Docking stations for automated guided vehicles

• US 8,509,981 B2
• Filed: 05/25/2011
• Issued: 08/13/2013
• Est. Priority Date: 05/25/2011
• Status: Active Grant

• Current Assignee: Toyota Motor Engineering & Manufacturing North America Incorporated (Toyota Motor Corporation)
• Original Assignee: Toyota Motor Engineering & Manufacturing North America Incorporated (Toyota Motor Corporation)
• Inventors: Pfeiffer, Randy Lee
• Primary Examiner(s): Cheung, Mary
• Application Number:
  US13/115,509
• Publication Number:
  US 20120303190A1
• Time in Patent Office: 811 Days
• Field of Search: 701/22, 701/23, 701/466, 701/519, 340/958, 104/2, 104/7.1, 104/7.2, 104/88.01, 104/88.02, 104/137, 104/249, 104/250
• US Class Current: 701/23
• CPC Class Codes: B60L 2240/12 Speed
• CPC Class Codes: B60L 2260/32 Auto pilot mode
• CPC Class Codes: B60L 53/14 Conductive energy transfer
• CPC Class Codes: B60L 53/30 Constructional details of charging stations
• CPC Class Codes: B60L 53/35 Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
• CPC Class Codes: B60L 53/36 by positioning the vehicle
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0265 using buried wires
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 90/12 Electric charging stations
• CPC Class Codes: Y02T 90/14 Plug-in electric vehicles

Abstract

A docking station for an automated guided vehicle includes a station base unit and a shift unit adapted to move relative to the station base unit between an extended position and a retracted position, where movement of the shift unit from the extended position to the retracted position defines a shift unit movement direction. The docking station further includes an actuator coupled to the station base unit and the shift unit, where the actuator is adapted to move the shift unit between the extended position and the retracted position and at least one locator block coupled to the shift unit. The docking station stops an automated guided vehicle travelling in the shift unit movement direction when a portion of the automated guided vehicle contacts the at least one locator block with the shift unit in the extended position.

Claims

1. A docking station for an automated guided vehicle, the docking station comprising:

a station base unit;

a shift unit adapted to move relative to the station base unit between an extended position and a retracted position, wherein movement of the shift unit from the extended position to the retracted position defines a shift unit movement direction;

an actuator coupled to the station base unit and the shift unit, the actuator adapted to move the shift unit between the extended position and the retracted position; and

at least one locator block and/or at least one cam follower coupled to the shift unit;

wherein the docking station stops an automated guided vehicle travelling in the shift unit movement direction when a portion of the automated guided vehicle contacts the at least one locator block and/or the at least one cam follower with the shift unit in the extended position.

2. The docking station of claim 1 further comprising a charging contact block coupled to the shift unit, wherein the charging contact block is adapted to interface with an electrical connector located along the automated guided vehicle for providing electrical current to the automated guided vehicle.

3. The docking station of claim 1 further comprising a floor guide located parallel to the shift unit movement direction.

4. The docking station of claim 1 further comprising linear bearings coupled to one of the station base unit or the shift unit and raceways coupled to one of the shift unit or the station base unit, wherein the linear bearings are positioned to slide along the raceways as to allow the shift unit to translate between the extended position and the retracted position.

5. The docking station of claim 1, wherein the actuator comprises a linear servomotor.

6. The docking station of claim 1 further comprising an extended position travel sensor that provides a signal that the shift unit is located in the extended position.

7. The docking station of claim 1 further comprising a retracted position travel sensor that provides a signal that the shift unit is located in the retracted position.

8. The docking station of claim 1, wherein the actuator provides a force to the shift unit that resists the automated guided vehicle from traveling in the shift unit movement direction.

9. The docking station of claim 1 further comprising an electronic controller adapted to transmit control signals to the actuator commanding the actuator to move the shift unit to the extended position or the retracted position.

10. The docking station of claim 9, wherein the electronic controller is further adapted to receive signals from an extended position travel sensor and a retracted position travel sensor to confirm a location of the shift unit in the extended position or the retracted position, respectively.

11. An automated guided vehicle system comprising:

an automated guided vehicle comprising a vehicle frame, a drive mechanism, and a plurality of support casters; and

a docking station comprising a station base unit;

wherein;

one of the docking station or the automated guided vehicle comprises a shift unit adapted to move relative to the station base unit of the docking station or the vehicle frame of the automated guided vehicle between an extended position and a retracted position, wherein movement of the shift unit from the extended position to the retracted position defines a shift unit movement direction;

the automated guided vehicle travelling parallel to the shift unit movement direction is stopped by the docking station when a portion of the automated guided vehicle contacts a portion of the docking station when the shift unit is located in the extended position;

one of the docking station or the automated guided vehicle comprises at least one cam follower;

one of the docking station or the automated guided vehicle comprises at least one locator block; and

the automated guided vehicle travelling in the shift unit movement direction is stopped by the docking station when the at least one cam follower contacts the at least one locator block when the shift unit is located in the extended position.

12. The automated guided vehicle system of claim 11 further comprising an actuator coupled to the shift unit and one of the station base unit of the docking station or the vehicle frame of the automated guided vehicle, the actuator adapted to move the shift unit between the extended position and the retracted position.

13. The automated guided vehicle system of claim 11 further comprising a charging contact block coupled to one of the docking station or the automated guided vehicle and an electrical connector coupled to one of the automated guided vehicle or the docking station, wherein the charging contact block is adapted to interface with the electrical connector when the automated guided vehicle is stopped by the docking station.

14. The automated guided vehicle system of claim 11, wherein the automated guided vehicle further comprises a track roller and the docking station further comprises a floor guide, wherein the track roller interfaces with the floor guide when the automated guided vehicle docks with the docking station.

15. The automated guided vehicle system of claim 11 further comprising an electronic controller adapted to command travel of the automated guided vehicle and to control movement of the shift unit between the extended position and the retracted position.

16. The docking station of claim 15, wherein the electronic controller is further adapted to receive signals from an extended position travel sensor and a retracted position travel sensor to confirm a location of the shift unit in the extended position or the retracted position, respectively.

17. An automated guided vehicle system comprising:

an automated guided vehicle comprising a vehicle frame, a drive mechanism, a plurality of support casters, and at least one cam follower; and

a docking station comprising a station base unit, a shift unit adapted to move relative to the station base unit between an extended position and a retracted position, wherein movement of the shift unit from the extended position to the retracted position defines a shift unit movement direction, an actuator coupled to the station base unit and the shift unit, and at least one locator block coupled to the shift unit,

wherein the automated guided vehicle travelling in the shift unit movement direction is stopped by the docking station when the at least one cam follower of the automated guided vehicle contacts the at least one locator block when the shift unit is located in the extended position.

18. The automated guided vehicle system of claim 17, wherein the automated guided vehicle further comprises a track roller and the docking station further comprises a floor guide, wherein the track roller interfaces with the floor guide when the automated guided vehicle docks with the docking station.

19. The automated guided vehicle system of claim 17 further comprising an electronic controller adapted to command travel of the automated guided vehicle and to control movement of the shift unit relative to the station base unit.