Translating drive devices, systems and methods for cargo handling system

A translating drive unit (TDU) may comprise: a housing; a plurality of guide rollers coupled to the housing; a drive system coupled to the housing, the drive system configured to translate the housing in a longitudinal direction; and a retractable pawl coupled to the housing.

FIELD

The present disclosure relates generally to cargo handling systems and, more particularly, to translating drive devices, systems, and methods for cargo handling systems.

BACKGROUND

Cargo handling systems for aircraft typically include various tracks and rollers disposed on a cargo deck that spans the length of a cargo compartment. Cargo may be loaded from an entrance of the aircraft and transported by the cargo system to forward or aft locations, depending upon the configuration of the aircraft. Cargo handling systems, such as, for example, those used on aircraft for transport of heavy containerized cargo or pallets, also referred to herein as unit load devices (ULDs), typically include fixed traction motors located throughout the doorway and longitudinal areas of a cargo compartment.

SUMMARY

A translating drive unit (TDU) is disclosed herein. The TDU may comprise: a housing; a plurality of guide rollers coupled to the housing; a drive system coupled to the housing, the drive system configured to translate the housing in a longitudinal direction; and a retractable pawl coupled to the housing.

In various embodiments, the drive system may include: a first gear extending outward from a first lateral side of the housing, and a second gear extending outward from a second lateral side of the housing. The plurality of guide rollers may include a first vertical roller disposed on the first lateral side of the housing, a second vertical roller disposed on the second lateral side of the housing, and a first horizontal roller disposed between the first vertical roller and the second vertical roller. The plurality of guide rollers may further comprise: a third vertical roller disposed on the first lateral side of the housing and spaced apart longitudinally from the first vertical roller; a fourth vertical roller disposed on the second lateral side of the housing and spaced apart longitudinally from the second vertical roller; and a second horizontal roller spaced apart longitudinally from the first horizontal roller. The TDU may further comprise a power source disposed within the housing. The power source may be a plurality of cells disposed within the housing. The retractable pawl may be pivotably coupled to the housing. The TDU may further comprise a first cable disposed at a first longitudinal end of the housing. The TDU may further comprise a coupling mechanism disposed at a second longitudinal end of the housing, the coupling mechanism configured to couple the TDU to a second cable of an adjacent TDU.

A translating drive unit (TDU) is disclosed herein. The TDU may comprise: a housing; a drive system operably coupled to the housing; a retractable pawl operably coupled to the housing; and a controller operable to: command the drive system to translate the TDU longitudinally along a cargo compartment; and command the retractable pawl to transition from a retracted state to an extended state, the extended state having the retractable pawl disposed vertically above a surface of the housing.

In various embodiments, the TDU may further comprise a sensor, wherein the sensor comprises at least one of a unit load device (ULD) sensor disposed on the surface of the housing and a light detection and ranging (LiDAR) sensor. The controller may further be operable to receive from the ULD sensor an indication whether a ULD is disposed above the TDU. The drive system may further comprise a first gear extending outward from a first lateral side of the housing and a second gear extending outward from a second lateral side of the housing. The controller may further be operable to command the first gear and the second gear to rotate and translate the TDU longitudinally along the cargo compartment. The TDU may further comprise a coupling mechanism disposed at a first longitudinal end of the housing and a cable disposed at a second longitudinal end of the housing. The controller may further be operable to command the coupling mechanism to actuate to couple the TDU to an adjacent TDU.

A translating drive system for a cargo handling system is disclosed herein. The translating drive system may comprise: a first roller tray having a first plurality of rollers disposed therein, the first roller tray extending longitudinally through a cargo compartment; a second roller tray having a second plurality of roller disposed therein, the second roller tray spaced apart laterally from the first roller tray; a first translating drive unit (TDU) disposed between the first roller tray and the second roller tray, the first TDU having a first retractable pawl configured to extend above a first surface of a housing of the TDU, the first TDU including a first drive system configured to translate the first TDU longitudinally through the cargo compartment; and a second TDU disposed between the first roller tray and the second roller tray and spaced apart longitudinally from the first TDU, the second TDU including a second retractable pawl configured to extend above a second surface of the housing of the first TDU, the second TDU including a second drive system configured to translate the second TDU longitudinally through the cargo compartment.

