Automated loading system

Patent metadata

Field	Value
Publication number	US-10843882-B2
Application number	US-201815868612-A
Country	US
Kind code	B2
Filing date	Jan 11, 2018
Priority date	Sep 30, 2014
Publication date	Nov 24, 2020
Grant date	Nov 24, 2020

Abstract

Cable robots may be used to automatically load items onto one or more surfaces in any environment. An item may be received on a carrier that is connected to tensioning actuators of a cable robot by one or more cables in tension. The actuators of the robot may be manipulated in concert to move the carrier from a first position to a second position, which may be fixed or in motion, at which the item may be expelled from the carrier. The carrier may include induction wheels and/or conveyors for receiving the item thereon and for expelling the item therefrom. The cable robot may be provided in series with a conveyor and mounted to a frame, and used to load items onto a delivery vehicle, such that the frame may be withdrawn as items are loaded.

First claim

What is claimed is:

1. A loading system comprising:
a first conveyor;
an item carrier aligned in series with the first conveyor, wherein the item carrier is configured to receive at least one item thereon from the first conveyor, and wherein the item carrier is configured to expel the at least one item therefrom to a destination; and
a cable robot comprising a plurality of tensioning actuators, wherein each of the tensioning actuators is joined in tension to the item carrier by at least one cable.

2. The loading system of claim 1 , further comprising:
a frame,
wherein at least a portion of the frame is configured to be removably inserted within a delivery vehicle, and
wherein the first conveyor and at least one of the tensioning actuators is mounted to the frame.

3. The loading system of claim 2 , further comprising:
at least one computing device configured to execute one or more sets of instructions for causing the loading system to at least:
identify at least one attribute of the at least one item;
identify a first location associated with a terminus of the first conveyor;
determine a second location as the destination for the at least one item based at least in part on the at least one attribute;
cause the item carrier to receive the at least one item thereon from the first conveyor at the first location;
cause the cable robot to move the item carrier from the first location to the second location; and
cause the item carrier to expel the at least one item therefrom at the second location.

4. The loading system of claim 3 , wherein the at least one computer device is further configured to execute one or more sets of instructions for causing the loading system to at least:
cause at least the portion of the frame to be withdrawn from the delivery vehicle by a predetermined extent.

5. The loading system of claim 1 , wherein the item carrier comprises at least one of:
at least one pair of opposed induction conveyors disposed thereon, wherein the at least one pair of opposed induction conveyors is configured to receive the at least one item therebetween, and to expel the at least one item therefrom; or
a second conveyor, wherein the second conveyor is configured to receive the at least one item thereon, and to expel the at least one item therefrom.

6. A loading system comprising:
a first conveyor;
an item carrier;
a cable robot; and
at least one computer processor, wherein the at least one computer processor is configured to execute instructions for causing the loading system to at least:
identify at least one item to be transferred onto a surface of an autonomous mobile robot by the item carrier;
cause the at least one item to be placed onto the item carrier at a first position by the first conveyor;
determine a speed of the surface of the autonomous mobile robot;
determine a transfer point for the autonomous mobile robot based at least in part on the speed of the surface;
determine a transfer time based at least in part on the speed and the transfer point, wherein the transfer time is a time when the surface will arrive at the transfer point;
determine a second position for the item carrier, wherein the second position is within a predetermined range of the transfer point;
cause the item carrier to arrive at the second position prior to the transfer time using the cable robot; and
cause the at least one item to be expelled from the item carrier to the surface at the transfer time.

7. The loading system of claim 6 , wherein the cable robot comprises a plurality of tensioning actuators joined in tension to at least a portion of the item carrier by at least one cable, and
wherein the at least one computer processor is further configured to execute instructions for causing the loading system to at least:
operate at least one of the plurality of tensioning actuators to extend or retract the at least one cable.

8. The loading system of claim 7 , wherein the at least one computer processor is further configured to execute instructions for causing the loading system to at least:
determine a direction of travel of the surface of the autonomous mobile robot; and
cause the item carrier to move substantially parallel to the direction of travel and substantially at the speed of the surface of the autonomous robot within a predetermined range of the transfer point at the transfer time.

9. The loading system of claim 6 , wherein the item carrier comprises at least one of:
at least one pair of opposed induction conveyors disposed thereon, wherein the at least one pair of opposed induction conveyors is configured to receive the at least one item therebetween, and to expel the at least one item therefrom; or
a second conveyor, wherein the second conveyor is configured to receive the at least one item thereon, and to expel the at least one item therefrom,
wherein the at least one item is caused to be placed onto the item carrier at the first position by one of the at least one pair of opposed induction conveyors or the second conveyor, and
wherein the at least one item is caused to be expelled from the item carrier to the surface at the second time by the one of the at least one pair of opposed induction conveyors or the second conveyor.

10. A loading system comprising:
a frame;
an item carrier having a first surface with a first edge and a second edge, wherein the item carrier is configured to accept at least a first item onto the first surface at the first edge, and wherein the item carrier is configured to discharge at least the first item from the first surface at the second edge;
a first cable robot having at least a first tensioning actuator configured to extend or retract at least a first cable, wherein the first cable robot is mounted to the frame, and wherein the first cable robot is joined in tension to a first portion of the item carrier by at least the first cable;
a second cable robot having at least a second tensioning actuator configured to extend or retract at least a second cable, wherein the second cable robot is mounted to the frame, and wherein the second cable robot is joined in tension to a second portion of the item carrier by at least the second cable; and
a computer system comprising at least one computer processor and at least one non-transitory computer-readable media storing computer-executable instructions thereon, wherein the computer system is in communication with at least the item carrier, the first cable robot and the second cable robot.

11. The loading system of claim 10 , wherein the instructions are executable to cause the computer system to at least:
cause the item carrier to accept the first item onto the first surface with the item carrier in a first position;
determine a second position of the item carrier for discharging the first item from the first surface;
cause at least one of the first cable robot or the second cable robot to move the item carrier from the first position to the second position; and
cause the item carrier to discharge the first item with the item carrier in the second position.

12. The loading system of claim 11 , wherein the instructions are further executable to cause the computer system to at least:
cause at least one of the first tensioning actuator or the second tensioning actuator to extend or retract at least one of the first cable or the second cable,
wherein extracting or retracting the at least one of the first cable or the second cable causes the item carrier to move from the first position to the second position.

13. The loading system of claim 11 , wherein the instructions are further executable to cause the computer system to

Assignees

• Amazon Tech Inc

Inventors

• Worsley Timothy Craig
• Schrader Karl Eric
• Bundy Michael Ellsworth
• Rice Charles Edward

Classifications

• B25J9/0078

  actuated by cables · CPC title

• B65G67/08 Primary

  using endless conveyors · CPC title

• B65G61/00

  Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for · CPC title

• B65G1/04

  mechanical · CPC title