# US 2020/0401133 A1 · Autonomous Utility Cart and Robotic Cart Platform

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- Number: US 2020/0401133 A1
- Document ID: US20200401133A1
- Status: Published application
- Kind: A1
- Application number: 16/807,032
- Filed: 2020-03-02
- Published: 2020-12-24
- Earliest claimed: 2019-06-24
- Assignees: MuL Technologies, LLC
- Inventors: Daniel Paul Armbrust; Robert James Grabon; Radoslaw Adam Jarema
- Web page: https://patentgrep.com/patent/US20200401133A1

## CPC

- G05D 1/0061: {for transition from automatic pilot to manual pilot and vice versa}
- B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention
- B60W 60/0011: {involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles}
- B60W 60/0053: {from vehicle to occupant}
- B62B 3/00: Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor {(convertible from one-axled to two-axled vehicle B62B1/002)}
- B62B 5/0043: {One motor drives one wheel}
- B62B 5/0053: {Arrangements of batteries}
- B62B 5/0069: {Control}
- B62D 63/02: Motor vehicles
- G01G 19/02: for weighing wheeled or rolling bodies, e.g. vehicles
- G05D 1/0214: {in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13)}
- G05D 1/0231: {using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16)}
- G05D 1/024: {in combination with a laser (lasers per se H01S)}
- G05D 1/0272: {comprising means for registering the travel distance, e.g. revolutions of wheels (measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00)}
- G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)}
- B60W 2050/146: {Display means}
- B60W 2300/40: Carts, e.g. trolleys
- B60W 2420/00: Indexing codes relating to the type of sensors based on the principle of their operation
- B60W 2420/10: Transducer, e.g. piezoelectric elements
- B60W 2420/22: Strain gauge
- B60W 2420/408: Radar; Laser, e.g. lidar
- B60W 2530/10: Weight
- B62B 5/005: {Detachably mounted motor units}
- B62B 2203/50: comprising weighing means
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B62B: HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES (characterised by animal propulsion B62C; propulsion of sledges by driver or engine B62M)
- 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)
- G01G: WEIGHING (sorting by weighing B07C5/16)

## Abstract

A robotic cart platform with a navigation and movement system that integrates into a conventional utility cart to provide both manual and autonomous modes of operation. The platform includes a drive unit with drive wheels replacing the front wheels of the cart. The drive unit has motors, encoders, a processor and a microcontroller. The system has a work environment mapping sensor and a cabled array of proximity and weight sensors, lights, control panel, battery and on/off, “GO” and emergency stop buttons secured throughout the cart. The encoders obtain drive shaft rotation data that the microcontroller periodically sends to the processor. When in autonomous mode, the system provides navigation, movement and location tracking with or without wireless connection to a server. Stored destinations are set using its location tracking to autonomously navigate the cart. When in manual mode, battery power is off, and back-up power is supplied to the encoders and microcontroller, which continue to obtain shaft rotation data. When in autonomous mode, the shaft rotation data obtained during manual mode is used to determine the present cart location.

## Claims

### Claim 1

An autonomous vehicle for moving through a working environment, said autonomous vehicle comprising:
a movable vehicle structure having at least one rotatable and turnable wheel to move along straight and curved paths of travel;
a drive unit with first and second drive wheels, said drive unit being secured to said vehicle structure and spaced from said turnable wheel, said drive unit having a navigation and movement system including a first drive motor with a first drive shaft to selectively rotate said first drive wheel and a second drive motor with a second drive shaft to selectively rotate said second drive wheel, a programmed processor with a first memory to plan a route and movement instructions for said drive unit to travel through the working environment, a programmed microcontroller with a second memory to execute said movement instructions via a motor controller, said motor controller being electrically connected to said drive motors to control rotational movement of said drive shafts and wheels, said motor controller rotating said first drive shaft independently of said second drive shaft to propel said drive unit and vehicle structure along straight and curved paths of travel, first and second motor encoders obtaining rotational movement data for each of said drive shafts, and drive unit circuitry electrically and communicatingly connecting said processor, first memory, microcontroller, second memory, motor controller and encoders;
a main power source in electric power supplying communication with said navigation and movement system via said circuitry, said main power source being secured to one of either said drive unit and said vehicle structure;
an on/off switch to selectively turn on and turn off said electric power from said main power source to said navigation and moment system, said drive unit being in an autonomous mode of operation when said switch is turned on and in a manual mode of operation when said switch is turned off, said drive wheels rotating said drive shafts when said drive unit is in said manual mode of operation, and said drive unit being at a first location when said switch is turned off;
a backup circuit having a backup power source in electric power supplying communication with said microcontroller, second memory and motor encoders, said backup power source supplying electric backup power to said microcontroller, second memory and encoders when said switch is turned off and said vehicle is in said manual mode of operation; and,
wherein said microcontroller, second memory and encoders obtain manual rotational movement data for said first and second drive shafts when said drive unit is in said manual mode of operation, and said vehicle structure and drive unit are manually moved from said first location to a second location.

