Automatic transport loading system and method

• US 8,210,791 B2
• Filed: 04/28/2008
• Issued: 07/03/2012
• 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
• Primary Examiner(s): KEENAN, JAMES W
• Application Number:
  US12/110,615
• Publication Number:
  US 20100266381A1
• Time in Patent Office: 1,527 Days
• Field of Search: 414/390, 414/391, 414/392, 414/399, 414/636, 414/809, 701/26, 701/221
• 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 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 of the transport;

profiling the threshold of the transport and the interior of the transport before the AGV passes the threshold of the transport to determine a travel path for the AGV to pass through the threshold of the transport from said position outside the transport and to a load position;

guiding the AGV along the determined travel path across the threshold and further within the transport to the 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.

2. The method of claim 1 wherein said step of guiding the AGV within the transport is performed by a second guidance system.

3. The method of claim 1 wherein said step of guiding the AGV within the transport is performed by the primary guidance system.

4. The method of claim 1 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.

5. The method of claim 1 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.

6. The method of claim 5 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.

7. The method of claim 1 wherein said step of profiling the transport occurs at least once in the transport but less than approximately 35 times every second.

8. 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.