Method and apparatus for transporting a payload

• US 10,114,372 B1
• Filed: 05/02/2016
• Issued: 10/30/2018
• Est. Priority Date: 12/30/2013
• Status: Active Grant

• Current Assignee: Vecna Robotics, Inc.
• Original Assignee: Vecna Technologies, Inc
• Inventors: Theobald, Daniel
• Primary Examiner(s): Frejd, Russell
• Application Number:
  US15/143,675
• Time in Patent Office: 911 Days
• CPC Class Codes: B60P 1/6445 the load-transporting element being shifted only vertically
• CPC Class Codes: B60W 30/00 Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
• CPC Class Codes: B62D 33/00 Superstructures for load-carrying vehicles having impact absorbing means B62D21/15; in which a load-carrying element is movable B60P; liners B60R13/00 ; joining sheets or plates to one another or to strips or bars parallel to them F16B5/00
• CPC Class Codes: B62D 53/00 Tractor-trailer combinations; Road trains traction couplings other than fifth wheel coupling B60D ; tracked vehicles comprising at least two articulated parts B62D55/0655
• CPC Class Codes: G05B 19/416 characterised by control of velocity, acceleration or deceleration G05B19/19 takes precedence
• CPC Class Codes: G05B 19/4189 characterised by the transport system
• CPC Class Codes: G05B 19/41895 using automatic guided vehicles [AGV] control of position or course of AGV's G05D1/00
• CPC Class Codes: G05B 2219/2638 Airconditioning
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A method and apparatus for transporting a payload carrying device is disclosed. The method comprises providing at least one payload carrying device, a vehicle for transporting the at least one payload carrying device, a connection device for connecting the vehicle and the at least one payload carrying device, at least one sensor device for capturing information regarding the vehicle'"'"'s surrounding environment, and a control unit for operating the connection device autonomously to connect the vehicle and the at least one payload carrying device where, once connected, the weight of the at least one payload carrying device rests directly on the floor and the vehicle autonomously transports the at least one payload carrying device to a desired location, and operating the connection device autonomously to disconnect the vehicle and the at least one payload carrying device at the desired location where the at least one payload carrying device is immobilized.

Claims

1. A method of transporting a payload carrying device, comprising:

providing at least one free standing payload carrying device;

providing a free standing fully autonomous vehicle in the form of an autonomous mobile robot for at least transporting the at least one payload carrying device to any position within a desired facility;

providing a connection device configured with at least one of the vehicle and the at least one payload carrying device for connecting the vehicle and the at least one payload carrying device with each other; and

providing a control unit for;

operating the connection device autonomously to connect the vehicle and the at least one payload carrying device where, once connected with each other, the vehicle autonomously transports the at least one payload carrying device to a desired location, and

operating the connection device autonomously to disconnect the vehicle and the at least one payload carrying device at the desired location where, once disconnected from the vehicle, the at least one payload carrying device is immobilized.

2. The method as defined in claim 1, where the vehicle immobilizes the at least one payload carrying device when the vehicle and the at least one payload carrying device are disconnected at the desired location to prevent unwanted movement of the at least one payload carrying device.

3. The method as defined in claim 2, where the at least one payload carrying device includes a locking device, and the vehicle communicates a signal to the locking device to immobilize the at least one payload carrying device when the vehicle and the at least one payload carrying device are disconnected to prevent unwanted movement of the at least one payload carrying device.

4. The method as defined in claim 2, where the at least one payload carrying device includes a locking device, and the vehicle is configured to mechanically lock the locking device to immobilize at least one payload carrying device when the vehicle and the at least one payload carrying device are disconnected to prevent unwanted movement of the at least one payload carrying device.

5. The method as defined in claim 1, where a user may mobilize and manually transport the at least one payload carrying device when the vehicle and the at least one payload carrying device are disconnected from each other.

6. The method as defined in claim 1, where the vehicle travels, autonomously, to a position in which the vehicle and the at least one payload carrying device can be connected with each other before the connection device connects the vehicle and the at least one payload carrying device.

7. The method as defined in claim 1, where the vehicle mobilizes the at least one payload carrying device for transportation when the vehicle and the payload carrying device are connected with each other.

8. The method as defined in claim 1, where the connection device is selected from the group consisting of a hook, magnet, and rod-like device.

