Power-assisted unit load device transfer systems

Abstract

A power-assisted dolly system includes a mover configured to couple to at least a portion of a dolly, engage a portion of a cargo, and apply a force to the cargo to move the cargo relative to the dolly, wherein the mover comprises at least one of a linear actuator, a piston, a motor, a belt drive, a chain drive, a screw drive, a tilt-table, a powered roller, a swing arm, a powered panel, or a jammer.

Description

POWER-ASSISTED UNIT LOAD DEVICE TRANSFER SYSTEMSCROSS REFERENCE TO RELATED APPLICATIONS

[0001] This patent application claims the benefit of U.S. Provisional Application Nos. 63 / 620,110, titled “Power-Assisted Unit Load Device Transfer,” filed January 11, 2024, and 63 / 639,931, titled “Power- Assisted Unit Load Device Transfer Systems,” filed April 29, 2024, the contents of each of which are expressly incorporated by reference herein.TECHNICAL FIELD

[0002] The present disclosure relates to systems and methods for power-assisted transfer of unit load devices or other cargo containers between transport dollies and cargo loaders.BACKGROUND

[0003] Cargo containers for aircraft are typically transported by a ground vehicle to an aircraft using dollies and then transferred from the dollies to a cargo loader that moves the cargo containers to the cargo hold of the aircraft. Cargo containers may include standardized containers or standardized pallets, referred to as a unit load device (ULD). Some ULDs may include several hundred or even thousands of pounds of cargo, making manual manipulation of the ULD difficult for ground crews or requiring several ground crew members. Typically, ULDs are manually moved by ground crews from dollies to the cargo loader.SUMMARY

[0004] In some examples, the disclosure describes a power-assisted dolly system that includes a mover configured to couple to at least a portion of a dolly, engage a portion of a cargo, and apply a force to the cargo to move the cargo relative to the dolly. The mover may include at least one of a linear actuator, a piston, a motor, a belt drive, a chain drive, a screw drive, a tilt-table, a powered roller, a swing arm, a powered panel, or a jammer.

[0005] In some examples, the disclosure describes a dolly system that includes a dolly configured to transport a unit load device and a power-assisted dolly system. The power- assisted dolly system includes a mover configured to couple to at least a portion of a dolly, engage a portion of a cargo, and apply a force to the cargo to move the cargo relative to the dolly. The mover may include at least one of a linear actuator, a piston, a motor, a belt drive, a chain drive, a screw drive, a tilt-table, a powered roller, a swing arm, a powered panel, or a jammer.

[0006] In some examples, the disclosure describes a method of moving cargo. The method includes coupling a power-assisted dolly system a dolly. The dolly is configured to transport a unit load device. The power-assisted dolly system includes a mover configured to couple to at least a portion of a dolly, engage a portion of a cargo, and apply a force to the cargo to move the cargo relative to the dolly. The mover may include at least one of a linear actuator, a piston, a motor, a belt drive, a chain drive, a screw drive, a tilt-table, a powered roller, a swing arm, a powered panel, or a jammer. The method also includes operating the power- assisted dolly system to move a cargo at least partially onto or off of the dolly.BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The disclosure can be understood in consideration of the following detailed description of various embodiments in connection with the accompanying drawings.

[0008] FIG. 1 is a schematic top view of example points of ingress and egress of an aircraft and the systems that may be used to service those points.

[0009] FIGS. 2A and 2B are conceptual diagrams illustrating, respectively, an example parent dolly and an example child dolly.

[0010] FIGS. 3A through 3G are conceptual diagrams illustrating an example power-assisted dolly system including linear actuators.

[0011] FIGS. 4A and 4B are conceptual diagrams illustrating an example power-assisted dolly system including a driven belt.

[0012] FIGS. 5A through 5C are conceptual diagrams illustrating an example power-assisted dolly system including a driven chain.

[0013] FIGS. 6 A through 6C are conceptual diagrams illustrating an example power-assisted dolly system including a screw drive.

[0014] FIGS. 7A through 7E are conceptual diagrams illustrating an example power-assisted dolly system including a tilting platform.

[0015] FIGS. 8 A through 8C are conceptual diagrams illustrating an example power-assisted dolly system including a powered roller.

