickup location, processing the received proximity signals to determine whether obstacles in the path of the wheeled chassis correspond to any of the plurality of articles to be transported, and in response causing the wheeled chassis to steer towards one of the articles in the plurality of articles. ### Claim 28 (depends on 24) The method of claim 24 further comprising, when path of the wheeled chassis is within a pre-determined range of the drop-off location, causing the wheeled chassis to steer to a first location defined with respect to one of the left drop-off beacon and the right drop-off beacon for unloading of a first article. ### Claim 29 (depends on 28) The method of claim 28 further comprising causing the wheeled chassis to steer to successive locations defined with respect to the one of the left drop-off beacon and the right drop-off beacon for unloading of a second article and subsequent articles in the plurality of articles. ### Claim 30 A system for transporting a plurality of articles between a pickup location and an intended drop-off location, the system comprising: a wheeled chassis having a pair of transceivers disposed in spaced apart relation on the wheeled chassis; a pickup beacon positioned proximate the plurality of articles at the pickup location; a left drop-off beacon and a right drop-off beacon positioned on either side of the intended drop-off location, the left and right drop-off beacons indicating a desired alignment of the plurality of articles at the respective location, each beacon including a transceiver; and wherein the transceivers on the beacons and the pair of transceivers on the wheeled chassis are operably configured to receive location signals and process the location signals to determine a location and orientation of the wheeled chassis with respect to the beacons for navigating the wheeled chassis to pick up articles in the plurality of articles proximate the pickup location, to move between the pickup location and the drop-off location, and to place articles in the plurality of articles proximate the drop-off location. ### Claim 31 (depends on 30) The system of claim 30 wherein the transceivers disposed on each beacon and the pair of transceivers on the wheeled chassis comprise ultra-wideband (UWB) transceivers. ### Claim 32 (depends on 30) The system of claim 30 further comprising at least one proximity sensor disposed on the wheeled chassis, the proximity sensor being operable to provide an indication of obstacles in the path of the wheeled chassis.