Systems and methods for movement of objects

Patent metadata

Field	Value
Publication number	US-9266624-B2
Application number	US-201414189828-A
Country	US
Kind code	B2
Filing date	Feb 25, 2014
Priority date	Feb 25, 2014
Publication date	Feb 23, 2016
Grant date	Feb 23, 2016

Abstract

Systems and methods for movement of objects are provided. One system includes a plurality of vehicles configured to support the object, wherein each of the vehicles includes omni-directional wheels and a height adjusting device. The system also includes a control system in communication with the plurality of vehicles, wherein the control system is configured to transmit a signal to the plurality of vehicles instructing the plurality of vehicles to move the object in a predetermined direction along the floor. Each of the plurality of vehicles is configured to adjust at least one of a direction of movement using the omni-directional wheels or a height at which the object is supported while moving the part in the predetermined direction using the height adjusting device.

First claim

What is claimed is:

1. A system for moving an object along a floor, the system comprising:
a plurality of vehicles configured to support the object, each of the vehicles comprising omni-directional wheels and a height adjusting device, wherein at least one of the plurality of vehicles comprises at least one load sensor to measure a load of the object on the at least one vehicle, and wherein the plurality of vehicles are configured to adjust the height at which the object is supported based on the load of the object measured by the at least one load sensor; and
a control system in communication with the plurality of vehicles, the control system configured to transmit a signal to the plurality of vehicles instructing the plurality of vehicles to move the object in a predetermined direction along the floor, wherein each of the plurality of vehicles is configured to adjust a direction of movement using the omni-directional wheels and a height at which the object is supported while moving the object in the predetermined direction using the height adjusting device.

2. The system of claim 1 , wherein one or more of the plurality of vehicles comprises a communication device to at least one of communicate with the control system or communicate with one or more of others ones of the plurality of vehicles.

3. The system of claim 1 , wherein each of the plurality of vehicles comprises a support member configured to couple to the object, the support member being rotatable.

4. The system of claim 1 , wherein the control system comprises a human-machine interface (HMI) configured to receive one or more user inputs.

5. The system of claim 1 , wherein at least one of the plurality of vehicles comprises a support member and at least one encoder to determine a position of the support member.

6. The system of claim 1 , wherein each of the plurality of vehicles comprises at least one location sensor to determine the location of each of the plurality of vehicles.

7. The system of claim 1 , wherein the object is an aircraft part.

8. The system of claim 1 , wherein the predetermined direction comprises a non-linear motion path, and one or more of the plurality of vehicles is configured to operate semi-independently of one or more of other ones of the plurality of vehicles to move the object along the non-linear motion path.

9. The system of claim 8 , wherein the one or more of the plurality of vehicles is configured to at least one of move at a different speed or different adjusted turn angle than the other ones of the plurality of vehicles.

10. A method for moving an object along a floor, the method comprising:
determining a direction of movement of the object along the floor;
communicating a signal to a plurality of vehicles supporting the object on the floor, the signal causing the plurality of vehicles to move the object in the direction of movement that is determined, each of the plurality of vehicles comprising omni-directional wheels;
measuring a load of the object on one or more of the plurality of vehicles; and
automatically adjusting (i) a direction of movement of the plurality of vehicles based on the signal that is communicated and (ii) a height at which the object is supported above the floor based on the measured load on one or more of the plurality of vehicles, while the object is moved in the direction of movement that is determined.

11. The method of claim 10 , further comprising receiving physical geometry information and placement information for the plurality of vehicles and calculating a motion path for the plurality of vehicles based on the physical geometry information and placement information to move the object in the direction of movement that is determined.

12. The method of claim 11 , wherein each of the plurality of vehicles performs one of a plurality of local motions to maintain a course on the motion path.

13. The method of claim 12 , further comprising communicating a signal to at least some of the plurality of vehicles to fix at least one of the plurality of local motions.

14. The method of claim 10 , further comprising communicating data between the plurality of vehicles.

15. The method of claim 10 , further comprising adjusting a rotational position of least one of the plurality of vehicles.

16. A system for moving an object along a floor, the system comprising:
a plurality of vehicles configured to support the object, each of the vehicles comprising omni-directional wheels and a height adjusting device, wherein at least one of the plurality of vehicles comprises at least one load sensor to measure a load of the object on the at least one vehicle, and wherein the plurality of vehicles are configured to adjust the height at which the object is supported based on the load of the object measured by the at least one load sensor; and
a control system in communication with the plurality of vehicles, the control system configured to transmit a signal to the plurality of vehicles instructing the plurality of vehicles to move the object in a predetermined direction, wherein each of the plurality of vehicles is configured to adjust a direction of movement using the omni-directional wheels and adjust a height at which the object is supported using the height adjusting device and while moving the part in the predetermined direction independent of the control system, wherein the height is adjusted based on a changing contour of the floor.

17. The system of claim 16 , wherein each of the plurality of vehicles is configured to adjust a direction of movement to maintain the object moving along the predetermined direction.

18. The system of claim 16 , wherein the plurality of vehicles are configured to communicate data therebetween.

19. The system of claim 16 , wherein at least one of the plurality of vehicles comprises a vertical support having a rotation slip plane in two axes.

20. The system of claim 1 , wherein each of the omni-directional wheels is moveable and rotatable in any direction.

21. The method of claim 1 , wherein each of the omni-directional wheels is moveable and rotatable in any direction.

22. The system of claim 16 , wherein each of the omni-directional wheels is moveable and rotatable in any direction.

Assignees

• Boeing Co

Inventors

• Valenzuela Dario
• Reid Eric
• Best Steven
• Desjardien Matthew
• Chew Samuel

Classifications

• B64F5/0036 Primary

  Operations & Transport · mapped topic

• B23Q3/186

  Aligning devices · CPC title

• G05D1/0291 Primary

  Fleet control (monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127) · CPC title

• B66F9/0755

  Position control; Position detectors · CPC title

• B64F5/0009

  Operations & Transport · mapped topic