### Claim 2 (depends on 1)

The autonomous vehicle of claim 1, and wherein said backup circuit includes a backup encoder power line in electrical communication with a normal encoder power line, and said normal encoder power line includes a first diode preventing backup power from being supplied to said main power source, and wherein said backup circuit includes a backup microcontroller power line in electrical communication with a normal microcontroller power line, and said normal microcontroller power line includes a second diode preventing backup power from being supplied to said main power source.

### Claim 3 (depends on 2)

The autonomous vehicle of claim 2, and wherein said backup power source automatically supplies power to said microcontroller, second memory and encoders when said switch is turned off and said drive unit is in said manual mode of operation.

### Claim 4 (depends on 3)

The autonomous vehicle of claim 3, and wherein said main power source is a battery and said backup power source is a super capacitor.

### Claim 5 (depends on 1)

The autonomous vehicle of claim 1, and wherein said second location is a current location of said drive unit, said microcontroller sends manual rotational movement data to said processor when said on/off switch turns on said electric power to said drive unit, and said processor uses said manual rotational movement data to determine said current location of said drive unit.

### Claim 6 (depends on 5)

The autonomous vehicle of claim 5, and wherein said microcontroller, second memory and encoders obtain autonomous rotational movement data for said first and second drive shafts when said drive unit is in said autonomous mode of operation, and wherein said processor combines said manual rotational movement data and said autonomous rotational movement data to determine said current location of said drive unit.

### Claim 7 (depends on 1)

The autonomous vehicle of claim 1, and wherein said vehicle structure has a vehicle front end and a vehicle rear end, said at least one turnable wheel is two swiveling wheels secured proximal said vehicle rear end, and said drive unit is secured below said vehicle structure and proximal said vehicle front end.

### Claim 8 (depends on 1)

The autonomous vehicle of claim 1, and wherein said microcontroller periodically sends said rotational movement data to said processor, said first memory is long-term hard drive memory that retains said rotational movement data when said electric power from said main power supply to said hard drive memory is turned off, and said second memory is short-term dynamic rapid access memory that retains said rotational movement data when said electric power from said main power source to said rapid access memory is turned off and said backup power source automatically supplies said electric backup power to said rapid access memory.

### Claim 9 (depends on 1)

The autonomous vehicle of claim 1, and wherein the vehicle is a utility cart operable by a worker physically next to said utility cart, said vehicle structure is a cart structure, said drive unit is secured below said cart structure, and the worker physically operates said on/off switch.

### Claim 10 (depends on 1)

The autonomous vehicle of claim 1, and wherein each of said drive motors selectively rotates its said drive shaft in one of either a clockwise and counterclockwise direction and propels said drive unit in one of either a forward direction and a rearward direction.

