AUTOMATIC TRANSPORT LOADING SYSTEM AND METHOD

• US 20100266381A1
• Filed: 04/28/2008
• Published: 10/21/2010
• Est. Priority Date: 05/03/2004
• Status: Active Grant

• Current Assignee: Jervis B Webb Company (Daifuku Company Limited)
• Original Assignee: Jervis B Webb Company (Daifuku Company Limited)
• Inventors: Chilson, Gerald Edward, Ross, Wayne David
• Granted Patent: US 8,210,791 B2
• Time in Patent Office: Days
• US Class Current: 414/809
• CPC Class Codes: B66F 9/063 Automatically guided
• CPC Class Codes: G01C 22/00 Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00

Abstract

A method and system for automatically loading and unloading a transport is disclosed. A guidance system follows a travel path to a position near the transport and then a sensor profiles a transport so that a transport path is determined for an AGV to follow into the transport to place a load and for exiting the transport upon placement of the load.

Claims

1. A method for loading a transport having side walls and a threshold with an automatic guided vehicle (AGV), said method comprising:

engaging a load with the AGV;

guiding the AGV with a guidance system to a position A and wherein the position A is located outside of the transport;

determining a transport path for depositing the load at an intended load position on the transport;

guiding the AGV along the determined transport path with the guidance system to the intended load position;

determining the location of the AGV relative to the transport as said AGV travels along the determined transport path; and

depositing the load onto the transport at the intended load position.

2. The method of claim 1 wherein said step of determining a transport path for depositing the load at an intended load position further includes the step of profiling the interior of the transport with a sensor.

3. The method of claim 1 wherein said step of determining the location of the AGV relative to the transport includes the step of profiling the interior of the transport with a sensor.

4. The method of claim 3 wherein said step of determining the location of the AGV relative to the transport is performed at regular intervals.

5. The method of claim 4 wherein said regular intervals are not performed continuously.

6. The method of claim 4 wherein said regular intervals occur approximately thirty times a second.

7. The method of claim 3 wherein said sensor is located remotely from the AGV.

8. The method of claim 3 wherein said sensor is located on the AGV.

9. The method of claim 3 wherein said step of guiding the AGV along the determined transport path further includes the step of determining any deviation from the determined transport path using data received during said step of profiling the interior of the transport as said AGV travels along the determined transport path.

10. The method of claim 9 further including the step of correcting the travel path of the AGV to match the determined transport path in response to determining a deviation in said step of determining any deviation from the determined transport path.

11. The method of claim 1 further including the steps of measuring the distance to at least one of the side walls of the transport as the AGV is guided along the determined transport path.

12. The method of claim 1 wherein said step of determining a transport path includes the step of profiling the interior of the transport using one of a LADAR, Laser, Sonic or Optical sensor.

13. The method of claim 1 further including the step of sensing the edge of the transport floor as the AGV is guided along the determined transport path.

14. The method of claim 13 further including the step of updating the profile of the transport at least once while the AGV is on the transport, but no more than 35 times a second.

15. A method for loading a transport having sidewalls and a threshold with an automatic guided vehicle (AGV) comprising:

engaging a load with the AGV;

guiding the AGV with a primary guidance system to a position outside of the threshold transport;

profiling at least the threshold of the transport;

determining a travel path for the AGV to pass through threshold of the transport from said position outside the transport;

guiding the AGV within the transport to a load position on the transport and profiling the interior of the transport at least once as the AGV is guided to the load position within the transport; and

guiding the AGV within the transport from the load position to a position outside the threshold of the transport.

16. The method of claim 15 wherein said step of determining a travel path further includes the step of profiling the interior of the transport before the AGV passes the threshold of the transport.

17. The method of claim 15 wherein said step of guiding the AGV within the transport is performed by a second guidance system.

18. The method of claim 15 wherein said step of guiding the AGV within the transport is performed by the primary guidance system.

19. The method of claim 15 wherein said step of guiding the AGV within the transport further includes the step of using a sensor to obtain the distance from at least one sidewall and at the same time determine any obstructions within the travel path of the AGV.

20. The method of claim 15 wherein said step of guiding the AGV within the transport to the intended load position includes the step correcting for any deviation from the intended transport path that is determined from the profile of the transport.

21. The method of claim 20 wherein said step of guiding the AGV within the transport further includes the step of updating the profile within the transport when the primary guidance system expects the AGV to be substantially aligned with the determined transport path.

22. The method of claim 15 wherein said step of profiling the transport occurs at least once in the transport but less than approximately 35 times every second.

23. The method of claim 15 further including the step of sensing the edge of the transport floor as the AGV is guided along the determined transport path.