Self-contained mobile reprogrammable automation device

A mobile transport unit comprising:

• a rectangular shaped chassis, adapted for mounting a robotic manipulator arm;
• a first and a second rear wheel mounted to the chassis at opposing rear lateral ends thereof to be vertically pivotable such that said wheels may deviate from a vehicle center line;
• a front steering assembly being pivotably mounted about a vertical axis whereby said assembly may be rotated relative to said vehicle center line, the assembly including a pair of horizontally mounted front wheels, said front wheels being coupled to a drive motor for supplying rotary motion thereto, the assembly further including a steering motor for rotating the assembly about said vertical axis whereby a heading of the assembly may be changed, the assembly further including a rotary encoder means coupled thereto for measuring angular deviations of the assembly from a fixed reference point on the unit, the assembly further including a gyroscope means coupled thereto for measuring a deviation from a predetermined heading and a distance measuring means for measuring rotational motion of said front wheels about said horizontal axis whereby a distance travelled by the unit from a predetermined starting point may be measured;
• at least one computer means mounted within the chassis and electrically coupled to said rotary encoder means, said distance measuring means, said drive and said steering motors, for directing the operation of said drive and said steering motors;
• a diffuse optical communication system mounted to said chassis, electrically coupled to the computer means and in communication with an extra-vehicular information and control means for directing and controlling the mobile transport unit;
• a docking module mounted to said chassis about a front portion thereof and including a laser light source means and a rotary reflecting means for directing a beam of light from said laser light source means, said rotary reflecting means having a central axis of rotation colinear with said axis of rotation of said steering assembly, said rotatable reflecting means adapted for directing said beam perpendicularly to said vertical axis and about an arc in front of the mobile transport unit, said beam being adapted for reflecting from a fixed reflector attached to a fixed point, said docking module including sensing means for sensing said reflective light whereby a triangulation may be obtained and a position of the mobile transport unit relative to said fixed point may be calculated;
• a collision avoidance means affixed to said chassis about a front end thereof and comprising at least one ultrasonic transducer and receiver for sending and receiving high frequency sound waves, whereby an object appearing a predetermined distance in front of the transport unit may be detected, the collision avoidance means being electrically coupled to the computer means;
• an internal power supply means comprising a plurality of batteries mounted to said chassis and coupled to said drive and steering motors, said computer means, and said robotic arm for supplying electrical power thereto;
• a cargo bay for receiving and transporting a plurality of wafer cassettes, said cargo bay comprising a vertical arrangement of a plurality of shelves wherein said wafer cassetes may be stored and from which said wafer cassettes may be retrieved by said robotic arm;
• and
• a plurality of protective skins affixed to the chassis to enclose the internal components thereof whereby the possibilities of contamination are reduced and air flow characteristics are improved to prevent turbulence around said wafer cargo bay and said robotic arm.