### Claim 11

An autonomous utility cart for use by a worker to carry an item through a working environment with open areas and fixed structures, said autonomous utility cart comprising:
a cart structure adapted to carry the item, said cart structure having at least one rotatable and turnable wheel;
a drive unit with first and second drive wheels, said drive unit being spaced from said turnable wheel, said drive unit having a navigation and movement system including a first drive motor with a first drive shaft to selectively rotate said first drive wheel and a second drive motor with a second drive shaft to selectively rotate said second drive wheel, a programmed processor with a processor memory, first and second motor encoders to obtain rotational movement data for each of said drive shafts, drive unit circuitry electrically and communicatingly connecting said processor, memory, motors and encoders, said processor sending movement instructions to said drive motors sufficient to independently rotate said first and second drive shafts to propel said drive unit and cart structure along straight and curved paths of travel, and said processor using said rotational movement data to determine current location data when said drive unit is at a current location;
a communication device with at least one key to obtain selected destination data when said current location of said drive unit is at a selected destination, said communication device being in electrical communication with said navigation and movement system and mounted to one of either said cart structure and said drive unit, and the worker touching said at least one key to store said selected destination data in said processor memory;
a scanning device with a circumferential sensing range to obtain working environment data sufficient to locate the open areas and fixed structures, said scanning device being mounted on one of either said drive unit and said cart structure and being in electrical communication with said drive unit circuitry;
a power source in electric power supplying communication with said drive unit circuitry, said communication device and said scanning device, said power source being mounted to one of either said drive unit and said cart structure; and,
wherein said navigation and movement system uses said working environment data, said selected destination data and said current location data to plan a route and movement instructions for said drive unit and cart structure to travel through the working environment to said selected destination.

### Claim 12 (depends on 11)

The autonomous utility cart of claim 11, and wherein the worker touches said at least one key a subsequent time to instruct said navigation and movement system to send movement instructions to said motors to propel said drive unit and cart structure along said route to said selected destination.

### Claim 13 (depends on 12)

The autonomous utility cart of claim 12, and wherein said at least one key is a first key, said communication device includes at least a second key, said selected destination data is first selected destination data and said selected destination is a first selected destination, the worker touching said second key to obtain second selected destination data when said current location of said drive unit is at a second selected destination, and wherein when the worker subsequently touches said second key said navigation and movement system uses said working environment data, said second selected destination data and said current location data to plan a second route for said drive unit and cart structure to travel through the working environment to said second selected destination and instructs said motors to propel said drive unit and cart structure to said second selected destination.

### Claim 14 (depends on 13)

The autonomous utility cart of claim 13, and wherein said drive unit automatically travels in a looped manner between said first selected destination and a second selected destination.

### Claim 15 (depends on 12)

The autonomous utility cart of claim 12, and wherein said processor memory includes a destination icon and a movement icon, one of either said destination icon and movement icon being selectively displayed on said at least one key, the worker touching said destination icon to autonomously propel said drive unit and cart structure to said selected destination, and the worker touching said movement icon to move said drive unit and cart structure in a self-propelled manner.

### Claim 16 (depends on 12)

The autonomous utility cart of claim 12, and wherein said navigation and movement system includes a programmed microcontroller with a second memory and a motor controller to execute said movement instructions from said processor, and said drive unit circuitry electrically and communicatingly connects said microcontroller and second memory and motor controller.

### Claim 17 (depends on 16)

The autonomous utility cart of claim 16, and wherein said drive unit is located below said cart structure, and said scanning device is a time-of-flight laser scanner mounted atop said drive unit.

### Claim 18 (depends on 17)

The autonomous utility cart of claim 17, and further including a plurality of proximity sensors mounted to said cart structure, each of said proximity sensors obtaining proximity sensor data and being in electrical communication with said drive unit circuitry, and wherein the working environment includes temporary obstacles, and said system uses said proximity sensor data to avoid the temporary obstacles when traveling along said route to said selected destination

### Claim 19 (depends on 18)

The autonomous utility cart of claim 18, and wherein said navigation and movement system further uses said environment data from said laser scanner to avoid the temporary obstacles when traveling along said route to said selected destination.

### Claim 20 (depends on 19)

The autonomous utility cart of claim 19, and wherein said time-of-flight laser scanner is mounted to said drive unit and is a light detection and ranging (LIDAR) scanner with a substantially 360° scanning range.

