Patent Publication Number: US-11042158-B1

Title: Method and apparatus for transporting a payload

Description:
PRIORITY INFORMATION 
     The present application is a continuation of U.S. patent application Ser. No. 15/143,675, filed May 2, 2016, now U.S. Pat. No. 10,114,372, issued Oct. 30, 2018, which is a continuation of Ser. No. 14/143,175, filed Dec. 30, 2013, now U.S. Pat. No. 9,352,745, issued May 31, 2016, the contents of which are incorporated herein by references in their entirety. 
    
    
     BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     The present invention relates to a method and apparatus for transporting a payload and, more specifically, to a method and apparatus for transporting a payload with a vehicle. 
     2. Introduction 
     Using vehicles to transport payloads is useful in a variety of applications. Techniques for transporting payloads include towing the payload behind the vehicle and carrying the payload on the vehicle, among others. These existing techniques, however, lead to difficulty in controlling the vehicle or subject the vehicle to the payload&#39;s weight and may cause the vehicle&#39;s performance to suffer. 
     SUMMARY 
     A method and apparatus for transporting a payload carrying device is disclosed. The method comprises providing at least one payload carrying device, a vehicle for transporting the at least one payload carrying device, a connection device for connecting the vehicle and the at least one payload carrying device, at least one sensor device for capturing information regarding the vehicle&#39;s surrounding environment, and a control unit for operating the connection device autonomously to connect the vehicle and the at least one payload carrying device where, once connected, the weight of the at least one payload carrying device rests directly on the floor and the vehicle autonomously transports the at least one payload carrying device to a desired location, and operating the connection device autonomously to disconnect the vehicle and the at least one payload carrying device at the desired location where the at least one payload carrying device is immobilized. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The following detailed description will be better understood when read in conjunction with the appended drawings, in which there is shown one or more of the multiple embodiments of the present disclosure. It should be understood, however, that the various embodiments of the present disclosure are not limited to the precise arrangements and instrumentalities shown in the drawings. 
         FIG. 1  generally illustrates a diagram of an apparatus in accordance with one embodiment of the invention; 
         FIGS. 2 a - d    generally illustrate various views of a vehicle in accordance with one embodiment of the invention; 
         FIGS. 3 a - d    generally illustrate various views of a payload carrying device in accordance with one embodiment of the invention; 
         FIG. 4  generally illustrates a vehicle connected with a payload carrying device in accordance with one embodiment of the invention; and 
         FIG. 5  generally illustrates a block diagram of a wheel locking system in accordance with one embodiment of the invention. 
     
    
    
