System and method for determining real-time orientation on carts in an independent cart system

Patent metadata

Field	Value
Publication number	US-11787649-B2
Application number	US-202117224322-A
Country	US
Kind code	B2
Filing date	Apr 7, 2021
Priority date	Apr 7, 2021
Publication date	Oct 17, 2023
Grant date	Oct 17, 2023

Abstract

A system and method of determining orientation of a physical location on a cart or end effector located on the cart in an independent cart system receives a feedback signal from a sensor on the cart. A multi-axis device may generate three or more signals corresponding to X, Y, and Z axes orientations. Processing may be performed on the signals to generate a value of yaw, pitch, or roll of the cart. The feedback or processed signals are transmitted from the mover to a remote device external from the track. The real-time orientation information may be used to implement closed-loop control of an actuator mounted on or external to each cart as the cart travels along the track. Power for the devices on the mover may be provided by a battery mounted on the cart or by a wireless power transfer system.

First claim

We claim:

1. A system for real-time determination of orientation for a physical location on a mover in an independent cart system, the system comprising:
a track having a plurality of track segments;
a mover mounted on and configured to travel along the track in a two-dimensional coordinate system;
a sensor mounted on the mover, wherein the sensor is configured to generate at least one feedback signal corresponding to a physical orientation of the mover in a coordinate system, wherein an origin of the coordinate system travels with the mover;
a control circuit mounted on the mover, wherein the control circuit is configured to receive the at least one feedback signal and to generate a data packet including a value of the at least one feedback signal corresponding to the physical orientation of the mover;
a transmitter mounted on the mover, wherein the transmitter is configured to receive the data packet from the control circuit and to transmit the data packet to a receiver located external from the mover; and
a controller located remotely from the mover, wherein the controller is configured to:
communicate with and to receive the data packet from the receiver,
determine at least one rotational position of the mover as a function of the value of the at least one feedback signal in the data packet, wherein the rotational position of the mover includes rotation in a third dimension, the third dimension perpendicular to the two-dimensional coordinate system; and
control operation of either the mover or an actuator, configured to interact with the mover, in real-time responsive to the at least one rotational position of the mover.

2. The system of claim 1 wherein the controller is further configured to:
define a second coordinate system external from the mover; and
determine the physical orientation of the mover in either the coordinate system travelling with the mover or the second coordinate system as a function of the value of the at least one feedback signal in the data packet.

3. The system of claim 2 wherein:
the actuator is mounted on the mover, and
the controller is further configured to modify operation of the mover or of the actuator responsive to determining the physical orientation of the mover.

4. The system of claim 2 wherein:
the actuator is mounted at a location remote from the mover, and
the controller is further configured to modify operation of the actuator responsive to determining the physical orientation of the mover.

5. The system of claim 1 wherein the control circuit is further configured to insert the value of the at least one feedback signal in the data packet.

6. The system of claim 1 wherein:
the control circuit is further configured to:
determine the at least one rotational position of the mover as a function of the at least one feedback signal, and
insert the a value of the at least one rotational position of the mover in the data packet; and

the controller is further configured to determine the at least one rotational position of the mover by reading the value of the at least one rotational position of the mover from the data packet.

7. The system of claim 1 wherein the actuator is mounted on the mover, the system further comprising an end effector operatively mounted to the actuator, wherein:
the sensor is configured to generate the at least one feedback signal corresponding to a physical orientation of the end effector, and
the control circuit is configured to receive the at least one feedback signal and to generate a data packet including a value corresponding to the physical orientation of the end effector.

8. The system of claim 1 further comprising:
a battery mounted on the mover, wherein the battery is configured to provide power for the sensor, the control circuit, and the transmitter; and
at least one voltage regulator circuit mounted on the mover and configured to transfer power from the battery to the sensor, the control circuit, and the transmitter.

9. The system of claim 1 further comprising:
at least one power pickup device mounted on the mover, wherein the power pickup device is configured to travel with the mover and to receive power transmitted from a stationary power source mounted along a track of the independent cart system; and
at least one voltage regulator circuit mounted on the mover and configured to transfer power from the power pickup device to the sensor, the control circuit, and the transmitter.

10. A method for real-time determination of orientation at a physical location on a mover operative to travel along a track in a two-dimensional coordinate system for an independent cart system, the method comprising the steps of:
generating at least one feedback signal corresponding to a physical orientation of a location on the mover in a coordinate system with a sensor mounted on the mover, wherein an origin of the coordinate system travels with the mover;
receiving the at least one feedback signal at a control circuit mounted on the mover;
generating a data packet including a value of the at least one feedback signal corresponding to the physical orientation of the mover with the control circuit;
transmitting the data packet from the mover with a transmitter mounted on the mover to a receiver mounted external from the mover;
receiving the data packet at a controller located remotely from the mover;
determining at least one rotational position of the mover as a function of the at least one feedback signal, wherein the rotational position of the mover includes rotation in a third dimension, the third dimension perpendicular to the two-dimensional coordinate system; and
controlling operation of either an actuator configured to interact with the mover or the mover in real-time responsive to the at least one rotational position of the mover.

11. The method of claim 10 wherein:
a second coordinate system is defined external from the mover, the method further comprising the step of determining an orientation of the physical location on the mover in either the coordinate system travelling with the mover or the second coordinate system with the controller as a function of the value of the at least one feedback signal in the data packet.

12. The method of claim 11 , wherein:
the actuator is mounted on the mover, and
the controller controls operation of either the actuator or the mover responsive to determining the orientation of the physical location on the mover.

13. The method of claim 11 , wherein:
the actuator is mounted at a location remote from the mover, and
the controller controls operation of the actuator responsive to determining the orientation of the physical location on the mover.

14. The method of claim 10 wherein the step of generating the data packet including the value of the at least one feedback signal corresponding to the physical orientation of the mover with the control circuit includes inserting the value of the at least one feedback signal in the data packet.

15. The method of claim 10 wherein:
the at least one rotational position of the mover is determined with the control circuit mounted on the mover, and
the step of generating the data packet including the value corresponding to the physical orientation of the mover with the control circuit includes inserting the at least one rotational position of the mover in the data packet.

16. The method of claim 10 wherein:
the actuator is mounted on the mover,
an end effector is operatively mounted to the actuator,
the step of generating the at least one feedback signal generates at least one feedback signal corre

Assignees

• Rockwell Automation Tech Inc

Inventors

• Seal Shankha S
• Das Jadav
• Clark Tracy M
• Kaufmann Michaela R
• Xu Dayin
• Sun Xikai
• Floresta John

Classifications

• B65G67/12 Primary

  Loading elongated articles, e.g. rails, logs · CPC title

• B60W40/11

  Pitch movement · CPC title

• B60W40/112

  Roll movement · CPC title

• B60W40/114

  Yaw movement · CPC title

• B60W2300/40

  Carts, e.g. trolleys · CPC title