CA2565553A1 - Automatic transport loading system and method - Google Patents

Automatic transport loading system and method Download PDF

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Publication number
CA2565553A1
CA2565553A1 CA002565553A CA2565553A CA2565553A1 CA 2565553 A1 CA2565553 A1 CA 2565553A1 CA 002565553 A CA002565553 A CA 002565553A CA 2565553 A CA2565553 A CA 2565553A CA 2565553 A1 CA2565553 A1 CA 2565553A1
Authority
CA
Canada
Prior art keywords
agv
transport
guidance system
load
guiding
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CA002565553A
Other languages
French (fr)
Other versions
CA2565553C (en
Inventor
Gerald Edward Chilson
Mark Marino
Christopher James Simon
Mark Andrew Stevenson
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jervis B Webb Co
Original Assignee
Jervis B. Webb Company
Gerald Edward Chilson
Mark Marino
Christopher James Simon
Mark Andrew Stevenson
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jervis B. Webb Company, Gerald Edward Chilson, Mark Marino, Christopher James Simon, Mark Andrew Stevenson filed Critical Jervis B. Webb Company
Publication of CA2565553A1 publication Critical patent/CA2565553A1/en
Application granted granted Critical
Publication of CA2565553C publication Critical patent/CA2565553C/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • B60L15/38—Control or regulation of multiple-unit electrically-propelled vehicles with automatic control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/08—Masts; Guides; Chains
    • B66F9/085—Multiple forks, i.e. more than one pair mounted on a single mast or with more than one mast
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/26—Rail vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B60L2200/42—Fork lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B60L2260/32—Auto pilot mode
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/60—Electric or hybrid propulsion means for production processes
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

A method and system for automatically loading and unloading a transport is disclosed. A first guidance system is used to travel near the transport and a second guidance system is used to travel on the transport.

Claims (37)

1. A method for loading a transport with an automatic guided vehicle (AGV) comprising:
engaging a load with said AGV;
guiding said AGV with a first guidance system to a first position;
guiding said AGV with a second guidance system from said first position to an intended load position on said transport;
depositing said load onto said transport at said intended load position;
and guiding said AGV with said second guidance system from said intended load position to a second position.
2. The method of claim 1 wherein said second guidance system comprises at least one distance measuring sensor.
3. The method of claim 2 wherein said at least one distance measuring sensor determines a first distance to a side of said transport.
4. The method of claim 1 wherein said first guidance system comprises an inertial guidance system.
5. The method of claim 1 wherein said first position is approximately at an end of the transport.
6. The method of claim 1 wherein said second position is similar to said first position.
7. The method of claim 1 wherein the step of guiding said AGV
with said second guidance system from said first position to said intended load position on said transport comprises monitoring a drive current of said AGV.
8. The method of claim 7 wherein the step of guiding said AGV
with said second guidance system from said first position to said intended load position on said transport further comprises shifting said load to a side of said transport.
9. The method of claim 8 wherein the step of shifting said load to a side of said transport comprises determining when said load has reached said side of said transport.
10. A method for loading a transport with an automatic guided vehicle (AGV) comprising:
engaging a load with said AGV;
guiding said AGV with a first guidance system to a first position, wherein said first guidance system comprises an inertial guidance system and said first position is proximate to said transport;
guiding said AGV with a second guidance system from said first position to an intended load position on said transport, wherein said second guidance system comprises at least one distance measuring device, said at least one distance measuring device determines a first distance to a side of said transport, whereby said first distance assists with the step of guiding said AGV with said second guidance system from said first position to said intended load position;
depositing said load onto said transport at said intended load position;
guiding said AGV with said second guidance system from said intended load position to a second position; and guiding said AGV with said first guidance system from said second position.
11. The method of claim 10 wherein said first guidance system further comprises a track wheel.
12. The method of claim 10 wherein said first guidance system tracks said AGV throughout the steps of guiding said AGV with said second guidance system from said first position to said intended load position, depositing said load onto said transport at said intended load position and guiding said AGV with said second guidance system from said intended load position to said second position.
13. An automatic transport loading system comprising:
an automatic guided vehicle (AGV), said AGV comprising a drive mechanism and a steering mechanism; and a first guidance system and a second guidance system, said first and second guidance systems being operatively coupled with said drive and said steering mechanisms of said AGV, wherein said first guidance system guides said AGV to a first location, said second guidance system guides said AGV from said first position to an intended load position and from said intended load position to a second position, and said first guidance system guides said AGV from said second position.
14. The system of claim 13 further comprising a load position sensing device operatively coupled with said drive mechanism and said steering mechanism, said load position sensing device being capable of determining when said AGV is in said intended load position.
15. The system of claim 14 wherein said load position sensing device comprises at least one sensor, said sensor being capable of tracking movement of a load engaged with said AGV.
16. The system of claim 13 wherein said second position is approximately at said first position.
17. The system of claim 13 wherein said second guidance system comprises at least one distance measuring device, said at least one distance measuring device determines a first distance to a side of said transport, whereby said first distance assists with guiding said AGV with said second guidance system from said first position to said intended load position.
18. The system of claim 17 wherein said first guidance system comprises an inertial guidance system.
19. The system of claim 13 wherein said second guidance system comprises a sensor, said sensor being capable of detecting a side of said transport.
20. The system of claim 19 wherein said sensor comprises an encoder, said encoder being capable of tracking movement of a load engaged with said AGV.
21. The system of claim 20 wherein said encoder detects said intended load position by determining when said load is impeded from movement.
22. A method for loading a transport with an automatic guided vehicle (AGV) comprising:
engaging a load with said AGV;
guiding said AGV with a guidance system from a first position to an intended load position on said transport, whereby said guidance system locates said intended load position based on a location of said transport in relation to said first position;
depositing said load onto said transport at said intended load position;
and guiding said AGV with said guidance system from said intended load position to a second position.
23. The method of claim 22 wherein the step of locating said intended load position comprises determining a skew of said transport in relation to an expected transport position.
24. The method of claim 23 wherein the step of determining said skew of said transport comprises measuring a first distance to a first side of said transport, measuring a second distance to a second side of said transport, and comparing said first and second distances.
25. The method of claim 24 wherein said guidance system utilizes said skew to assist with guiding the AGV.
26. A method for unloading a transport with an automatic guided vehicle (AGV) comprising:
guiding said AGV with a guidance system from a first position to an approximate load position on said transport, whereby said guidance system locates said approximate load position based on a location of said transport in relation to said first position;
determining a load position;
engaging a load with said AGV at said load position; and guiding said AGV with said guidance system from said approximate load position to a second position.
27. The method of claim 26 wherein the step of locating said approximate load position comprises determining a skew of said transport in relation to an expected transport position.
28. The method of claim 27 wherein the step of determining said skew of said transport comprises measuring a first distance to a first side of said transport, measuring a second distance to a second side of said transport, and comparing said first and second distances.
29. The method of claim 28 wherein said guidance system utilizes said skew to assist with guiding the AGV.
30. A method for unloading a transport with an automatic guided vehicle (AGV) comprising:

guiding said AGV with a first guidance system to a first position;
guiding said AGV with a second guidance system from said first position to an expected load position on said transport;
determining a load position;
engaging a load with said AGV at said load position; and guiding said AGV with said second guidance system from said intended load position to a second position.
31. The method of claim 30 wherein said second guidance system comprises at least one distance measuring sensor.
32. The method of claim 31 wherein said at least one distance measuring sensor determines a first distance to a side of said transport.
33. The method of claim 30 wherein said first guidance system comprises an inertial guidance system.
34. The method of claim 30 wherein said first position is approximately at an end of the transport.
35. The method of claim 30 wherein said second position is similar to said first position.
36. The method of claim 30 wherein the step of determining a load position comprises monitoring a drive current of said AGV.
37. The method of claim 30 wherein the step of determining a load position comprises utilizing at least one optical sensor to detect a load pocket.
CA002565553A 2004-05-03 2005-05-02 Automatic transport loading system and method Expired - Fee Related CA2565553C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US56772904P 2004-05-03 2004-05-03
US60/567,729 2004-05-03
PCT/US2005/014688 WO2005108246A2 (en) 2004-05-03 2005-05-02 Automatic transport loading system and method

Publications (2)

Publication Number Publication Date
CA2565553A1 true CA2565553A1 (en) 2005-11-17
CA2565553C CA2565553C (en) 2010-01-12

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Family Applications (1)

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CA002565553A Expired - Fee Related CA2565553C (en) 2004-05-03 2005-05-02 Automatic transport loading system and method

Country Status (13)

Country Link
US (1) US7648329B2 (en)
EP (1) EP1747154A4 (en)
JP (1) JP2007536177A (en)
KR (1) KR20070033972A (en)
CN (1) CN101090840A (en)
AR (1) AR049164A1 (en)
AU (1) AU2005240554B2 (en)
BR (1) BRPI0511407A (en)
CA (1) CA2565553C (en)
MX (1) MXPA06012644A (en)
TW (1) TW200540089A (en)
WO (1) WO2005108246A2 (en)
ZA (1) ZA200609709B (en)

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