### Claim 21

A robotic cart platform for integrating into an existing manually operated utility cart to convert the cart into an autonomous utility cart, the cart having a cart structure with a front, rear, first side and second side, lower and upper trays, front and rear risers and front and rear caster wheels, each riser having angled exterior riser walls forming an interior riser channel and having multiple spaced openings extending through the exterior riser walls, the front and rear risers having forward facing openings, rearward facing openings, first side facing openings and second side facing openings, the trays having a top surface supported by structural webbing forming a matrix of tray compartments under the top surface, the cart being used in a working environment including open areas, fixed structures, temporary obstacles and multiple destinations, said robotic cart platform comprising:
a drive unit located below the lower tray and replacing the front caster wheels of the manually operated utility cart, said drive unit having first and second drive wheels, said drive unit having a navigation and movement system including a first drive motor with a first drive shaft to selectively rotate said first drive wheel and a second drive motor with a second drive shaft to selectively rotate said second drive wheel, a programmed processor with a first memory to plan a route and movement instructions for said drive unit to travel through the working environment to a selected destination, a microcontroller with a second memory to execute said movement instructions via a motor controller, said motor controller being electrically connected to said drive motors to control rotational movement of said drive shafts and drive wheels, said motor controller rotating said first drive shaft and first drive wheel independently of said second drive shaft and second drive wheel to propel said drive unit and cart structure along straight and curved paths of travel, first and second motor encoders obtaining rotational movement data for each of said drive shafts, and drive unit circuitry electrically and communicatingly connecting said processor, first memory, microcontroller, second memory, motor controller and encoders;
a main power source in electric power supplying communication with said drive unit circuitry, said power source being secured to said cart;
a time-of-flight laser scanner with a rotating sensor and a circumferential sensing range to obtain working environment data sufficient to locate the open areas and fixed structures, said laser scanner being secured to one of either said drive unit and said cart and being in electrical communication with said drive unit circuitry;
a plurality of proximity sensors, each said proximity sensor having a sensing direction and being in electrical communication with said drive unit circuitry, said proximity sensors being secured in the interior riser channels proximal the riser openings, at least one of said proximity sensors being aimed from at least one of said forward facing openings, at least one of said proximity sensors being aimed from at least one of said rearward facing openings, at least one of said proximity sensors being aimed from at least one of said first side openings, and at least one of said proximity sensors being aimed from at least one of said second side openings;
a cable array including first and second cable lines, said first cable line including a power source cable and first and second proximity sensor cables, said power source cable having opposed terminal connections for electrically connecting to said power source port to said power source, said first proximity sensor cable having opposed terminal connections for electrically connecting said first proximity sensor port to said proximity sensors located on the first side of the cart, said second proximity sensor cable having opposed terminal connections for electrically connecting said second proximity sensor port to said proximity sensors located on the second side of the cart; and, said cable array being routed through the interior riser channels and the matrix of tray compartments.

### Claim 22 (depends on 21)

The robotic cart platform of claim 21, and wherein said laser scanner is a LIDAR scanner, said LIDAR scanner is located atop said drive unit and below the lower tray, and each of said proximity sensors has a scanning cone.

### Claim 23 (depends on 22)

The robotic cart platform of claim 22, and wherein said navigation and movement system includes a control panel, on/off switch, “GO” button and emergency stop button, each being secured to the cart.

### Claim 24 (depends on 21)

The robotic cart platform of claim 21, and wherein said drive unit has a mounting assembly with right and left mounting plates, said mounting plates securing said drive unit to the cart mounting structure.

### Claim 25 (depends on 24)

The robotic cart platform of claim 24, and wherein said navigation and movement system includes four weight sensors, two of said weight sensor being secured between each of the rear caster wheels and the cart mounting structure, and two of said weight sensors being secured between each of said mounting plates and the cart mounting structure.

### Claim 26 (depends on 25)

The utility cart of claim 25, and wherein said first memory includes a weight threshold, said weight sensors send weight data to said processor, said processor compares said weight data to said weight threshold and stops said drive motors when said weight data exceeds said weight threshold.

### Claim 27 (depends on 26)

The utility cart of claim 26, and further including a communication device with at least one key to obtain selected destination data when said current location of said drive unit is at a selected destination, said communication device being in electrical communication with said navigation and movement system and mounted to one or either said cart structure and said drive unit, and the worker touches said at least one key to store said selected destination data in said processor memory.

