Modular multiple mobility base assembly apparatus for transporting an item being shipped

Patent metadata

Field	Value
Publication number	US-11679494-B2
Application number	US-202117332397-A
Country	US
Kind code	B2
Filing date	May 27, 2021
Priority date	Mar 14, 2018
Publication date	Jun 20, 2023
Grant date	Jun 20, 2023

Abstract

A modular multiple mobility base assembly apparatus is described for transporting an item being shipped having a base adapter plate and two cooperating and coordinating modular mobility bases that are each coupled to the bottom of the base adapter plate and collectively support the base adapter plate. One of the modular mobility bases operations a master autonomous mobile vehicle, while the other operates as a slave autonomous mobile vehicle that receives propulsion and steering control signals from the master while providing feedback sensor data to the master for use in coordinated and cooperative movement of the assembly apparatus. Each of the modular mobility bases also including respective wireless transceivers through which at least the control signals and sensor data are provided between mobility base units.

First claim

What is claimed is:

1. A modular multiple mobility base assembly apparatus for transporting an item being shipped, the modular multiple mobility base assembly apparatus comprising:
a base adapter plate having a first end and a second end;
a first modular mobility base coupled to the first end of the base adapter plate; and
a second modular mobility base coupled to the second end of the base adapter plate and operating under control of the first modular mobility base;
wherein the first modular mobility base further comprising
a first mobile base platform supporting the first end of the base adapter plate;
a first mobility controller operative to generate a master propulsion control signal for controlling speed of the first modular mobility base and a master steering control signal for controlling direction of movement of the first modular mobility base;
a first propulsion system connected to the first mobile base platform, the first propulsion system controlling the speed of the first modular mobility base responsive to the master propulsion control signal; and
a first steering system connected to the first mobile base platform, the first steering system controlling changes to directional movement of the first modular mobility base responsive to the master steering control signal; and

wherein the second modular mobility base further comprising
a second mobile base platform supporting the second end of the base adapter plate;
a second mobility controller in communication with the first mobility controller and operative to generate a responsive propulsion control signal for controlling speed of the second modular mobility base and generate a responsive steering control signal for controlling direction of movement of the second modular mobility base, wherein the responsive propulsion control signal and the responsive steering control signal are generated by the second mobility controller based upon master control input received from the first mobility controller of the first modular mobility base;
a second propulsion system connected to the second mobile base platform, the second propulsion system controlling the speed of the second modular mobility base responsive to the responsive propulsion control signal; and
a second steering system connected to the second mobile base platform, the second steering system controlling changes to directional movement of the second modular mobility base responsive to the responsive steering control signal from the second mobility controller.

2. The modular multiple mobility base assembly apparatus of claim 1 , wherein the first modular mobility base further comprises a plurality of first sensors coupled to the first mobility controller, wherein each of the first sensors being disposed on the first mobile base platform, wherein the first sensors being operative to autonomously generate and provide first feedback sensor data to the first mobility controller about a condition of the first modular mobility base; and
wherein the second modular mobility base further comprises a plurality of second sensors coupled to the second mobility controller, wherein each of the second sensors being disposed on the second mobile base platform, wherein the second sensors being operative to autonomously generate and provide second feedback sensor data to the second mobility controller about a condition of the second modular mobility base.

3. The modular multiple mobility base assembly apparatus of claim 1 , wherein the first modular mobility base further comprises a first wireless transceiver operatively coupled to the first mobility controller, the first wireless transceiver providing a first wireless data and command interface to a wireless data path for the first mobility controller; and
wherein the second modular mobility base further comprises a second wireless transceiver operatively coupled to the second mobility controller, the second wireless transceiver providing a second wireless data and command interface to the wireless data path for the second mobility controller, wherein the second mobility controller is operative to communicate with at least the first mobility controller and receive the master control input over the wireless data path.

4. The modular multiple mobility base assembly apparatus of claim 1 , wherein the base adapter plate comprising a part of an enclosing cargo compartment.

5. The modular multiple mobility base assembly apparatus of claim 4 , wherein the base adapter plate enclosing a bottom section of the enclosed cargo compartment.

6. The modular multiple mobility base assembly apparatus of claim 1 , wherein the base adapter plate being secured to a cargo container within which the item being shipped is transported.

7. The modular multiple mobility base assembly apparatus of claim 1 , wherein the base adapter plate being secured to at least a wall of a cargo container within which the item being shipped is transported.

8. The modular multiple mobility base assembly apparatus of claim 1 , wherein the first mobile base platform on the first modular mobility base further having a first support plate alignment channel disposed on a top of the first mobile base platform;
wherein the second mobile base platform on the second modular mobility base further having a second support plate alignment channel disposed on a top of the second mobile base platform; and
wherein the base adapter plate further comprises a first support plate alignment seat and a second support plate alignment seat disposed on a bottom side of the base adapter plate, wherein the first support plate alignment seat providing a first interface to the first support plate alignment channel where the base adapter plate is coupled to the first modular mobility base, and wherein the second support plate alignment seat providing a second interface to the second support plate alignment channel where the base adapter plate is coupled to the second modular mobility base.

9. The modular multiple mobility base assembly apparatus of claim 8 , wherein the first support plate alignment channel comprises a first raised channel protruding from the first mobile base platform; and
wherein the second support plate alignment channel comprises a second raised channel protruding from the second mobile base platform.

10. The modular multiple mobility base assembly apparatus of claim 8 , wherein the first support plate alignment seat comprises a first recessed channel on the bottom side of the base adapter plate; and
wherein the second support plate alignment seat comprises a second recessed channel on the bottom side of the base adapter plate.

11. The modular multiple mobility base assembly apparatus of claim 1 , wherein the first modular mobility base is secured to a bottom side of the base adapter plate using a first detachable coupling that allows the first modular mobility base to be latched and locked to a bottom side of the base adapter plate; and
wherein the second modular mobility base is secured to the bottom side of the base adapter plate using a second detachable coupling that allows the second modular mobility base to be latched and locked to the bottom side of the base adapter plate.

12. The modular multiple mobility base assembly apparatus of claim 11 , wherein the first detachable coupling on the first modular mobility base comprises a first interlocking latch that detachably mates with the bottom side of the base adapter plate; and
wherein the second detachable coupling on the second modular mobility base comprises a second interlocking latch that detachably mates with the bottom side of the base adapter plate.

13. The modular multiple mobilit

Assignees

• Fedex Corp Services Inc

Inventors

• Skaaksrud Ole-Petter
• Mayfield Frank
• Gates Daniel

Classifications

• B25J9/1666

  Avoiding collision or forbidden zones · CPC title

• G05D1/0214

  in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13) · CPC title

• G06Q10/0833

  Tracking · CPC title

• B60P3/007

  for delivery of small articles, e.g. milk, frozen articles · CPC title

• B25J5/007

  mounted on wheels · CPC title