[0016] FIG. 9 is a conceptual diagram illustrating an example power-assisted dolly system.

[0017] FIGS. 10A and 10B are conceptual diagrams illustrating example power-assisted dolly systems.

[0018] FIGS. 11A and 11B are conceptual diagrams illustrating an example frame and swappable panels of a dolly.

[0019] FIG. 12 is a conceptual diagram illustrating an example frame of a dolly including a gap configure to receive therein at least a portion of one or more power-assisted dolly systems described herein or a portion of a loader.

[0020] FIGS. 13A through 13C are conceptual diagrams illustrating an example jammer configured to provide power-assisted ULD transfer from a dolly to a loader or vise versa.

[0021] FIG. 14 is a flow diagram illustrating an example technique for transferring a ULD from a dolly to a loader.DETAILED DESCRIPTION

[0022] For purposes of promoting an understanding of the principles of the disclosure, reference will now be made to the embodiments illustrated in the drawings, and specific language will be used to describe the same. It will nonetheless be understood that no limitation of the scope of the disclosure is intended by the illustration and description of certain embodiments of the disclosure. In addition, any alterations and / or modifications of the illustrated and / or described embodiment(s) are contemplated as being within the scope of the present disclosure. Further, any other applications of the principles of the disclosure, as illustrated and / or described herein, as would normally occur to one skilled in the art to which the disclosure pertains, are contemplated as being within the scope of the present disclosure.

[0023] Unit load devices (ULDs) are increasingly used to transport goods via aircraft.During loading, ULDs are transferred from ground vehicle dollies to aircraft loaders, commonly by ground crew members. However, increased use and capacity of ULDs provides additional challenges for ground crews. For example, the maximum gross weight for ULDs may range from 3,500 pounds (lbs) (1,588 kilograms (kg)) for a type LD1 ULD to 25,000 lbs (11,340 kg) for a type M2 ULD. It may be difficult for ground crews to manually manipulate ULDs at or near full weight capacity. Moreover, manually manipulating such weights may require several ground crew members. Additionally, weights may vary between ULDs, thereby making it difficult to ground crew to anticipate an amount of manual effort or number of ground crew necessary to transfer the ULD. To reduce manual labor in moving ULDs, reduce a number of ground crew members in proximity to moving ULDs, as well as to facilitate efficient and cost-effective handling of ULDs, there is a need for power-assisted ULD transfer devices that facilitate movement of ULDs from dollies to aircraft loaders.Moreover, there is a need to provide for autonomous ready systems for movement of ULDs and, optionally, enhance identification of ULD including weights of selected ULDs and / or to determine a location of a ULD based on a known GPS location of a dolly.

[0024] FIG. 1 is a schematic top view of the points of ingress and egress of an aircraft 10 for passengers, crew, cargo, and the like while aircraft 10 is on the ground (e.g., at an airport terminal being loaded resupplied). The aircraft 10 is shown connected to a plurality of example ground support units and systems. One or more cargo loaders 24, such as a main deck loader, a lower lobe loader, or JBT Commander 15 or 30 (available from Oshkosh AeroTech, LLC (formerly JBT AeroTech), Orlando, Florida) can be placed next to the fuselage of aircraft 10 to load cargo into a cargo hold of aircraft 10. In some examples, one or more of cargo loaders 24 can be bulk loaders and / or highlifters. In general, one cargo loader 24 will be provided at an entry door to each segregated and / or partitioned portion of a cargo hold in aircraft 10 where the cargo hold is not continuous along the length of aircraft 10.

[0025] Cargo, such as ULDs, may be transported by dollies 25 and then transferred from dollies 25 to cargo loaders 24. To facilitate transfer of ULDs from dollies 25 to cargo loaders 24, dollies 25 may be configured to enable power-assisted ULD transfer. For example, dollies 25 may include or be configured to receive devices that can move a ULD from a secured position on dollies 25 to a position that is engaged with at least a portion of cargo loader 24. Other ground support units may include, but are not limited to, passenger loading bridge 22, galley service vehicle 26, water service vehicle 28, lavatory service vehicle 30, stairway 32, ground electrical power unit 34, air conditioning vehicle 36, and aircraft tug 38.