In various embodiments, the first TDU may be configured to couple to the second TDU via a coupling mechanism and cable. The first TDU may include a first transceiver and the second TDU includes a second transceiver. The translating drive system may comprise a main controller, wherein the first TDU is configured to receive instructions through the first transceiver from the main controller, and wherein the second TDU is configured to receive instructions through the second transceiver from the main controller.

DETAILED DESCRIPTION

With reference toFIGS.1A and1B, a schematic view of an aircraft10having a cargo deck12located within a cargo compartment14is illustrated, in accordance with various embodiments. The aircraft10may comprise a cargo load door16located, for example, at a forward end of the aircraft10and configured to rotate upward (as illustrated inFIG.1A) or sideways to expose an opening18that provides access to the cargo compartment14. In various embodiments, a second cargo load door17may be located at other portions of the aircraft10, such as, for example, at an aft end of the aircraft10and configured to rotate downward (as illustrated inFIG.1B) and provide a second opening19to gain access to the cargo compartment14. Inside the cargo compartment14, one or more trays20, e.g., a first tray22and a second tray24, extend generally from the fore end of the aircraft10to the aft end of the aircraft10. As described more fully below, the one or more trays20provide a support structure for which a platform26may transit along a length of the aircraft10between the fore end and the aft end and carry a ULD or some other form of cargo carrier, such as, for example, a container of a size typically used for ocean-going transport by ship or truck. Without loss of generality, a cargo load28of any size or shape, which may include objects within containers or ULDs or objects not within containers or ULDs, such as, for example, automobiles or the like, will be considered herein as configured for transport on the platform26.

Still referring toFIGS.1A and1B, in various embodiments, the one or more trays20, during loading or unloading of the cargo load28, may be connected to a loading structure30which, in various embodiments, may comprise one or more trays32that correspond to the one or more trays20extending along the cargo deck12of the aircraft10. In various embodiments, the loading structure30may be attached to an elevated structure, such as, for example, a truck34(as illustrated inFIG.1B) or a scissor lift or a loading dock or the like, such that the one or more trays20and the loading structure30are located substantially at the same elevation and configured to transition a platform26either onto or off from the one or more trays20. For example, a first cargo load36may be transitioned from the loading structure30, through the opening18and onto the one or more trays20, and then along the one or more trays20to the aft end of the aircraft, where the first cargo load is secured for transport. A second cargo load38may be followed by a third cargo load40and so on until the cargo deck12is filled to a desired capacity with cargo. After the aircraft10has reached its destination, each cargo load, such as, for example, the first cargo load36, the second cargo load38and the third cargo load40are unloaded from the aircraft10in similar fashion, but in a reverse sequence to the loading procedure. To ensure cargo loads are restrained, the aircraft10may include a restraint assembly as described herein and in accordance with various embodiments.

Typical cargo handling systems may include multiple fixed Power Drive Units (PDUs), which rely on friction to provide ULD drive force. Having a cargo handling system with a drive system based on friction may make it difficult to achieve traction under wet and/or other adverse conditions. A friction interface may also result in wear of both a drive tire for a respective PDU, as well as a baseplate for a respective ULD.

A minimum number of PDUs for a typical cargo handling system may be a function of length and size of a cargo compartment and dimensions of a base plate for a respective ULD. Other factors that may drive the quantity of PDUs in a typical cargo handling system may be duty cycle limitations of a respective PDU, drive force capability of a respective PDU, redundancy of PDUs to affect system level characteristics for schedule interrupt. Each of these factors may combine to drive weight and cost into a typical cargo handling system.

Additionally, typical cargo handling systems with fixed PDUs that are located closer to the doorway area may experience a greater usage, and thus an amount of wear, relative to the fixed PDUs disposed towards an end of the cargo compartment. In this regard, a typical cargo handling system with fixed PDUs may have a greater number of fixed PDUs proximate the doorway to account for wear during the life of the typical cargo handling system, driving weight and cost into the typical cargo handling system and/or derivative platforms of typical cargo handling systems.

Additionally, typical cargo handling systems with fixed PDUs may be hard wired into the cargo handling system, which may involve a high level of system integration between a typical cargo handling sub-system and an aircraft platform, further driving cost and time for development of a typical cargo handling system.