     DETAILED DESCRIPTION 
     The present invention will be described in detail with reference to embodiments that represent examples of the present invention and are not intended to limit the scope of the invention. Although specific elements and configurations are described to provide an understanding of the invention, it is to be understood that the specific embodiments, elements and configurations provided are for illustrative purposes only. Other configurations will be recognized by those of ordinary skill in the art without departing from the teachings of the present invention or the scope of the appended claims. 
     Certain terminology is used herein for convenience only and is not to be taken as a limitation on the present disclosure. In the drawings, the same reference letters are employed for designating the same elements throughout the figures. 
     Transporting payloads, such as goods or the like, is essential in a variety of applications. Whether the payload is being transported by trucks or by other vehicles in different environments, it is desirable for the payload to be transported easily and efficiently. 
     One existing technique for transporting a payload is to place the payload directly on the vehicle. With this existing technique, however, the weight of the payload may be damaging to the vehicle or cause the vehicle&#39;s performance to suffer. 
     Specifically, some existing techniques may involve a user positioning a payload, with wheels, above a vehicle and then having the vehicle lift the payload off the ground. This existing technique, however, relies on user operation and may require a complex system of gears or other lifting mechanisms for lifting the payload and, if the weight of the payload exceeds the weight limit of the vehicle or lifting mechanisms, the payload may cause damage to the vehicle or the lifting mechanisms. 
     The present invention is directed towards a method and apparatus for transporting a payload carrying device with a vehicle without the consequences mentioned above. In the present invention the payload carrying device may be autonomously connected and disconnected with the vehicle and, when connected and transported, may maintain contact with the floor so the weight of the payload carrying device rests on the floor. The payload carrying device may also be immobilized when disconnected from the vehicle to prevent unwanted movement. 
       FIG. 1  generally illustrates a diagram of an apparatus  10  in accordance with one embodiment of the present invention. The apparatus  10  may include a vehicle  12  that may be equipped with sensors  14 , a control unit  16 , and at least one connection device  18 . The vehicle  12  may be configured to connect with a payload carrying device  20  that may be equipped with a container  22 , leg supports  24 , and wheels  26 . 
     Briefly, in operation, the vehicle  12  may autonomously move to where the payload carrying device  20  is located. Once in a position in which the vehicle  12  can connect with the payload carrying device  20 , the control unit  16  may activate the connection device  18  to connect the vehicle  12  with the payload carrying device  20 . 
     The vehicle  12  may then transport the payload carrying device  20  to a desired location and then disconnect from the payload carrying device  20  once at the desired location. Once disconnected from the vehicle  12 , the payload carrying device  20  may be immobilized to prevent unwanted movement. 
       FIGS. 2 a - d    generally illustrate various views of the vehicle  12  in accordance with one embodiment of invention. In one embodiment, the vehicle  12  may be a mobile robot that can be controlled by a user or can be autonomous. The vehicle  12  may be in a health care facility (e.g., to transport medicine or equipment) or in any number of environments in which a payload needs to be transported. 
     The sensors  14  may include any type of camera device that can capture information regarding the environment surrounding the vehicle  12 . For example, the sensors  14  may be cameras such as those described in detail in Applicant&#39;s allowed patent application Ser. No. 12/626,990, entitled “System for Providing Camera Views” the disclosure of which is hereby incorporated by reference. 
     The number of and positions of the sensors  14  may vary as long as they can capture information regarding the environment, such as where the payload carrying device  20  is located. In one embodiment, for example if the vehicle  12  is user operated, the sensors  14  may not even be required. 
     The control unit  16  may be in communication with at least the vehicle  12 , the sensors  14 , and the connection device  18 . In the context of this invention, the control unit  16  may include a computer device with microprocessors and memory and equipped to execute hardware, software, or any combination of hardware and software. However, the control unit  16  may be any type of configuration as along as it accomplishes the various features of the invention, and may be positioned at a location remote from the vehicle  12 . 
     The connection device  18  may be activated to connect and disconnect the vehicle  12  with the payload carrying device  20 . Although one connection device  18  is shown in  FIGS. 2 a - d   , the number of and positions of the connection devices  18  may vary. For example, using only one connection device  18  may create a more flexible connection (i.e., allow for a certain amount of “give” or flexibility between the vehicle  12  and the payload carrying device  20  in case of a collision), while several connection devices may create a more rigid connection between the vehicle  12  and the payload carrying device  20 . 
