Autonomous cargo handling system and method

• US 10,005,564 B1
• Filed: 05/05/2017
• Issued: 06/26/2018
• Est. Priority Date: 05/05/2017
• Status: Active Grant

• Current Assignee: Goodrich Corporation (Rtx Corporation)
• Original Assignee: Goodrich Corporation (Rtx Corporation)
• Inventors: Bhatia, Amit, Daw Perez, Zamira, Pinto, Alessandro, Ryde, Julian C.
• Primary Examiner(s): Feild, Joseph
• Assistant Examiner(s): Point, Rufus
• Application Number:
  US15/587,769
• Time in Patent Office: 417 Days
• CPC Class Codes: B64C 1/20 specially adapted for freight
• CPC Class Codes: B64C 1/22 Other structures integral with fuselages to facilitate loading , e.g. cargo bays, cranes
• CPC Class Codes: B64D 45/00 Aircraft indicators or protectors not otherwise provided for camouflage F41H3/00
• CPC Class Codes: B64D 9/00 Equipment for handling freight; Equipment for facilitating passenger embarkation or the like emergency equipment B64D17/00, B64D19/00, B64D25/00; structures integral with fuselage to facilitate loading, fuselage floors specially adapted for freight, steps mounted on and retractable within aircraft B64C; ground installations B64F
• CPC Class Codes: G01S 13/88 Radar or analogous systems specially adapted for specific applications electromagnetic prospecting or detecting of objects, e.g. near-field detection, G01V3/00
• CPC Class Codes: G01S 15/88 Sonar systems specially adapted for specific applications seismic or acoustic prospecting or detecting G01V1/00
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications

Abstract

An autonomous cargo handling system is provided. The autonomous cargo handling system may comprise one or more sensing agents in electronic communication with each other. One or more of the sensing agents may be configured to monitor a sensing zone in a cargo deck to detect objects traveling through the sensing zone. In response to detecting an object, one or more sensing agents may determine an object property based on the detected object. One or more sensing agents may generate an object model based on the determined object properties. The sensing agents may also determine whether the detected object is a unit load device (ULD) or a non-ULD object based on the object property and/or the object model.

Claims

1. A sensing agent, comprising:

a sensing unit configured to monitor a sensing zone; and

a computing unit in electronic communication with the sensing unit, wherein in response to the sensing unit detecting an object in the sensing zone, the computing unit is configured to determine an object physical property based on a physical characteristic of the object, wherein the computing unit is configured to identify the object as a unit load device (“

ULD”

) or a non-ULD object based on the object physical property, and wherein the object physical property comprises at least one of an image of the object, a video of the object, an object dimension, an object shape, an object characteristic, an object orientation, an object location, an object weight, or point cloud data, wherein the object physical property does not include a reading of an identification tag or a label.

2. The sensing agent of claim 1, wherein the sensing unit comprises at least one of a camera, a structured light sensor, a light detection and ranging (LiDAR) sensor, an infrared sensor, a depth sensor, a 3D scanner, an ultrasound range finder, a radar sensor, or a weight sensor.

3. The sensing agent of claim 1, wherein the computing unit is configured to generate an object model based on the object physical property.

4. The sensing agent of claim 3, wherein the computing unit is configured to identify the object as the ULD or the non-ULD object based on the object model.

5. The sensing agent of claim 1, wherein the computing unit is configured to generate a non-ULD alert in response to detecting the non-ULD object.

6. The sensing agent of claim 5, wherein the non-ULD alert is generated based on an alert rule.

7. A method, comprising:

monitoring, by a sensing agent, a cargo deck, wherein the sensing agent is configured to monitor a sensing zone defining a logical boundary within the cargo deck;

detecting, by the sensing agent, an object in the cargo deck in response to the object being moved into the sensing zone;

determining, by the sensing agent, an object property based on a physical characteristic of the object;

identifying, by the sensing agent, the object as a ULD or a non-ULD object based on the object property; and

generating, by the sensing agent, a non-ULD alert in response to at least one of identifying the object as the non-ULD object or the non-ULD object being in the path of a second ULD.

8. The method of claim 7, further comprising generating, by the sensing agent, an object model based on the object property.

9. The method of claim 8, wherein the step of identifying the object as the ULD or the non-ULD object comprises comparing at least one of the object model or the object property against at least one of a stored ULD model or a stored ULD property.

10. The method of claim 7, wherein the object property comprises at least one of an image of the object, a video of the object, an object dimension, an object shape, an object characteristic, an object orientation, an object location, an object weight, or point cloud data, wherein the object property does not include a reading of an identification tag or a label.

11. The method of claim 7, wherein the sensing agent comprises at least one of a sensing unit, a computing unit, or a communication unit in electronic communication with each other.

12. The method of claim 11, wherein the sensing unit comprises at least one of a camera, a structured light sensor, a light detection and ranging (LiDAR) sensor, an infrared sensor, a depth sensor, a 3D scanner, an ultrasound range finder, a radar sensor, or a weight sensor.

13. An aircraft, comprising:

a cargo deck defined by an aircraft envelope within the aircraft; and

a sensing agent coupled to the aircraft envelope, wherein the sensing agent is configured to monitor a sensing zone defining a logical boundary within the cargo deck, wherein in response to the sensing agent detecting an object in the sensing zone, the sensing agent is configured to determine an object property based on a physical characteristic of the object, wherein the sensing agent is configured to identify the object as a ULD or a non-ULD object based on the object property and wherein the object property comprises at least one of an image of the object, a video of the object, an object dimension, an object shape, an object physical characteristic, an object orientation, an object location, an object weight, or point cloud data, wherein the object property does not include a reading of an identification tag or a label.

14. The aircraft of claim 13, wherein the sensing agent is coupled to the aircraft envelope on at least one of a cargo deck ceiling or an inner surface of the aircraft envelope.

15. The aircraft of claim 13, wherein the sensing agent comprises at least one of a sensing unit, a computing unit, or a communication unit in electronic communication with each other.

16. The aircraft of claim 13, wherein the sensing unit comprises at least one of a camera, a structured light sensor, a light detection and ranging (LiDAR) sensor, an infrared sensor, a depth sensor, a 3D scanner, an ultrasound range finder, a radar sensor, or a weight sensor.