Disclosed herein, in accordance with various embodiments, is an autonomous translating drive system having at least two translating drive units (TDUs). In various embodiments, a TDU in the autonomous translating drive system may include an independent power source, such as a battery or the like. In various embodiments, the autonomous translating drive system may include any linear actuator system. For example, the translating drive system may include a rack and pinion drive system, a chain drive system, a belt drive system, a rigid chain system, a rigid belt system, or the like.

In various embodiments, the autonomous translating drive system may include a first TDU and a second TDU. In various embodiments, the first TDU and the second TDU may be in electronic communication with each other. In various embodiments, the first TDU and the second TDU may be in electronic communication with a controller. In various embodiments, the first TDU and the second TDU may be configured to engage a ULD and translate the ULD longitudinally through a cargo compartment of an aircraft (e.g., cargo compartment14fromFIGS.1A and1B). In various embodiments, the first TDU and the second TDU may each include a first drive gear and a second drive gear, each drive gear configured to interface with a rack (e.g., a rack disposed on a lateral surface of a roller tray (e.g., the one or more trays20of cargo deck12fromFIGS.1A and1B).

Referring now toFIG.2, a portion of a cargo handling system100having a translating drive system200is illustrated, in accordance with various embodiments. The cargo handling system100is illustrated with reference to an XYZ coordinate system, with the X-direction extending longitudinally in an aft direction (and defining a longitudinal direction), the Y-direction extending perpendicular to the X-direction (and defining a lateral direction) and the Z-direction extending vertically, each direction being with respect to an aircraft in which the cargo handling system100is positioned, such as, for example, the aircraft10described above with reference toFIGS.1A and1B.

In various embodiments, the cargo handling system100may define a first tray110extending longitudinally in the aft direction (i.e., the X-direction) and a second tray120extending longitudinally in the aft direction (i.e., the X-direction). The first tray110and the second tray120may be spaced apart laterally (i.e., the Y-direction) from each other. The first tray110may include a first plurality of rollers112, and the second tray120may include a second plurality of rollers122. Each roller in the first tray110extends laterally from a first lateral side of the first tray110to a second lateral side of the first tray110. Similarly, each roller in the second tray120extends laterally from a first lateral side of the second tray120to a second lateral side of the second tray120.

In various embodiments, the translating drive system200includes a first TDU210and a second TDU220. The first TDU210may be spaced apart longitudinally (i.e., the X-direction) from the second TDU220. In various embodiments, the first TDU210is configured to couple to the second TDU220, as described further herein. In various embodiments, the first TDU210includes a first retractable pawl212and the second TDU220includes a second retractable pawl222. In various embodiments, the first TDU210and the second TDU220may be configured to provide a clamping force (i.e., between the first retractable pawl212and the second retractable pawl222) to a respective ULD and translate the respective ULD longitudinally along the first plurality of rollers112and the second plurality of rollers122.

In various embodiments, the first TDU210may be configured to couple the first TDU210to a longitudinally adjacent TDU (e.g., the second TDU220). For example, if additional force for translating and/or controlling a ULD is detected/determined by the first TDU210, or a controller, the first TDU210may be coupled to the second TDU220via a cable214. In various embodiments, the cable214may be stowed in the first TDU210in response to not being in use (i.e., when the first TDU210is uncoupled from an adjacent TDU), as described further herein.

In various embodiments, the first TDU210and the second TDU220may be configured to operate independently of one another. For example, with brief reference toFIG.3, the first TDU210in an un-coupled state is illustrated, in accordance with various embodiments. In the un-coupled state, the cable214may be stowed at least partially in a housing216of the first TDU210by any method known in the art, such as coiled, or the like. In various embodiments, the first TDU210may be configured to translate a ULD longitudinally along the first plurality of rollers112and the second plurality of rollers122alone. For example, the first retractable pawl212of the first TDU210is configured to interface with a side of a ULD and the first TDU210is configured to translate longitudinally and push the ULD at a ULD/retractable pawl interface, in accordance with various embodiments, as described further herein.

Referring now toFIGS.4and5, any number of TDUs may be utilized to translate a cargo unit (e.g., a ULD402) in accordance with various embodiments. For example, as shown inFIG.4, a single TDU (e.g., first TDU210) may push the ULD402on a first side of the ULD402in a longitudinal direction (e.g., the X-direction) during loading or unloading. Similarly, as shown inFIG.5, the first TDU210and the second TDU220may be configured to clamp the ULD402longitudinally (e.g., in the X-direction) to control the forward and aft sides of the ULD402. In this regard, with two TDUs, as shown inFIG.5, the translating drive system200may provide greater control of the ULD402in the forward and aft directions and/or provide greater force in response to a single TDU being unable to provide enough force to translate the ULD402, in accordance with various embodiments.