[0026] U.S. Patent No. 10,507,992 to Tackett et al., which is incorporated herein by reference in its entirety, describes an automatic unloading dolly that automatically unloads pallets therefrom that includes a frame having a loading / unloading side and a pusher side, a conveyor platform that extends between the loading / unloading side and the pusher side, one or more wheels connected to the frame, a multi-bar linkage system mounted to the frame and connected to a pusher that moves along the conveyor platform from the pusher side toward the loading / unloading side between a pusher base position and a pusher triggered position, and a contact arm link connected to the multi-bar linkage system such that movement of the contact arm link relative to the frame from a contact arm link base position to a contact arm link triggered position moves the multi-bar linkage system and the pusher from the pusher base position to the pusher triggered position.

[0027] U.S. Patent No. 7,950,896 to Scholtes et al., which is incorporated herein by reference in its entirety, describes an apparatus can be used to transfer objects from a first location to a second location along a defined path, without the need for a conveyor along the path. Instead, the handling apparatus can be moved along the path by a controllable transport device, suchas a robot arm. The handling apparatus can include a plurality of unpowered rollers which are selectively rotated by way of a transfer assist mechanism during loading and / or unloading of the objects to be transferred. The transfer assist mechanism can include a separate component that can power the rollers directly or indirectly. The transfer assist mechanism can include a belt which imparts rotational force to the support rollers via contact in some embodiments, with the amount of force controlled by varying the relative inclination of the support rollers and the transfer assist mechanism.

[0028] U.S. Patent No. 11,807,393 to Nuessen et al., which is incorporated herein by reference in its entirety, describes an aircraft, bi-stable power drive units (PDUs) to move and secure cargo within an aircraft cargo hold. Such a PDU includes a frame, by which the PDU is rigidly attached to the cargo hold floor; a body pivotably attached, via a hinge, at a first end of the frame at least one drive roller attached at a second end of the body; and an actuator attached to the body, and which causes a pivoting angular movement of the body, relative to the frame, about the hinge. The actuator maintains an angular position of the body relative to the frame even upon a loss of power to the PDU. The body is movable between and including a retracted position and a deployed position. A cargo management system includes a plurality of such PDUs, at least one having a controlled area network (CAN) bus interface to control and communicate with a controller.

[0029] Parent-Child Dolly.

[0030] Dollies suitable for transport of cargo, such as ULDs, may include single unit or may include a plurality of subunits, such as a parent-child dolly configuration. FIGS. 2A and 2B are conceptual diagrams illustrating, respectively, an example parent dolly 202 and an example child dolly 204. Parent dolly 202 is configured to couple with a ground transport vehicle or other dollies to enable a ground transport vehicle to move a plurality of dollies by, e.g., pushing or pulling the dollies. For example, parent dolly may include a frame 206 supported by ground engaging members, such as wheels 208, and having a forward two arm 210 and reward tow point 212. Additionally, parent dolly 202 is configured to releasably secure child dolly 204, e.g., during ground transport of a plurality of dollies. For example, parent dolly 202 may include a locking mechanism 214 having engagement members that may extend into and secure at least a portion of child dolly 204 when positioned on or within a portion of frame 206.

[0031] Child dolly 204 is configured to be releasably secured by parent dolly 202 (e.g., locking mechanism 214) and secure cargo thereon, such as a ULD. Child dolly 204 may include a frame 216 supported by ground engaging members, such as wheels 218, anddefining surface 220 configured to receive thereon a ULD. In some examples, child dolly 204 is configured to be manually moveable, e.g., by one or more ground crew members, when disengaged from a respective parent dolly 202. Additionally, or alternatively, child dolly 204, either or both when secured to parent dolly 202 or disengaged from a respective parent dolly 202, may be configured to engage with or otherwise interact with a cargo loader (e.g., cargo loader 24) to facilitate transfer of cargo from child dolly 204 to the cargo loader.

[0032] Linear Actuator Load / Unloader.

