US 9,827,677 B1 · Robotic device with coordinated sweeping tool and shovel tool

Abstract

An example robotic device includes a mobile base and a base linkage. The base linkage has a first end and a second end where the first end is connected to the mobile base. The robotic device also includes a first end effector connected to the second end of the base linkage. The first end effector includes a shovel tool. The robotic device additionally includes an actuated control arm having a first end and a second end. The first end of the actuated control arm is connected to the second end of the base linkage. The robotic device further includes a second end effector connected to the second end of the actuated control arm. The second end effector includes a sweeping tool. The actuated control arm is configured to move the sweeping tool to engage with the shovel tool to sweep one or more objects onto the shovel tool.

Claims20

Dependent claims

A robotic device comprising:

a mobile base;
a base linkage having a first end and a second end, the first end connected to the mobile base;
a first end effector connected to the second end of the base linkage, the first end effector comprising a shovel tool;
an actuated control arm having a first end and a second end, the first end of the actuated control arm connected to the second end of the base linkage;
and
a second end effector connected to the second end of the actuated control arm, the second end effector comprising a sweeping tool, wherein the actuated control arm is configured to move the sweeping tool to engage with the shovel tool to sweep one or more objects onto the shovel tool.

3 more elements

A method comprising:

causing an actuated control arm of a robotic device to move a sweeping tool to push an object onto a shovel tool, wherein the shovel tool and a first end of the actuated control arm are each connected to a second end of a base linkage of the robotic device, and wherein the sweeping tool is connected to a second end of the actuated control arm;
causing the base linkage to raise the actuated control arm and the shovel tool while the object is disposed on the shovel tool by causing an actuated rotational joint to rotate the base linkage with respect to a mobile base of the robotic device, wherein the actuated rotational joint connects a first end of the base linkage to the mobile base;
causing the mobile base to navigate to a drop-off location while the object is disposed on the shovel tool;
and
causing the shovel tool to drop off the object at the drop-off location.

2 more elements

Dependencies are inferred from the claim text.

Robotic device with coordinated sweeping tool and shovel tool

Life of this patent

Robotic device with coordinated sweeping tool and shovel tool

Life of this patent

Abstract

Claims20