Smart fixturing system and method

Patent metadata

Field	Value
Publication number	US-11194339-B2
Application number	US-202016744222-A
Country	US
Kind code	B2
Filing date	Jan 16, 2020
Priority date	Jan 16, 2020
Publication date	Dec 7, 2021
Grant date	Dec 7, 2021

Abstract

Systems and methods are provided for determining and correcting autonomous transport imbalances. A transport vehicle operates over a route. A fixture plate is coupled to the transport vehicle by a joint to carry a payload. A sensor determines a position of the joint. A controller modifies the operation of the transport vehicle in response to a change in the position of the joint to correct imbalances.

First claim

What is claimed is:

1. A system comprising:
a number of transport vehicles configured to operate in concert, the number of transport vehicles including a first transport vehicle and a second transport vehicle, the number of transport vehicles configured to operate over a route;
a first fixture plate configured to carry a payload;
a first joint moveably coupling the first fixture plate to the first transport vehicle;
a second fixture plate configured to carry the payload and to electrically link with the first fixture plate;
a second joint moveably coupling the second fixture plate to the second transport vehicle;
a first electrical coupler on the first fixture plate;
a second electrical coupler on the second fixture plate, the first and second electrical couplers electrically couple the first fixture plate with the second fixture plate, and communicate information, including through the first and second fixture plates;
a first sensor disposed at the first joint and configured to determine a first position of the first joint;
a second sensor disposed at the second joint and configured to determine a second position of the second joint;
at least one controller on the first and second fixture plates and configured to modify the operation of the number of transport vehicles in response to a change in at least one of the first position and the second position to compensate for transport variations to maintain a consistent support of the payload by locating the first and second fixture plates relative to each other, the at least one controller coupled with a vehicle controller on the number of transport vehicles.

2. The system of claim 1 , wherein the first and second fixture plates include a linking system configured to align the first fixture plate with the second fixture plate in one of a number of alternate orientations, wherein the linking system includes interlocking tabs and slots defined by the first and second fixture plates.

3. The system of claim 2 , wherein the tabs and slots are unlocked and continuously releasable.

4. The system of claim 1 , wherein the first fixture plate includes a pressure sensor, and wherein the at least one controller is configured, using a signal from the pressure sensor, to determine whether the payload is correctly loaded.

5. The system of claim 4 , wherein the first fixture plate includes a locator configured to locate the payload on the first fixture plate, wherein the pressure sensor is positioned at the locator.

6. The system of claim 1 , wherein the first fixture plate includes a number of distance sensors configured to sense proximity of obstacles around the first fixture plate.

7. The system of claim 1 , wherein the at least one controller is configured to:
maintain positioning between the first and second fixture plates:
read the first and second sensors;
compute a pose of the second transport vehicle in a frame of the second fixture plate;
transform the pose from the frame of the second fixture plate into a frame of the first transport vehicle as a lead vehicle;
calculate a pose error of the second transport vehicle for motion control;
generate a motion control value to minimize the pose error toward zero; and
operate, using the motion control value, the second transport vehicle.

8. The system of claim 1 , wherein the at least one controller is configured to calculate a pose error of the second fixture plate.

9. The system of claim 8 , wherein the at least one controller is configured to generate a motion control signal of the second transport vehicle to minimize the pose error.

10. The system of claim 9 , wherein the at least one controller is configured, based on the pose error, to change velocity of the second transport vehicle to a new velocity, and to determine whether the new velocity is within constraints.

11. A method comprising:
operating a number of transport vehicles in concert over a route, the number of transport vehicles including a first transport vehicle and a second transport vehicle;
coupling, moveably, a first fixture plate to the first transport vehicle by a first joint and a second fixture plate to the second transport vehicle by a second joint;
electrically coupling, by a first electrical coupler on the first fixture plate and a second electrical coupler on the second fixture plate, the first fixture plate with the second fixture plate;
communicating information by the first and second electrical couplers, including through the first and second fixture plates
carrying a payload on the first and second fixture plates;
determining, by a first sensor disposed at the first joint and a second sensor disposed at the second joint, a first position of the first joint and a second position of the second joint;
coupling at least one controller with a vehicle controller on the number of transport vehicles; and
modifying, by the at least one controller on the first and second fixture plates, the operation of the number of transport vehicles in response to at least one of the first position and the second position to compensate for transport variations to maintain a consistent support of the payload by locating the first and second fixture plates relative to each other.

12. The method of claim 11 , wherein the first and second fixture plates include a linking system and comprising aligning the first fixture plate with the second fixture plate in one of a number of alternate orientations; and forming the linking system with interlocking tabs and slots defined by the first and second fixture plates.

13. The method of claim 12 , comprising maintaining the linking system as continuously releasable with the tabs and slots unlocked.

14. The method of claim 11 , wherein the first fixture plate includes a pressure sensor and comprising determining, by the at least one controller using a signal from the pressure sensor, whether the payload is correctly loaded.

15. The method of claim 14 , wherein the first fixture plate includes a locator, wherein the pressure sensor is positioned at the locator, and comprising locating the payload on the first fixture plate using the locator.

16. The method of claim 11 , wherein the first fixture plate includes a number of distance sensors, and comprising sensing, using the number of distance sensors, proximity of obstacles around the first fixture plate.

17. The method of claim 11 , comprising:
maintaining, by the at least one controller, positioning between the first and second fixture plates:
reading, by the at least one controller, the first and second sensors;
computing, by the at least one controller, a pose of the second transport vehicle in a frame of the second fixture plate;
transforming, by the at least one controller, the pose from the frame of the second fixture plate into a frame of the first transport vehicle as a lead vehicle;
calculating, by the at least one controller, a pose error of the second transport vehicle for motion control;
generating, by the at least one controller, a motion control value to minimize the pose error toward zero; and
operating, by the at least one controller using the motion control value, the second transport vehicle.

18. The method of claim 11 , comprising calculating, by the at least one controller, a pose error of the second fixture plate.

19. The method of claim 18 , comprising:
generating, by the at least one controller, a motion control signal of the number of transport vehicles to minimize the pose error;
changing, by the at least one controller and based on the pose er

Assignees

• Gm Global Tech Operations Llc

Inventors

• Zhao Xiang
• Huang Ningjian
• Li Jinglin
• Abell Jeffrey A

Classifications

• B60P1/6409

  details, accessories, auxiliary devices · CPC title

• B66F9/063

  Automatically guided · CPC title

• B60P3/40

  for carrying long loads, e.g. with separate wheeled load supporting elements ({E04G21/14 takes precedence}; signal devices to be attached to overhanging load B60Q7/02) · CPC title

• B66F9/07559

  Stabilizing means · CPC title

• B60P9/00 Primary

  Other vehicles predominantly for carrying loads {, e.g. load carrying vehicles convertible for an intended purpose} · CPC title