[0033] FIGS. 3 A through 3G are conceptual diagrams illustrating an example power-assisted dolly system 300. Single unit dollies or dollies with a plurality of subunits, such as parentchild dollies (FIGS. 2A and 2B), may include one or more power-assisted dolly systems 300 to move cargo, such as ULDs, or child dollies. Power-assisted dolly system 300 includes a dolly 302 configured to secure thereon unit load device 306 (hereinafter, ULD 306). Dolly 302 includes a frame 316 supported by wheels 318 and having a forward tow arm 320 (e.g., a towbar) and reward tow point 322 (e.g., a hitch). Dolly 302 may include any suitable dolly configured for ground transport of cargo, such as ULD 306. In some examples, dolly 302 may include a dolly as described in one or more of commonly assigned U.S. Patent No. 11,667,228, entitled “High capacity cargo and container dolly,” filed on January 24, 2020; U.S. Patent No. 11,059,669, entitled “Locking roller assemblies for roller conveyors,” filed on November 21, 2019; U.S. Patent No. 9,744,955, entitled “Towbar activated brake system having differential rotation capability,” filed on January 19, 2016; U.S. Patent App. No. 18 / 138,883, entitled “High capacity cargo and container dolly,” filed on April 25, 2023; and U.S. Patent App. No. 18 / 248,749, entitled “Cam-actuated lift assist for tow bar activated brake system,” filed on October 13, 2021; each of which is incorporated herein by reference in its entirety.

[0034] Movers 308A and 308B (collectively, movers 308) are fixed to dolly 302. As used herein, fixed may include a permanent coupling or a temporary coupling, such as a repeatedly securable and removable mechanical coupling. Movers 308 are configured to provide to a portion of ULD 306 a force sufficient to move ULD 306 on to and / or off of dolly 302. Although described as moving ULD 306 relative to dolly 302, in other examples, movers 308 may be configured to move a child dolly on to and / or off (e.g., into / away-from or connect / disconnect) of a parent dolly. Movers 308 may include any suitable device to provide a motive force, such as, for example, an electric motor or linear actuator, a hydraulic motor or piston, a pneumatic motor or piston, or other devices configurable to provide linear motion. Movers 308 may be driven by any suitable power source including, but not limitedto, manual power, stored mechanical power such as via springs, one or more batteries, an external electric power source, one or more internal combustion engines, one or more power- take-off devices, or the like.

[0035] Movers 308 may be configured to move ULD 306 a selected distance, such as a distance sufficient to allow one or more power rollers on a loader to engage at least a portion of ULD 306. As illustrated in FIG. 3D, ULD 306 may be substantially centered on dolly 302 during ground transport. In other examples, different positions of ULD 306 relative to dolly 302 may be selected. As illustrated in FIG. 3G, when moving ULD 306 off of dolly 302, fingers 310A and 301B (collectively, fingers 310) of respective movers 308 may engage ULD 306. Fingers 310 are coupled to respective arms 312 A and 312B (collectively arms 312) which are linearly translated by actuators 314A and 314B (collectively, actuators 314) to move ULD 306 a distance D. Distance D may be selected as a sufficient distance to enable a power roller of a loader to engage a leading edge 307 of ULD 306 and thereafter completely remove ULD 306 from dolly 302.

[0036] Loading ULD 306 onto dolly 302 may be substantially similar in a reverse order of operations. For example, at least one power roller of a loader may push ULD 306 onto dolly 302 to a position illustrated in FIG. 3G. Movers 308 may be reconfigured to engage edge307 of ULD 306 over-hanging an edge of dolly 302. For example, actuators 314 may be pivotally coupled to dolly 302 such that movers 308 may be rotated so arms 312 may be extended toward, and fingers 310 may engage, leading edge 307. After reorienting, movers308 may be actuated to pull ULD 306 fully onto dolly 302. In some examples, motors coupled to actuators at a pivot point may be configured to reorient movers 308.

[0037] In some examples, movers 308 may be configured to adjust a position of ULD 306 on dolly 302, e.g., to substantially center ULD 306 on dolly 302. Adjusting the position of ULD 306 may more securely position ULD 306 prior to or during ground transport on ULD 306.

[0038] In some examples, movers 308 may include a manually operated moving device or a manual operation in addition to a power-assisted operation. For example, mover 308 may include a manually operated linear actuator providing for a mechanical advantage such that a ground crew member may operate movers 308 manually while exerting less force than would be required to push or pull ULD 306. For example, mover 308 may include a manual lever system, a manual pully system, a manual screw drive system, or similar manually operated linear actuator system.