### Claim 28

A utility cart to carry at least one item having an item weight, said utility cart comprising:
a cart structure adapted to carry the item, said cart structure having a cart structure weight and a cart mounting structure, said cart mounting structure having a plurality of spaced apart cart fastener openings extending into said cart mounting structure;
a caster wheel assembly having a wheel mounting bracket with a bracket perimeter portion and an integrally formed bracket central area, said bracket perimeter portion having a plurality of bracket fastener openings in mated alignment with said cart fastener openings;
a weight sensor assembly located between said wheel mounting bracket and said cart mounting structure, said weight sensor assembly including a sensor plate with a sensor plate perimeter portion and an integral inwardly extending semi-flexible cantilevered support tab, said support tab having a tab neck, central focal area, tab surface and a strain gauge sensor, said strain gauge sensor being secured to said tab surface, said tab neck and focal area being surrounded by a flex accommodating opening, and said focal area being aligned directly over and in load supporting engagement with said central area of said wheel mounting bracket;
a weight bearing crown formed on one of either said central area of said wheel mounting bracket and said central focal area of said support tab;
a plurality of fasteners passing through said bracket fastener openings and into said cart fastener openings to firmly secure said caster wheel mounting bracket to said cart mounting structure; said fasteners leaving a non-load bearing gap between said bracket perimeter portion and said sensor plate perimeter portion; and,
wherein said semi-flexible support tab flexes responsive to said cart weight and the item weight, and said strain gauge sensor produces strain gauge weight data sufficient to indicate one of either the item weight and said cart weight and the item weight.

### Claim 29 (depends on 28)

The utility cart of claim 28, and wherein said weight bearing crown is an upwardly facing curved surface formed into said caster wheel mounting bracket.

### Claim 30 (depends on 28)

The utility cart of claim 28, and wherein said weight bearing crown is a downwardly facing curved surface formed into said central focal area of said support tab.

### Claim 31 (depends on 28)

The utility cart of claim 28, and wherein said weight sensor assembly includes a spacer plate located between said sensor plate and said cart mounting structure, said spacer plate having a spacer plate perimeter portion and an open spacer plate interior, said support tab flexing upward into said open spacer plate interior.

### Claim 32 (depends on 28)

The utility cart of claim 28, and wherein said weight sensor assembly includes a spacer bracket located between said spacer plate and said cart mounting structure, said plurality of fasteners passing through said spacer bracket.

### Claim 33 (depends on 32)

The utility cart of claim 32, and wherein said cart has at least three cart mounting structures, said caster wheel assembly is at least three caster wheel assemblies, and said weight sensor assembly is at least three weight sensor assemblies, and wherein each weight sensor assembly is located between an associated wheel mounting bracket and an associated cart mounting structure, said focal area of each support tab being aligned directly over and in load supporting engagement with said weight bearing crown of its said associated wheel mounting bracket, said plurality of fasteners firmly securing each of said caster wheel mounting brackets to its said associated cart mounting structure; and said fasteners leaving a non-load bearing gap between each of said bracket perimeter portions and its said sensor perimeter portion, said support tabs supporting the entire cart structure weight and the entire item weight.

### Claim 34 (depends on 33)

The utility cart of claim 33, and further including a programmed processor and a visual display secured to said cart structure, said processor being in electrical communication with said visual display and each of said weight sensors, said weight sensors sending said weight data to said processor, said processor converting said weight data into digital weight measurement data and sending said digital weight measurement data to said visual display, said visual display displaying said digital weight measurement data as a visual weight measurement.

### Claim 35 (depends on 34)

The utility cart of claim 34, and wherein said processor has memory containing a weight threshold and a digital warning message, said programmed processor compares said weight threshold to one of either said strain gauge data and said digital weight measurement data, and said processor sends said digital warning message to said visual display when said weight threshold is exceeded, and said visual display displays said digital warning message.

### Claim 36 (depends on 35)

The utility cart of claim 35, and wherein said strain gauge sensor is a piezoelectric sensor and said strain gauge data is resistance data.

### Claim 37 (depends on 28)

The utility cart of claim 28, and wherein each caster wheel assembly includes a wheel, a wheel axle rotatingly holding said wheel, a hub firmly holding said wheel axle, and said mounting bracket swivelingly holds said hub.

### Claim 38 (depends on 28)

The utility cart of claim 28, and wherein said fastener openings are vertical fastener openings and said fasteners are threaded fasteners, and each of said threaded fastener has a narrow shaft and a wide head, said shafts passing through said bracket openings and into said vertical fastener openings in said cart mounting structure, and said wider head of said threaded fasteners engage said wheel mounting plate in a snug, non-weight bearing manner.