9. An apparatus for transporting a payload carrying device, comprising:

at least one free standing payload carrying device;

a free standing fully autonomous vehicle in the form of an autonomous mobile robot for at least transporting the at least one payload carrying device to any position within a desired facility;

a connection device configured with at least one of the vehicle and the at least one payload carrying device for connecting the vehicle and the at least one payload carrying device with each other; and

a control unit for;

operating the connection device autonomously to connect the vehicle and the at least one payload carrying the device where, once connected with each other, the vehicle is configured to autonomously transport the at least one payload carrying device to a desired location; and

operating the connection device autonomously to disconnect the vehicle and the at least one payload carrying device once at the desired location where, once disconnected from the vehicle, the at least one payload carrying device is immobilized.

10. The apparatus as defined in claim 9, where the vehicle immobilizes the at least one payload carrying device when the vehicle and the at least one payload carrying device are disconnected to prevent unwanted movement of the at least one payload carrying device.

11. The apparatus as defined in claim 10, where the at least one payload carrying device includes a locking device, and the vehicle communicates a signal to the locking device to immobilize the at least one payload carrying device when the vehicle and the at least one payload carrying device are disconnected to prevent unwanted movement of the at least one payload carrying device.

12. The apparatus as defined in claim 10, where the at least one payload carrying device includes a locking device, and the vehicle is configured to mechanically lock the locking device to immobilize at least one payload carrying device when the vehicle and the at least one payload carrying device are disconnected to prevent unwanted movement of the at least one payload carrying device.

13. The apparatus as defined in claim 9, where a user may mobilize and manually transport the at least one payload carrying device when the vehicle and the at least one payload carrying device are disconnected from each other.

14. The apparatus as defined in claim 9, where the vehicle may travel autonomously to a position in which the vehicle and the at least one payload carrying device can be connected with each other before operating the connection device to connect the vehicle and the at least one payload carrying device.

15. The apparatus as defined in claim 9, where the vehicle mobilizes the at least one payload carrying device for transportation when the vehicle and the payload carrying device are connected with each other.

16. The apparatus as defined in claim 9, where the connection device is selected from the group consisting of a hook, magnet, and rod.

17. A method of transporting a payload carrying device, comprising:

providing at least one payload carrying device having a plurality of leg supports in contact with the floor;

providing a fully autonomous vehicle in the form of an autonomous mobile robot for at least transporting the at least one payload carrying device to any position within a desired facility;

providing a connection device configured with at least one of the vehicle and the at least one payload carrying device for connecting the vehicle and the at least one payload carrying device with each other; and

providing a control unit for;

operating the connection device autonomously to connect the vehicle and the at least one payload carrying device where, once connected with each other, the vehicle autonomously transports the at least one payload carrying device to a desired location, and

operating the connection device autonomously to disconnect the vehicle and the at least one payload carrying device at the desired location where, once disconnected from the vehicle, the at least one payload carrying device is immobilized and when the vehicle and the at least one payload carrying device are connected with each other, the leg supports of the at least one payload carrying device are in contact with the floor so the at least one payload carrying device'"'"'s weight rests on the floor rather than on the vehicle when the at least one payload carrying device is being transported to the desired location.

18. The method as defined in claim 17, where the at least one payload carrying device includes a plurality of wheels connected to the plurality of leg supports and are in contact with the floor when the at least one payload carrying device is being transported to the desired location.

19. An apparatus for transporting a payload carrying device, comprising:

at least one payload carrying device having a plurality of leg supports in contact with the floor;

a fully autonomous vehicle in the form of an autonomous mobile robot for at least transporting the at least one payload carrying device to any position within a desired facility;

a connection device configured with at least one of the vehicle and the at least one payload carrying device for connecting the vehicle and the at least one payload carrying device with each other; and

a control unit for;

operating the connection device autonomously to connect the vehicle and the at least one payload carrying the device where, once connected with each other, the vehicle is configured to autonomously transport the at least one payload carrying device to a desired location; and

operating the connection device autonomously to disconnect the vehicle and the at least one payload carrying device once at the desired location where, once disconnected from the vehicle, the at least one payload carrying device is immobilized and when the vehicle and the at least one payload carrying device are connected with each other, the leg supports of the at least one payload carrying device are in contact with the floor so the at least one payload carrying device'"'"'s weight rests on the floor rather than on the vehicle when the at least one payload carrying device is being transported to the desired location.

20. The apparatus as defined in claim 19, where the at least one payload carrying device includes a plurality of wheels connected to the plurality of leg supports and are in contact with the floor when the at least one payload carrying device is being transported to the desired location.