Device and method for wireless material handling systems

• US 6,681,638 B2
• Filed: 03/20/2002
• Issued: 01/27/2004
• Est. Priority Date: 05/04/2001
• Status: Expired due to Fees

• Current Assignee: Homayoon Kazerooni
• Original Assignee: Homayoon Kazerooni
• Inventors: Chen, Albert, Kazerooni, Homayoon, Shin, Gene, Fairbanks, Dylan Miller
• Primary Examiner(s): Hirshfeld, Andrew H.
• Assistant Examiner(s): FERGUSON SAMRETH, MARISSA LIANA
• Application Number:
  US10/101,157
• Publication Number:
  US 20020178830A1
• Time in Patent Office: 678 Days
• Field of Search: 737/60, 733/790.1, 733/790.4, 414/5, 414/2, 704/270, 702/150, 254/270, 254/266, 254/274
• US Class Current: 73/760
• CPC Class Codes: B65G 43/00 Control devices, e.g. for safety, warning or fault-correcting

Abstract

The invention provides a device and method for wireless material handling systems. The invention further provides an instrumented glove device worn by an operator. A sensory system within the glove device measures the contact force the operator is exerting on either an object to be moved or the material handling system and generates a set of contact signals representing the contact force. The contact signals are transmitted, via a transmitter circuitry, to a controller in another location. The controller receives and processes the signals and generates a set of command signals. The command signals control the speed and mechanical assistance required of an actuator, as a function of the operator contact force, to move the material handling system.

Claims

1. A material handling device for maneuvering at least one object, among other components, comprising:

at least one actuator to cause said material handling device to move;

an instrumented glove wearable by a human hand, wherein said instrumented glove detects a contact force imposed by said human hand on said object or a part of said material handling device, and generates a set of contact signals representing said contact force;

at least one transmitter circuitry capable of transmitting a set of control signals representing said contact signals; and

employing said control signals to control said actuator to move said object through a trajectory wherein said human contact force is less than a human force that would be required to move said object through said trajectory without the aid of said material handling device.

2. The material handling device according to claim 1 wherein said transmitter circuitry transmits said control signals wirelessly by an electromagnetic field.

3. The material handling device according to claim 1, wherein said transmitter circuitry transmits said control signals wirelessly in the form of RF waves.

4. The material handling device according to claim 1, wherein said transmitter circuitry transmits said control signals to said controller by a signal cable.

5. The material handling device according to claim 1, wherein said instrumented glove further comprises a strain gage based force sensing element.

6. The material handling device according to claim 1, wherein said instrumented glove further comprises a piezoelectric force sensing element.

7. The material handling device according to claim 1, wherein said instrumented glove further comprises at least one force-sensing resistor.

8. The material handling device according to claim 1, wherein said instrumented glove comprises at least one switch to detect said contact force imposed by said human hand on said object or a part of said material handling device.

9. The material handling device according to claim 1, wherein said transmitter circuitry comprises a micro-controller, a transmitter module, and a transmitting antenna.

10. The material handling device according to claim 9, wherein said micro-controller collects said contact signals from said instrumented glove and passes a set of information signals representing said contact signals to said transmitter module which transmits said control signals in the form of RF waves through said transmitting antenna.

11. The material handling device according to claim 1, wherein said controller comprises a receiver circuitry, a computer, and a power amplifier.

12. The material handling device according to claim 11, wherein said receiver circuitry comprises a receiver module and a receiving antenna, wherein said receiver module receives said control signals in the form of RF waves through said receiving antenna, and sends a set of data representing said control signals to said computer.

13. The material handling device according to claim 11, wherein said computer delivers command signals to said power amplifier, which transfers power to said actuator.

14. The material handling device according to claim 11, wherein said controller further includes a logic circuit comprising electromechanical or solid state relays to start and stop said material handling device.

15. The material handling device according to claim 1, wherein said controller comprises a receiver circuitry, a computer, and a pneumatic or hydraulic servo-valve.

16. The material handling device according to claim 15, wherein said receiver circuitry comprises a receiver module and a receiving antenna, wherein said receiver module receives said control signals in the form of RF waves through said receiving antenna, and sends a set of data representing said control signals to said computer.