[0039] In some examples, movers 308 may be modular or otherwise removably coupled to a portion of dolly 302. For example, movers 308 may be removably coupled to a portion offrame 316. In other examples, movers 308 may be coupled to an upright frame extending upwardly from dolly 302 (e.g., from frame 316) and, optionally, traversing over at least a portion of ULD 306 in a gantry configuration. Such upright or gantry frameworks may be permanently coupled to temporarily coupled to dolly 302. In this way, movers 308 may be configured to convert a dolly without power-assisted movers to a dolly with power-assisted movers, e.g., to temporarily aid in positioning ULD 306 or to position a ULD 306 that exceeds a threshold weight. The threshold weight may include a weight that is predetermined to be greater than a weight one or more ground crew members can safely move. For example, a threshold weight may include a weight requiring less than about 50 pounds of pushing force for one ground crew or 100 pounds of pushing force for two ground crew. When not needed, modular movers 308 may be easily removed and placed in storage until needed in the future.

[0040] In some examples, modular movers 308 may be handheld and thereby portable and deployable by a ground crew member for use with each of a plurality of ULDs 306. For example, handheld modular movers 308 may include a pair of electric powered linear actuators powered by a power source, such as one or more batteries coupled to at least one of the actuators, the pair of actuators tethered by a system configured to at least transmit of control signal simultaneously to the pair of actuators such that a single ground crew members can temporarily couple each of the pair of actuators to the dolly, operate the actuators simultaneously with a single controller to push or pull ULD 306.

[0041] Movers 308 may be operated in any suitable manner. In some examples, movers 308 may be communicatively coupled, e.g., by wired connection or wireless connection, to a controller 318 operable by a ground crew member. In other examples, movers 308 may be communicatively coupled to controller 318 that is configured to operate movers 308 in response to a signal that is indicative of a predetermined position of dolly 302 relative to a loader. For example, movers 308 may automatically operate when dolly 302 is positioned relative to a loader such that actuation of movers 308 will move ULD 306 into a position in which loader may engage leading edge 307 of ULD 306 to move ULD 306 completely onto the loader. The position of dolly 302 and / or ULD 306 relative to a loader may be determined based, at least in part, using sensors or other machine vision devices that provide an accurate indication of the relative position of two components, which may include, but is not limited to, near field communication, radio frequency identification (RFID), stereovision, quickresponse (QR) code resolution, ultrasound, GPS, radar, or other suitable location determination techniques.

[0042] Movers 308 may be configured to operate simultaneously to push ULD 306 in a selected direction, such as perpendicular to a longitudinal axis L defined by dolly 302 (FIG. 3G). In some examples, a rate or distance of actuation of each of movers 308 may be controlled, such that a movement vector of ULD 306 may be controlled. For example, ULD 306 may be pushed at an angle relative to the longitudinal axis L of dolly 302 (i.e., a vector that is not perpendicular to the longitudinal axis of dolly 302) to reduce forces experienced by portions of ULD 306 (e.g., ULD edges) or portions of other equipment (e.g., edges of dolly 302 or moving components of a loader). Similarly, movers 308 may be configured to reposition ULD 306 during ground transport, such as if ULD 306 slides on dolly 302 or is otherwise move from a first preferred or more secured position to a second less preferred or less secured position.

[0043] Although illustrated as including two movers 308, in other examples, power-assisted dolly system 300 may include one mover or more than two movers. For example, power- assisted dolly system 300 may include a single mover positioned relative to dolly 302 and ULD 306 to push or pull ULD 306 in the selected direction. For example, a single mover may be positioned on a center position of an edge of dolly 302, a center position at an edge of ULD 306, or both. Additionally, or alternatively, a single mover may be coupled to dolly 302 at a pivot point that may be controlled, e.g., by an electric motor, such that a direction the single mover pushes ULD 306 may be controlled.

[0044] In some examples, at least a portion of movers 308 may be reconfigurable, e.g., by rotating and locking into place moving arm portions and / or fingers extending therefrom which contact ULD 306, to enable a pulling motion. In some examples, the fingers may be spring loaded to automatically allow for ULD 306 to pass through the fingers in a first direction while maintaining the ability to push or pull in a second direction opposite the first direction.

