Autonomous cargo loading systems and methods

Patent metadata

Field	Value
Publication number	US-11440195-B2
Application number	US-201916519206-A
Country	US
Kind code	B2
Filing date	Jul 23, 2019
Priority date	Jul 25, 2018
Publication date	Sep 13, 2022
Grant date	Sep 13, 2022

Abstract

Robotic automation and methods described herein can be used to enhance the efficiencies of freight shipping processes. For example, this document describes the use of automated systems and methods for densely loading cargo into freight carriers (e.g., semi-trailers) in an efficient manner. Some such systems can include one or more movable robots that can travel along an open side or open top of a semi-trailer to autonomously load parcels into the trailer in a densely packed manner. The disclosed systems and methods allow for the reduction or elimination of manual labor for loading shipping trailers in a very dense manner.

First claim

What is claimed is:

1. A robotic system for loading a shipment of parcels into a freight carrier, the system comprising:
the freight carrier comprising:
a top;
a front end;
a back end; and
an openable side extending between the front and back ends;

a robotic actuator including one or more sensor devices;
an end effector attached to the robotic actuator and adapted for releasably coupling with individual parcels of the shipment of parcels;
a rail to which the robotic actuator is movably coupled, the rail extending parallel to the openable side of the freight carrier so that the robotic actuator is movable along the openable side of the freight carrier while loading the individual parcels into the freight carrier through the openable side of the freight carrier;
a parcel sortation system; and
a control system in communication with the robotic actuator and the parcel sortation system, the control system configured and operable to:
control the parcel sortation system to consolidate the shipment of parcels into at least:
(i) a first grouping of similarly sized parcels and (ii) a second grouping of similarly sized parcels, wherein the first and second groupings of similarly sized parcels differ from each other on a size basis of the individual parcels within the first and second groupings of similarly sized parcels;

determine an open cargo space of the freight carrier using information from the one or more sensor devices;
determine locations within the open cargo space of the freight carrier that each individual parcel of the first grouping of similarly sized parcels should be positioned based on: (i) size dimensions of the individual parcels of the first grouping of similarly sized parcels and (ii) the determined open cargo space of the freight carrier;
send control commands to the robotic actuator to position each individual parcel of the first grouping of similarly sized parcels at the respective determined locations of each individual parcel of the first grouping of similarly sized parcels;
determine locations within the open cargo space of the freight carrier that each individual parcel of the second grouping of similarly sized parcels should be positioned based on: (i) size dimensions of the individual parcels of the second grouping of similarly sized parcels and (ii) the determined open cargo space of the freight carrier;
send control commands to the robotic actuator to position each individual parcel of the second grouping of similarly sized parcels at the respective determined locations of each individual parcel of the second grouping of similarly sized parcels; and
create a first layer of the parcels on the floor of the freight carrier until the open cargo space on the floor of the freight carrier cannot accommodate another parcel of the shipment of parcels, and when the floor of the freight carrier cannot accommodate another parcel, create a second layer of the parcels directly on top of the first layer of parcels until the open cargo space directly on top of the first layer of parcels cannot accommodate another parcel of the shipment of parcels.

2. The system of claim 1 , wherein the control system is configured and operable to determine an updated open cargo space of the freight carrier as each of the individual parcels is individually positioned in the open cargo space of the freight carrier.

3. The system of claim 1 , further comprising a conveyor positioned along the rail and extending parallel to the rail, the conveyor configured to convey the first grouping of similarly sized parcels to the robotic actuator and the second grouping of similarly sized parcels, wherein the first and second groupings of similarly sized parcels are conveyed in two separate groups.

4. The system of claim 1 , wherein the robotic actuator comprises a vision system, and wherein the end effector is oriented to couple with the individual parcels using the vision system.

5. The system of claim 1 , wherein the robotic actuator is supported on and above the rail.

6. The system of claim 1 , further comprising a second robotic actuator movably coupled to the rail.

7. The system of claim 1 , further comprising a second rail and a second robotic actuator movably coupled to the second rail.

8. A method for robotically loading a shipment of parcels into a freight carrier, the method comprising:
controlling a robotic system to obtain: (i) a physical orientation of the robotic system in relation to a cargo space of the freight carrier and (ii) an open cargo space of the freight carrier, wherein the freight carrier comprises:
a top;
a front end;
a back end; and
an openable side extending between the front and back ends;

receiving respective size dimensions of each individual parcel of the shipment of parcels to be loaded into the freight carrier;
controlling a parcel sortation system to consolidate the shipment of parcels into at least: (i) a first grouping of similarly sized parcels and (ii) a second grouping of similarly sized parcels, wherein the first and second groupings of similarly sized parcels differ from each other based on the respective size dimensions of the individual parcels within the first and second groupings of similarly sized parcels;
determining respective locations within the open cargo space of the freight carrier for each individual parcel of the first grouping of similarly sized parcels based on: (i) the respective size dimensions of each individual parcel of the first grouping of similarly sized parcels and (ii) the open cargo space of the freight carrier;
controlling the robotic system to travel along a rail that extends parallel to the openable side of the freight carrier and to physically position each individual parcel of the first grouping of similarly sized parcels through the openable side of the freight carrier and in the determined respective locations within the open cargo space of the freight carrier for each individual parcel of the first grouping of similarly sized parcels;
determining respective locations within the open cargo space of the freight carrier for each individual parcel of the second grouping of similarly sized parcels based on: (i) the respective size dimensions of each individual parcel of the second grouping of similarly sized parcels and (ii) the open cargo space of the freight carrier;
controlling the robotic system to travel along a rail that extends parallel to the openable side of the freight carrier and to physically position each individual parcel of the second grouping of similarly sized parcels through the openable side of the freight carrier and in the determined respective locations within the open cargo space of the freight carrier for each individual parcel of the second grouping of similarly sized parcels; and
controlling the robotic system to:
create a first layer of the parcels on the floor of the freight carrier until the open cargo space on the floor of the freight carrier cannot accommodate another parcel of the shipment of parcels, and
when the floor of the freight carrier cannot accommodate another parcel, create a second layer of the parcels directly on top of the first layer of parcels until the open cargo space directly on top of the first layer of parcels cannot accommodate another parcel of the shipment of parcels,

wherein the open cargo space is determined after each individual parcel is physically positioned within the freight carrier.

9. The method of claim 8 , wherein a vision system is used to assist the robotic system to pick up each of the parcels.

10. The method of claim 8 , wherein the step of determining respective positions within the freight carrier for each of the individual parcels is performed on a one parcel at

Assignees

• Target Brands Inc

Inventors

• Lisso Gregory

Classifications

• B25J9/1697 Primary

  Vision controlled systems · CPC title

• B25J9/0093

  co-operating with conveyor means · CPC title

• B25J5/02

  travelling along a guideway · CPC title

• G06Q10/0832 Primary

  Special goods or special handling procedures, e.g. handling of hazardous or fragile goods · CPC title

• B65G1/1375

  the orders being assembled on a commissioning stacker-crane or truck · CPC title