17. The material handling device according to claim 15, wherein said computer delivers command signals to said pneumatic or hydraulic servo-valve, which delivers pressurized air or fluid to said actuator.

18. The material handling device according to claim 15, wherein said controller further includes a logic circuit comprising electromechanical or solid state relays to start and stop said material handling device.

19. The material handling device according to claim 1, wherein said actuator which causes movement of said material handling device includes an electric motor.

20. The material handling device according to claim 1, wherein said actuator which causes movement of said material handling device includes a clutch.

21. The material handling device according to claim 1, wherein said controller is programmed to move said material handling device through a predetermined trajectory.

22. A method of operating a material handling device, comprising the steps of:

providing an instrumented glove wearable on a human operator'"'"'s hand;

pressing by said human operator wearing said instrumented glove on a part of said material handling device or an object being carried by said material handling device;

sensing the contact force imposed by said human operator'"'"'s hand on said material handling device or said object;

transmitting a set of control signals representing said contact force from a transmitter circuitry;

receiving said control signals through a receiver circuitry; and

employing said control signals to control said actuator to move said material handling device and said object through a trajectory such that said human contact force is smaller than a human force that would be required to move said object through said trajectory without the aid of said material handling device.

23. The method according to claim 22, wherein said sensing step is accomplished by means of at least one strain gage based force sensing element.

24. The method according to claim 22, wherein said sensing step is accomplished by means of at least one piezoelectric force sensing element.

25. The method according to claim 22, wherein said sensing step is accomplished by means of at least one force sensing resistor.

26. The method according to claim 22, wherein said sensing step is accomplished by means of a plurality of force sensing resistors.

27. The method according to claim 22, wherein said transmitting step is accomplished by an electromagnetic field.

28. The method according to claim 22, wherein said transmitting step is accomplished in the form of transmitting a set of RF waves which represent said control signals.

29. The method according to claim 22, wherein said transmitting step further comprises:

collecting said contact signals in a micro-controller;

sending a set of information signals representing said contact signals to a transmitter module; and

radiating a set of RF waves representing said control signals through a transmitting antenna.

30. The method according to claim 22, wherein said receiving step further comprises:

receiving a set of RF waves in a receiver module representing said control signals through a receiving antenna; and

sending a set of data representing said RF waves to said computer.

31. The method according to claim 22, wherein said controlling the speed and mechanical assistance of said actuator comprises:

generating a set of command signals by a computer as a function of said control signals; and

delivering said command signals from said computer to a power amplifier which transfers power to said actuator.

32. The method according to claim 22, wherein controlling the speed and mechanical assistance of said actuator comprises:

generating a set of command signals by a computer as a function of said control signals; and

delivering said command signals from said computer to a pneumatic or hydraulic servo-valve which delivers pressurized air or fluid to said actuator.

33. The method according to claim 22, further comprising pre-programming said material handling device to travel through a predetermined trajectory.

34. A rotating table system for rotating at least one object, said rotating table system comprising:

at least one actuator to cause said rotating table system to turn;

an instrumented glove wearable by a human hand that detects a contact force imposed by said human hand on said object or a part of said rotating table system, and generates a set of contact signals representing said contact force;

at least one transmitter circuitry capable of transmitting a set of control signals representing said contact signals to other locations; and

a controller to receive and process said control signals and to generate a set command signals to control said actuator to cause said rotating table system to move such that said actuator and rotating table system turn causing said object and said rotating table system to follow the operator hand motion.

35. The rotating table system according to claim 34, wherein said transmitter circuitry transmits said control signals wirelessly in the form of RF waves.

36. The rotating table system according to claim 34 wherein said transmitter circuitry transmits said control signals wirelessly by an electromagnetic field.

37. The rotating table system according to claim 34 wherein said transmitter circuitry transmits said control signals to said controller by a signal cable.

38. The rotating table system according to claim 34 wherein said object is a cable car.

39. The rotating table system according to claim 34 wherein said transmitter circuitry is installed on said instrumented glove.