In various embodiments, TDUs may also be disposed at lateral sides of the ULD. In this regard, the additional TDUs may provide lateral stability to the ULD402, in accordance with various embodiments.

Referring now toFIGS.6and7, a top down view (FIG.6) and a bottom up view (FIG.7) of a TDU600, in accordance with various embodiments, is illustrated. In various embodiments, the first TDU210and the second TDU220fromFIGS.2-5may be in accordance with the TDU600. In various embodiments, each TDU in a translating drive system (e.g., translating drive system200fromFIG.2) may be in accordance with the TDU600.

The TDU600comprises a housing610and a retractable pawl620. In various embodiments, the housing610includes a slot612disposed therethrough. In various embodiments, the slot612includes the retractable pawl620disposed therein. In various embodiments, the retractable pawl620is configured to extend vertically above a first surface614of the housing (e.g., a top surface). In various embodiments, the retractable pawl620may pivot about a pivot point and extend above the first surface614. Although described herein as being pivotably coupled, the retractable pawl620may extend above the first surface614by any method known in the art, such as being hingedly coupled, slidingly coupled, or the like.

In various embodiments, the retractable pawl620may be actuated by an electric motor, spring loaded in either an extracted or retracted state, or the like. In various embodiments, the retractable pawl may include a manual release to disengage as a fail-safe for the TDU600. In various embodiments, the retractable pawl620may further comprise a mating component for a cable, such as a hook or the like, as described further herein. The mating component may be configured to be coupled to a cable (e.g., cable214fromFIG.2. In various embodiments, the mating component may be coupled to a cable of a cargo handling system, such as a winch or the like, to pull the TDU and in turn pull the ULD (e.g., ULD402fromFIGS.4and5).

In various embodiments, the TDU600further comprises a drive system630. In various embodiments, the drive system630of the TDU600is configured to propel the TDU in a longitudinal direction (e.g., the X-direction) between trays (e.g., trays110,120fromFIG.2). Although described herein as including a rack and pinion drive system, the TDU600is not limited in this regard. For example, the drive system630may include a chain drive system, a belt drive system, a rigid chain system, a rigid belt system, or the like.

In various embodiments, the drive system630comprises a first gear632. Although illustrated as also including a second gear634, the present disclosure is not limited in this regard. For example, the drive system630may be configured to include only a single gear (e.g., first gear632) on a first lateral side, and a roller disposed on an opposite lateral side, in accordance with various embodiments. The first gear632may be disposed on a first lateral side of the housing610, and the second gear634may be disposed on a second lateral side of the housing610, the second lateral side being opposite the first lateral side. The first gear632and the second gear634of the TDU600may be configured to interface with a rack (e.g., rack114of roller tray110fromFIG.3). In various embodiments, the rack114fromFIG.3may comprise vertical pins, lateral slots, or the like.

In various embodiments, the TDU600may further comprise a plurality of guide rollers640. In various embodiments, the plurality of guide rollers640are configured to guide the TDU600between adjacent trays (e.g., trays110,120fromFIG.2) of a cargo handling system (e.g., cargo handling system100fromFIG.2). In various embodiments, the plurality of guide rollers640may include a first vertical roller641, a second vertical roller642, and a horizontal roller643. In various embodiments, the first vertical roller641is disposed on a first lateral side of the housing610in a recess of a second surface616(e.g., a bottom surface) disposed opposite the first surface614. Similarly, the second vertical roller642is disposed on a second lateral side of the housing610in a recess of the second surface616, the second lateral side being opposite the first lateral side. In various embodiments, the horizontal roller643is disposed laterally between the first vertical roller641and the second vertical roller642in a recess of the second surface616. In various embodiments, the vertical rollers641,642are configured to interface with lateral sides of trays (e.g., trays110,120fromFIG.2) in a cargo handling system100fromFIG.2for guiding the TDU600laterally between the trays and ensure the drive system630remains on track. In various embodiments, the first horizontal roller643is configured to ensure the TDU600translates with ease on a cargo deck of a cargo compartment (e.g., cargo compartment14fromFIG.1A).

