Automated mobile vehicle lift column

Patent metadata

Field	Value
Publication number	US-12049397-B2
Application number	US-202017414698-A
Country	US
Kind code	B2
Filing date	May 28, 2020
Priority date	May 28, 2019
Publication date	Jul 30, 2024
Grant date	Jul 30, 2024

Abstract

A mobile lift column ( 200 ) is configured to automatically position itself with respect to a vehicle ( 112 ) to be lifted. A proximity and object sensor is used to identify a location of a vehicle and navigate obstructions while advancing to the vehicle. The column includes a set of automatically driven Mecanum wheels ( 222, 224 ) that can be variably controlled to provide precise movement in any direction without rotating the column. A camera ( 244 ) positioned on the column identifies a wheel of the vehicle, and an alignment beam is projected onto the wheel to verify centering on the wheel. Once positioned, the column may operate one of several lift members, including a pair of removable fork adapters ( 216, 218 ), to extend underneath the vehicle and contact the vehicle lifting points. With at least two columns properly positioned, each mobile column can simultaneously raise its lift member(s) to lift the vehicle to a desired height.

First claim

What is claimed is:

1. A method for positioning a mobile column comprising:
positioning a vehicle within a lift area and configuring a mobile column to access the lift area;
with a controller of the mobile column, receiving:
a set of images of the lift area from an imaging module positioned on the mobile column, wherein the set of images comprises an image of a wheel on the vehicle; and
a set of proximity data describing objects in the lift area from a proximity module positioned on the mobile column;

identifying the wheel in the set of images by performing an image analysis on the set of images;
determining a current position and orientation of the mobile column, relative to the wheel, based on the set of proximity data;
determining a destination position and orientation based on the current position, wherein the destination position is near the wheel and substantially centered on an axis of rotation of the wheel; and
operating a set of wheel modules of the mobile column to automatically reposition the mobile column based on the destination position.

2. The method of claim 1 , wherein the proximity module comprises a light detection and ranging (LIDAR) sensor, wherein the imaging module comprises a digital camera and an alignment illuminator configured to project a visible alignment line onto a target, further comprising:
calibrating the digital camera and the alignment illuminator to have substantially parallel optical axes;
after repositioning the mobile column based on the destination position, capturing an image of the wheel and the alignment line with the digital camera; and
analyzing the image to determine whether the mobile column is aligned substantially on the axis of rotation of the wheel based upon a position of the alignment line relative to the wheel.

3. A mobile column comprising:
a controller comprising at least one processor and at least one memory;
a base comprising a set of wheel modules that are operable to move the base;
a lift post coupled to and extending upwards from the base, the lift post comprising a movable portion and a lift post driver operable to raise and lower the movable portion vertically along the lift post;
a lift assembly coupled to the movable portion and adapted to contact and support a portion of a vehicle when the movable portion is raised; and
a detection system operable to produce information describing a lift area in which the mobile column is positioned, wherein the information comprises an image of a wheel on a vehicle within the lift area;
wherein the controller is configured to:
receive a set of lift area information from the detection system;
identify the wheel in the image and determine an axis of rotation of the wheel;
determine a current position of the mobile column, relative to the wheel, based on the set of lift area information;
determine a destination position for the mobile column based on the current position of the mobile column, wherein the destination position is near the wheel and substantially centered on the axis of rotation of the wheel; and
automatically operate the set of wheel modules to reposition the mobile column based on the destination position.

4. The mobile column of claim 3 , wherein the detection system comprises:
an imaging module configured to capture images of at least a portion of the lift area; and
a proximity module configured to detect a distance between the mobile column and one or more objects in the lift area;
wherein the controller is configured to:
identify the wheel based on one or more of the captured images; and
determine the destination position based on a distance and orientation relative to the wheel measured by the proximity module.

5. The mobile column of claim 4 , wherein:
the imaging module is positioned near a top of the lift post; and
the proximity module is positioned on a member that projects from the lift post.

6. The mobile column of claim 4 , wherein:
the imaging module comprises a digital camera and an alignment illuminator configured to project a visible alignment line onto a target; and
the digital camera and the alignment illuminator are positioned to have parallel optical axes; and
wherein the controller is configured to, after repositioning the mobile column based on the destination position:
capture an image of the wheel and the alignment line with the digital camera; and
analyze the image to determine whether the mobile column is substantially aligned with the axis of rotation of the wheel based upon a position of the alignment line relative to the wheel.

7. The mobile column of claim 6 , wherein the controller is configured, where the mobile column is not aligned substantially on the axis of rotation of the wheel, to redetermine the current position and the destination position, and automatically operate the set of wheel modules to reposition the mobile column based on the redetermined destination position.

8. The mobile column of claim 6 , wherein the controller is configured, where the mobile column is aligned substantially on the axis of rotation of the wheel, to:
determine an offset distance between the axis of rotation of the wheel and a lifting axis of the vehicle; and
automatically operate the set of wheel modules to reposition the mobile column based on the offset distance.

9. The mobile column of claim 8 , wherein the controller is configured to:
receive a set of vehicle information for the vehicle, wherein the set of vehicle information comprises a center of gravity for the vehicle; and
use the center of gravity as the lifting axis of the vehicle.

10. The mobile column of claim 3 , wherein the controller comprises at least one of:
a column controller positioned in a control box that is coupled to the lift post; and
a lift system controller configured to wirelessly communicate with two or more mobile columns.

11. The mobile column of claim 3 , wherein:
each wheel module of the set of wheel modules comprises an electric motor paired with a Mecanum wheel and operable to independently rotate with a configured direction, speed, and power;
the set of wheel modules comprises two wheel modules positioned on a first side of the base with alternating roller directions, and two wheel modules positioned on a second side of the base, opposite the first side, with alternating roller directions; and
operating the set of wheel modules to reposition the mobile column based on the destination position comprises individually operating one or more wheel modules of the set of wheel modules to produce a force vector corresponding to a direction to the destination position.

12. The mobile column of claim 3 , wherein the controller is configured to, while operating the set of wheel modules to reposition the mobile column:
receive a subsequent set of lift area information from the detection system;
identify an obstruction in the lift area based on the subsequent set of lift area information indicating presence of at least one of:
a moving object, and
an object other than the vehicle positioned between the destination position and the current position; and

where an obstruction is identified, cease operation of the set of wheel modules.

Assignees

• Vehicle Service Group Llc

Inventors

• Elliott Robert
• Taylor Steven
• Lauderbaugh Gerry
• Katerberg Kevin

Classifications

• G06V10/00

  Arrangements for image or video recognition or understanding (character recognition in images or video G06V30/10) · CPC title

• B66F3/46 Primary

  Combinations of several jacks with means for interrelating lifting or lowering movements · CPC title

• B66F7/28

  Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions · CPC title

• B66F13/00

  Common constructional features or accessories · CPC title

• B66F9/063 Primary

  Automatically guided · CPC title