     In one embodiment, the connection device  18  may be a rod-like device that may, when activated, protrude out of the vehicle  12  and into an opening of the payload carrying device  20 . Additionally and alternatively, the connection device  18  may be a hook or magnet device. The exact configuration of the connection device  18  may vary as long as it can connect the vehicle  12  with the payload carrying device  20  to accomplish the various features of the invention. 
     It is also contemplated that the connection device  18  need not only be positioned on the vehicle  12 . That is, the connection device  18  may be positioned on the vehicle  12 , the payload carrying device  20 , or any combination thereof. 
     Regardless of the number of or type of connection device  18 , the connection device  18  may be activated autonomously. For example, in one embodiment, the sensors  14  may receive and communicate information to the control unit  16  regarding the environment surrounding the vehicle  12 , including when the vehicle  12  is in a position in which it can connect with the payload carrying device  20 . The control unit  16  may then activate the connection device  18  to connect the vehicle  12  and the payload carrying device  20 . 
     Additionally and alternatively, a user may control the connection device  18 . For example, a user may activate the connection device manually or remotely. 
       FIGS. 3 a - d    generally illustrate various views of the payload carrying device  20  in accordance with one embodiment of the invention. As can readily be seen, the payload carrying device  20  may include a container  22  for storing a payload and a plurality of leg supports  24  with wheels  26 . The payload carrying device  20  may also include areas in which it can receive connection devices  18  and also be equipped with connection devices  18 . 
       FIG. 4  generally illustrates the vehicle  12  and the payload carrying device  20  when connected (by two connection devices  18 ) in accordance with one embodiment of the invention. As stated previously, the vehicle  12  and the payload carrying device  20  may be connected autonomously and the vehicle  12  may then transport the payload carrying device  20  to a desired location. Once at the desired location, the vehicle  12  and payload carrying device  20  may be disconnected autonomously and the payload carrying device  20  may be immobilized by a locking mechanism (not shown in  FIG. 4 ), and the vehicle  12  may then travel to and transport another payload carrying device. 
     As can readily be seen in  FIG. 4 , the payload carrying device  20 , when connected with the vehicle  12 , is substantially within the area defined by the vehicle  12 . That is, with the exception of the leg supports  24  and the wheels  26 , the payload carrying device  20  is positioned within the area defined by the front, back, and sides of the vehicle  12  and therefore requires only slightly more space than the area defined by the vehicle  12 . 
       FIG. 4  also shows that the wheels  26  of the payload carrying device  20  may maintain contact with the floor even when connected with and transported by the vehicle  12 . By maintaining contact with the floor, the weight of the payload carrying device  20  rests on the floor rather than on the vehicle  12 . The payload carrying device  20  is then transported in accordance with the movement of the vehicle  12 . 
     One of the many features of the invention is therefore a simple technique for transporting the payload carrying device  20  with the vehicle  12 . By operating the apparatus  10  as described, the vehicle  12  may connect and disconnect with different payload carrying devices and without requiring complex lifting mechanisms. 
       FIG. 5  generally illustrates a block diagram of a wheel locking system  30  that may be used to immobilize the payload carrying device  20  when disconnected from the vehicle  12  to prevent unwanted movement (due to uneven floors, for example). The wheel locking system  30  may include a locking control unit  32  and a locking mechanism  34  that is operably connected to at least one wheel  26  of the payload carrying device  20 . 
     Briefly, in operation, the locking control unit  32  may operate the locking mechanism  34  to unlock the wheel  26  to enable movement of the payload carrying device  20  when connected with the vehicle  12 . When the payload carrying device  20  is disconnected from the vehicle  12 , the locking mechanism  34  may then lock the wheel  26 . 
     Applicant contemplates a wide variety of locking mechanism  34  configurations that may be used to prevent unwanted movement of the payload carrying device  20 . For example, the locking mechanism  34  may be a wheel lock that may be locked and unlocked electronically by signals from the locking control unit  32  or from the control unit  16 . 
     Additionally and alternatively, the vehicle  12  may be configured to mechanically lock and unlock the locking mechanism  34  (such as when the vehicle  12  travels to and from the payload carrying device  20  and may physically maneuver the locking mechanism  34  by contact). The vehicle  12  may also be configured to place wedge-like devices near the wheels  26  once disconnected from the payload carrying device  20 . 
     Although the description above contains many specific examples, these should not be construed as limiting the scope of the embodiments of the present disclosure but as merely providing illustrations of some of the preferred embodiments of this disclosure. Thus, the scope of the embodiments of the disclosure should be determined by the appended claims and their legal equivalents, rather than by the examples given. 
     It will be appreciated by those skilled in the art that changes could be made to the embodiments described above without departing from the broad inventive concept thereof. It is understood, therefore, that this disclosure is not limited to the particular embodiments disclosed, but it is intended to cover modifications within the spirit and scope of the embodiments of the present disclosure.