[0045] Power-assisted dolly system 300 may include means of providing motive force other than linear actuators or pistons, such as, for example, belt drive, chain drives, tilting platforms, power rollers, screw drives, articulating arms, traversing booms, or the like, as further discussed below.

[0046] Belt Drive Loader / Unloader.

[0047] FIGS. 4A and 4B are conceptual diagrams illustrating an example power-assisted dolly system 400. Power-assisted dolly system 400 may be the same as or substantially similar to power-assisted dolly system 300 described above, except for the differences described herein. For example, power-assisted dolly system 400 includes a dolly 402configured to secure thereon ULD 406, which may be the same as or substantially similar to dolly 302 and ULD 306 described above.

[0048] Belt system 408 is fixed to dolly 402. Belt system 408 is configured to provide to a portion of ULD 406 a force from a belt sufficient to move ULD 406 on to or off of dolly 402. Although described as moving ULD 406 relative to dolly 402, in other examples, belt system 408 may be configured to move a child dolly on to or off of a parent dolly. In some examples, belt system 408 is configured to be supported above rollers of dolly 402 and, optionally, may be extendable (manually or by power-assist) to receive any suitable ULD.

[0049] Belt system 408 includes belt 410, an anchor point 412, and a mover 414. Belt 410 may include any suitable material including, but not limited to, a metal wire or band, a fabric rope or band, a polymeric rope or band, or combinations thereof. Although illustrated as including a single mover 414, in other example, belt system 408 may include a first mover and a second mover in place of anchor 412.

[0050] An anchor point 412 is configured to fix at least a portion of belt 410 to a portion of dolly 402 and may include, e.g., a bolt, an eyelet, a other structure suitable to couple to both a portion of belt 410 and a portion of dolly 402. In some examples, anchor point 412 may be removably coupled to dolly 402 or configured to couple to a plurality of portion of dolly 402 such that anchor point 412 may be repositioned to move cargo having different shapes, to pull a cargo onto dolly 402 rather than pushing a cargo from dolly 402, or to enable modularity of belt system 408.

[0051] Mover 414 may include any suitable device to wind or otherwise draw a belt in a selected direction, including, but not limited to, an electric motor or linear actuator, a hydraulic motor or piston, a pneumatic motor or piston, or other devices configured to. At least a portion of belt 410 is coupled to mover 414. In some examples, mover 414 may be removably coupled to dolly 402 to enable modularity of belt system 408. In some examples, mover 414 may be provided by a ground transport vehicle.

[0052] In some examples, belt system 408 may be configured to enable manual operation, e.g., by a crank, lever, or the like, or may be configured to couple with a remote tool, e.g., a drill or impact driver.

[0053] In some examples, belt system 408 may include two spindles (e.g., spindles 416 and 417) capable of being configured per customer specifications. Vertical spindles are illustrated in FIGS. 4A and 4B, but spindles could be horizontal or angled. One or both spindles rotate wrapping a fabric type belt, chain, rope, cable around themselves.

[0054] To unload, the belt extends around and contacts at least one side, such as two sides or three sides, of the ULD opposite the unloading side of the dolly. When actuated, the overall length of the belt exposed shortens, applying pressure to the ULD base causing ULD to roll across the conveyance surface of the dolly onto adjacent deck, dolly, or loader.

[0055] To load, the belt is wrapped around the awaiting ULD (e.g., opposite the unload condition on either deck station or dolly) and then actuated retracting the belt pulling the ULD onto the dolly. Alternatively, the belt may receive a ULD in motion and slow or otherwise absorb the potential energy of the ULD in motion to halt motion of the ULD in a desired location on the dolly. In some examples, the received potentially energy may be stored to aid in subsequent unloading of the ULD.

[0056] In some examples, as illustrated in FIGS. 4C through 4E, belt system 408 may include an armature 418 configured to wrap belt 410 around at least a portion of ULD 406. For example, when a modular belt system 408 including armature 418 is positioned on dolly 402, mover 414 and armature 418 may be coupled to dolly 402 in an initial position (FIG. 4C). In some examples, armature 418 may extend downward from a gantry framework extending above dolly 402 or extend upward through at least a portion of a frame of dolly 402. Once positioned, armature 418 may be actuated to wrap belt 410 around at least a portion of ULD 406 (FIG. 4D). Armature 418 may continue wrapping belt 410 until armature 418 is aligned with anchor point 412 (FIG. 4E). Once aligned, armature 418 may couple with anchor point 412, e.g., by inserting a pin fixed to armature 418 into a portion of anchor point 412 or the like. In some examples, armature 418 may be configured to pull or push ULD 406 using belt 410 without a separate mover 414, an anchor point 412, or both.

