Smart fixturing system and method

Patent metadata

Field	Value
Publication number	US-2021223782-A1
Application number	US-202016744222-A
Country	US
Kind code	A1
Filing date	Jan 16, 2020
Priority date	Jan 16, 2020
Publication date	Jul 22, 2021
Grant date	—

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:
at least one transport vehicle configured to operate over a route; a fixture plate configured to carry a payload; a joint coupling the fixture plate to the at least one transport vehicle; a sensor configured to determine a position of the joint; and at least one controller configured to modify the operation of the at least one transport vehicle in response to a change in the position of the joint.

2 . The system of claim 1 , wherein the fixture plate includes a linking system configured to align the fixture plate with a second fixture plate in one of a number of alternate orientations.

3 . The system of claim 2 , wherein the linking system comprises tabs and slots.

4 . The system of claim 1 , wherein the 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 fixture plate includes a locator configured to locate the payload on the fixture plate, wherein the pressure sensor is positioned at the locator.

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

7 . The system of claim 1 , wherein the fixture plate includes an electrical connector configured to couple with an adjacent fixture plate.

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

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

11 . A method comprising:
operating at least one transport vehicle over a route; coupling a fixture plate to the at least one transport vehicle by a joint; carrying a payload on the fixture plate; determining, by a sensor, a position of the joint; and modifying, by at least one controller, the operation of the at least one transport vehicle in response to a change in the position of the joint.

12 . The method of claim 11 , wherein the fixture plate includes a linking system and comprising aligning the fixture plate with a second fixture plate in one of a number of alternate orientations.

13 . The method of claim 12 , comprising forming the linking system as tabs and slots.

14 . The method of claim 11 , wherein the 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 fixture plate includes a locator, wherein the pressure sensor is positioned at the locator, and comprising locating the payload on the fixture plate using the locator.

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

17 . The method of claim 11 , wherein the fixture plate includes an electrical connector, and comprising coupling, by the electrical connector, the fixture plate with an adjacent fixture plate.

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

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

20 . A fixturing system, comprising:
a first autonomous transport vehicle; a first fixture plate; a first joint coupling the first fixture plate to the first autonomous transport vehicle, the first fixture plate including a first number of sensors configured to sense observable conditions related to the first fixture plate; a second autonomous transport vehicle; a second fixture plate; a second joint coupling the second fixture plate to the second autonomous transport vehicle, the second fixture plate including a second number of sensors configured to sense observable conditions related to the second fixture plate; at least one linking system on the first and second fixture plates configured to align the first fixture plate with the second fixture plate in one of a number of alternate orientations; and at least one controller configured to modify operation of at least one of the first and second autonomous transport vehicles in response to a change in a position of at least one of the first and second joints.

Assignees

• Gm Global Tech Operations Llc

Inventors

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

Classifications

• B66F9/07559

  Stabilizing means · CPC title

• B62D63/02 Primary

  Motor vehicles · 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

• B60P9/00 Primary

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