In various embodiments, the first vertical roller641, the second vertical roller642, and the first horizontal roller643may be disposed at a first longitudinal end of the TDU600, and a third vertical roller644, a fourth vertical roller645, and a second horizontal roller646of the plurality of guide rollers640may be disposed at a second longitudinal end opposite the first longitudinal end. In various embodiments, the third vertical roller644, the fourth vertical roller645and the second horizontal roller646may be in the same orientation as the first vertical roller641, the second vertical roller642, and the first horizontal roller643described previously herein.

Although illustrated, and described, herein as including two sets of vertical guide rollers and horizontal guide rollers, the present disclosure is not limited in this regard, For example, the TDU600could include a single set of guide rollers (e.g., vertical rollers641,642and horizontal roller643), two sets of guide rollers (e.g., first set of guide rollers641,642,643and second set of guide rollers644,645,646), or multiple sets of guide rollers (e.g., greater than 2 sets of guide rollers).

In various embodiments, the TDU600further comprises a cable650and a coupling mechanism660. In various embodiments, the cable650may be in a stowed position as illustrated inFIGS.6and7when the cable650is not in use. In various embodiments, the cable650may be configured to be coupled to an adjacent TDU (e.g., first TDU210being coupled to second TDU220fromFIG.2) via a coupling mechanism of the adjacent TDU (e.g., the coupling mechanism660) inFIG.6. In various embodiments, the coupling mechanism660may include a hook662configured to actuate about a central axis from an unlocked position to a locked position around a loop fitting652disposed at an end of the cable650. Although illustrated as including an actuatable hook662and a loop fitting652, one skilled in the art may recognize various ways to couple the cable650to an adjacent TDU (e.g., a draft gear and a draw gear or any other automatic coupler known in the art).

Referring now toFIGS.8A and8B, perspective views of the TDU600is illustrated, in accordance with various embodiments. In various embodiments, the gears632,634may extend laterally outward from a respective lateral side of the housing610. In this regard, the gears632,634may be partially disposed within the housing610.

In various embodiments, the TDU600further comprises a charging connector670. The charging connector670may be electrically coupled to a power source disposed within the housing610, as described further herein. In various embodiments, a power source of the TDU600may be charged via the charging connector670when the TDU600is not in use. Although illustrated as including a charging port, the TDU600may include a wireless charging system, in accordance with various embodiments. Although illustrated is including a charging connector670for recharging a power source, the present disclosure is not limited in this regard. For example, a replaceable power source, such as replaceable cells may be utilized as a power source, in accordance with various embodiments.

In various embodiments, the TDU600may further include a location detection system680. In various embodiments, the location detection system680may include an electronic device682, such as a radio frequency identification (RFID) reader, a camera, a position sensor, or the like. In various embodiments, the position sensor may be any position sensor, such as a structured light, audio (radar), or a light detection and ranging (LiDAR) sensor. In this regard, the LiDAR sensor may be configured to provide absolute positional reference of the TDU600to a controller (e.g., an aircraft controller or a TDU controller), in accordance with various embodiments. In various embodiments, a LiDAR sensor may further be capable of detecting foreign object debris on a cargo deck and provide a fault indication to a respective controller.

In various embodiments, the electronic device682is configured to communicate with a corresponding fixed electronic device along the trays (e.g., trays110,120fromFIG.2) via a wireless protocol such as 802.11a/b/g/n/ac signal (e.g., Wi-Fi), a wireless communications protocol using short wavelength UHF radio waves and defined at least in part by IEEE 802.15.1 (e.g., the BLUETOOTH protocol maintained by Bluetooth Special Interest Group), a wireless communications protocol defined at least in part by IEEE 802.15.4 (e.g., the ZigBee protocol maintained by the ZigBee alliance), a cellular protocol, an infrared protocol, an optical protocol, a RFID protocol, a NFC protocol, or any other protocol capable of wireless transmissions. For example, with brief reference toFIG.9, electronic devices902may be disposed on a lateral side of a tray904(e.g., trays110,120fromFIG.2). In various embodiments, the electronic devices902may be spaced apart longitudinally along the tray904and be configured to provide positional data (i.e., location data in the longitudinal direction of the cargo compartment). In various embodiments, the electronic device682of the location detection system680may be configured to receive location data from the electronic devices902of the tray904fromFIG.9. In various embodiments, the electronic devices902may include, for example, a RFID tag, a key fob, a near field communication (NFC) transmitter, or the like.

