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US 11,332,352 B2Granted
Autonomous lift system
AssigneeAmple, Inc.
InventorsKenji Terata Bowers, Thomas Ly, Khaled Walid Hassounah, Ankit Srivastava
Life of this patent
Estimating the term…
Abstract
A lift for raising or moving loads is disclosed. The lift is autonomous and comprises several parts for sensing and communicating as well as actuating a displacement. In some instances, the lift is moveable and includes optical and other sensors and can furthermore determine one or more vehicle wheel locations to position itself and raise a vehicle up off of the ground.
Claims24
An autonomous lift system capable of detecting a target load, moving with respect to the target load, and applying a force to displace the target load, comprising:
- a support stage;
- a lift stage, defining a lift axis, secured to and supported by the support stage;
- one or more load bearing arms translatable along an axis parallel to said lift axis, the load bearing arm(s) coupled to the support stage;
- one or more optical sensors that optically sense an environment of said lift system including said target load;
- a locomotion system comprising at least one motor and drivetrain assembly that move and position said lift system;
- a lift actuator coupled to the lift stage;
- a plurality of load-supporting casters that support a load of said lift system and permit a multi-directional rolling of said lift system, the load-support casters attached to the support stage;
- and
- a processor that receives an input from said optical sensors and provides a corresponding output to control said locomotion system to position the lift system and load bearing arms with respect to the target load,
- wherein:
- the lift system has a lowered state and an elevated state,
- when the lift system is in the lowered state:
- the lift actuator is in a retracted state such that the support stage, the lift stage, and the load bearing arm(s) are in a first vertical position relative to a surface on which the system can be moved and positioned, and
- the load-supporting casters are in physical contact with the surface, and
- when the lift system is in the elevated state, the lift actuator is in an extended state such that the support stage, the lift stage, and the load bearing arm(s) are raised from the first vertical position to a second vertical position relative to the surface such that the load-supporting casters are raised above the surface.
12 more elements
A method for autonomously operating a lift, comprising:
- detecting a target load including optically sensing one or more features of said target load using an optical sensor on said lift;
- processing information derived from detecting said target load in a processor, and generating lift movement information for controlling locomotion of said lift with respect to the target load;
- moving said lift along a surface with respect to the detected target load including driving a locomotion system of said lift with respect to the target load using an on-board motor and drivetrain assembly in said lift, the lift including a plurality of load-supporting casters that support a load of said lift system and permit a multi-directional rolling of said lift system;
- and
- applying a force to displace the target load including applying a force to translate one or more load bearing arms of said lift against the target load and to raise the load-supporting casters above the surface.
2 more elements
A multi-lift system for servicing battery modules of an electric vehicle, comprising:
- a plurality of autonomous lifts, coupled to one another and to a central controller by wireless communication signals;
- each said autonomous lift comprising a respective onboard rechargeable power unit, communication unit, motorized locomotion unit, motorized lift actuator and under-carriage sensor apparatus;
- wherein said lift transmits status signals from its communication unit to another lift or to said central controller, and responds to control signals received by said communication unit from said central controller;
- and
- wherein said motorized locomotion unit operates under control of an onboard processor in said lift to approach said electric vehicle at a wheel thereof;
- and
- wherein said motorized lift actuator operates under control of said onboard processor in said lift to engage a lift stage of said lift with said wheel and to actuate two sets of crossed legs of two scissor lifts, pivoted about two respective pivot points, to apply an upward force at said wheel so as to rise the wheel with respect to a support stage of the lift that supports the lift and said wheel;
- and
- wherein said under-carriage sensor apparatus comprises an under-carriage optical camera and an under-carriage lidar unit, said under-carriage sensor apparatus including the under-carriage optical camera and the under-carriage lidar unit being coupled to said support stage and disposed at a forward end thereof so as to extend under an under-carriage of said electric vehicle when the lift stage and the wheel are engaged;
- and
- wherein said under-carriage optical camera senses a relative position or positions of one or more position markers on the under-carriage of said electric vehicle indicative of a location of a battery module cover plate beneath said electric vehicle;
- and
- wherein said under-carriage lidar unit senses and tracks one or more moving parts of said system so as to position and disengage one or more mechanical fasteners securing said cover plate to the under-carriage of said electric vehicle;
- and
- wherein said one or more moving parts comprising a mobile robot under control of said central controller that are configured and arranged to mechanically disengage said mechanical fasteners securing said cover plate to the under-carriage of said electric vehicle.
12 more elements
Dependencies are inferred from the claim text.