Referring now toFIGS.10A and10B, a detail view of the coupling mechanism660of the TDU600is illustrated, in accordance with various embodiments. In various embodiments, the coupling mechanism660may be annular in shape and include an arcuate slot1002disposed therein. The arcuate slot1002may be configured to a receive a loop fitting (e.g., loop fitting652), as described previously herein. For example, the coupling mechanism660may be configured to rotate about a centerline defined in a vertical direction, allowing the arcuate slot to be disposed outward from the second surface616(e.g., the bottom surface). In this regard, the arcuate slot1002may be configured to receive the loop fitting and close to a position illustrated inFIGS.10A and10B, locking the loop fitting in the arcuate slot between the coupling mechanism660and the housing610, in accordance with various embodiments.

Referring now toFIGS.11A and11B, a cable650in a stowed position (FIG.11A), and a portion of the cable650coupled to and adjacent TDU (FIG.11B) is illustrated, in accordance with various embodiments. In various embodiments, in the stowed position (FIG.11A), the loop fitting652is disposed in a receptacle of the housing610. With combined reference toFIGS.11A and10A/B, a protrusion654of the loop fitting652is configured to couple to the coupling mechanism660and be disposed between the arcuate slot1002of the coupling mechanism660and the housing610of the TDU600as illustrated inFIGS.12A and12B, in accordance with various embodiments. Once coupled to an adjacent TDU, the cable650may be unwound based on a longitudinal length of a respective ULD and used to clamp the ULD and/or provide additional pulling force for translating the ULD.

Referring now toFIG.13, the TDU600having a carrying handle1302is illustrated, in accordance with various embodiments. The carrying handle1302may be configured to allow an individual to remove the TDU600from a cargo deck after loading. For example, the TDUs disclosed herein may be removeable from the cargo handling system (e.g., cargo handling system100fromFIG.2). In this regard, the TDUs may allow for additional weight to be disposed on an aircraft, since the weight of the TDUs would not be included during transport of cargo. In contrast, PDUs of typical cargo handling systems are fixed and/or add to the weight of a typical cargo handling system.

Referring now toFIG.14, a perspective view of the TDU600is illustrated with a portion of the housing610not shown for clarity in accordance with various embodiments. In various embodiments, the TDU includes a power source (e.g., a plurality of cells1402). Although illustrates as including a plurality of cells1402defining a battery for the TDU600, the present disclosure is not limited in this regard. For example, the power source may include a supercapacitor, a capacitor, or the like, in accordance with various embodiments.

Referring now toFIG.15, a control system1500for a translating drive system (e.g., translating drive system200fromFIG.2, is illustrated, in accordance with various embodiments. In various embodiments, the control system1500may comprise a controller1502and a plurality of TDUs600. The controller1502may be in electronic communication with the plurality of TDUs600by any method known in the art.

In various embodiments, controller1502may be configured as a central network element or hub to access various systems and components of control system1500. In various embodiments, controller1502may comprise a processor. In various embodiments, controller1502may be implemented in a single processor. In various embodiments, controller1502may be implemented as and may include one or more processors and/or one or more tangible, non-transitory memories and be capable of implementing logic. Each processor can be a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof. Controller1502may comprise a processor configured to implement various logical operations in response to execution of instructions, for example, instructions stored on a non-transitory, tangible, computer-readable medium configured to communicate with controller1502.

System program instructions and/or controller instructions may be loaded onto a non-transitory, tangible computer-readable medium having instructions stored thereon that, in response to execution by a controller, cause the controller to perform various operations. The term “non-transitory” is to be understood to remove only propagating transitory signals per se from the claim scope and does not relinquish rights to all standard computer-readable media that are not only propagating transitory signals per se. Stated another way, the meaning of the term “non-transitory computer-readable medium” and “non-transitory computer-readable storage medium” should be construed to exclude only those types of transitory computer-readable media which were found in In Re Nuijten to fall outside the scope of patentable subject matter under 35 U.S.C. § 101.

In various embodiments, the controller1502may be configured to provide instructions to the plurality of TDUs600. In this regard, the controller1502may command a first TDU (e.g., first TDU210fromFIG.2) to translate a first ULD to a first location of a cargo compartment (e.g., an aft end of a respective cargo compartment). In various embodiments, a second TDU (e.g., second TDU220) may be instructed to translate a second ULD to a second location of a respective cargo compartment, or to combine with the first TDU to translate the first ULD, as disclosed previously herein, in accordance with various embodiments. In various embodiments, the plurality of TDUs600may be configured to communicate with the controller and/or other TDUs in a respective translating drive system (e.g., translating drive system200fromFIG.2). Although illustrated as including a main controller1502, the present disclosure is not limited in this regard. For example, a control system may include only a plurality of autonomous TDUs configured to communicate with each other remotely for loading and unloading of ULDs.

Referring now toFIG.16, a control system1600for a TDU in the plurality of TDUs600of a translating drive system (e.g. translating drive system200fromFIG.2), is illustrated in accordance with various embodiments. The control system1600may include a controller1602, a transceiver1604, the retractable pawl620, the drive system630, the coupling mechanism660, the location detection system680, a ULD sensor690, and a position sensor1606. With brief reference toFIG.6, the ULD sensor690may be disposed on the first surface614(e.g., a top surface) of the housing610. In various embodiments, the TDU600may further include status indicators692disposed on the first surface614configured to indicate a power source status of the TDU600as illustrated inFIG.6.

In various embodiments, controller1602may be configured as a central network element or hub to access various systems and components of control system1600. In various embodiments, controller1602may comprise a processor. In various embodiments, controller1602may be implemented in a single processor. In various embodiments, controller1602may be implemented as and may include one or more processors and/or one or more tangible, non-transitory memories and be capable of implementing logic. Each processor can be a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof. Controller1602may comprise a processor configured to implement various logical operations in response to execution of instructions, for example, instructions stored on a non-transitory, tangible, computer-readable medium configured to communicate with controller1602.

System program instructions and/or controller instructions may be loaded onto a non-transitory, tangible computer-readable medium having instructions stored thereon that, in response to execution by a controller, cause the controller to perform various operations. The term “non-transitory” is to be understood to remove only propagating transitory signals per se from the claim scope and does not relinquish rights to all standard computer-readable media that are not only propagating transitory signals per se. Stated another way, the meaning of the term “non-transitory computer-readable medium” and “non-transitory computer-readable storage medium” should be construed to exclude only those types of transitory computer-readable media which were found in In Re Nuijten to fall outside the scope of patentable subject matter under 35 U.S.C. § 101.

In various embodiments, the controller1602is in electronic communication with a transceiver1604. The transceiver1604may be in electronic communication with the controller1502by any method known in the art, such as via a network, a router, or the like. In various embodiments, the transceiver1604may receive instructions from the controller1502of the control system1500for the translating drive system200fromFIG.2and send the received instructions to the controller1602of the control system1600for a respective TDU600. In various embodiments, the transceiver1604may further send status information received from controller1602with regards to a position of a respective TDU (e.g., from location detection system680), whether a ULD is disposed above the TDU (e.g., from the ULD sensor690), whether an additional TDU is needed to translate a respective ULD (e.g., from the location detection system680remaining the same), or the like.

In various embodiments, the controller1602may send instructions to the coupling mechanism660to open to receive a loop fitting (e.g., loop fitting652), as described previously herein. In various embodiments, the controller1602may instruct drive system630to translate longitudinally along a respective cargo deck (e.g., cargo deck12fromFIG.1A) in response to a ULD being disposed above the TDU (received from the ULD sensor690) and the retractable pawl620being in an extracted position.

In various embodiments, the controller1602may be configured to extract and retract the retractable pawl620. In various embodiments, the controller1602may send instructions to the retractable pawl620to be extracted prior to use in translating a respective ULD and/or instruct the retractable pawl620to retract when not in use, or when the retractable pawl is not being used to translate a respective ULD via the retractable pawl620for the respective TDU.

In various embodiments, the controller1602is in electronic communication with the position sensor1606. In various embodiments, the position sensor1606may be configured to provide position data relative to the rest of a cargo compartment (e.g., cargo compartment14fromFIG.1A) and/or have the ability to determine foreign object debris on a cargo deck (e.g., cargo deck12fromFIG.1A). In various embodiments, the position sensor1606and the ULD sensor690may be utilized in combination by the controller1602to determine a velocity of the respective TDU, to determine if the TDU is moving relative to the compartment, and/or to determine if a ULD is moving relative to the TDU.