[0057] Chain Drive Load / Unloader.

[0058] FIGS. 5 A through 5C are conceptual diagrams illustrating an example power-assisted dolly system 500. Power-assisted dolly system 500 may be the same as or substantially similar to power-assisted dolly systems 300 and / or 400 described above, except for the differences described herein. For example, power-assisted dolly system 500 includes a dolly 502 configured to secure thereon ULD 506, which may be the same as or substantially similar to dolly 302 and ULD 306 described above.

[0059] Power assisted dolly 500 includes a chain drive system 508. Chain drive system 508 is fixed to dolly 502. Chain drive system 508 is configured to provide to a portion of ULD 506 a force from a chain 510 via a finger 512 (e.g., protruding link) sufficient to move ULD 506 on to or off of dolly 502. Although described as moving ULD 506 relative to dolly 502,in other examples, chain drive system 508 may be configured to move a child dolly on to or off of a parent dolly.

[0060] Chain drive system 508 includes a one or more drive chains 510 with indexing fingers 512 capable of being configured per customer specifications (cross-sectional view of FIGS. 5B and 5C). Chains 510 may include roller chains, polymer-based chains, log chains, belts, or other suitable linked chain systems. The one or more chains 510 rotate indexing fingers 512 against the outside base of a ULD. A single chain could be utilized if dolly motion constrained to that of chain drive to limit rotational motion if ULD not centered on chain drive. Alternatively, more than two chains may be used.

[0061] At least one mover (e.g. motor) may be coupled to at least one chain of chains 510. In some examples, a respective mover may be coupled to each of chains 510. The mover is configured to drive the respective chains 510, e.g., by rotation such as via a sprocket or by linear actuation.

[0062] Components of chain drive system 508 may be integrated with frame members of dolly 502 or may be configured as modular units that can be removably coupled to frame members of dolly 502.

[0063] To unload, the chain drive system 508 is run until the vertical indexing finger 512 presses against the base of ULD 506. The indexing fingers 512 transfer the force from the chain 510 into the base of the ULD 506. The ULD 506 then moves across the conveyance surface of the dolly 502 to the awaiting dolly, decking system, or loader.

[0064] To load, the chain system 508 on the dolly 502 is rotated until a point at which the indexing finger 512 is near the far of the dolly 502 away from the load side. Additionally, or alternatively, indexing fingers 512 may be spring loaded such that ULD 506 may traverse over, depressing downward, indexing finger 512. The ULD 506 is then transferred to the dolly 502 from adjacent system / unit. The chain drive system 508 is then rotated until the indexing fingers 512 contact the base of ULD 506 prepping it for offloading.

[0065] Screw Drive Load / Unloader.

[0066] FIG. 6 is a conceptual diagram illustrating a portion of an example power-assisted dolly system 600. Power-assisted dolly system 600 may be the same as or substantially similar to power-assisted dolly systems 300, 400, and / or 500 described above, except for the differences described herein. For example, power-assisted dolly system 600 includes a dolly 602 configured to secure thereon ULD, which may be the same as or substantially similar to dolly 302 and ULD 306 described above.

[0067] Power-assisted dolly system 600 includes a screw drive system 608. Screw drive system 608 is fixed to dolly 602. Screw drive system 608 is configured to provide to a portion of a ULD a force from a screw 610 via a finger 612 sufficient to move the ULD on to or off of dolly 602. Although described as moving a ULD relative to dolly 602, in other examples, screw drive system 608 may be configured to move a child dolly on to or off of a parent dolly.

[0068] Screw drive system 608 includes a one or more drive screw 610 with indexing fingers 612 capable of being configured per customer specifications. Screw 610 may include suitable threaded rod or similar screw systems. The one or more screws 610 rotate urging indexing fingers 612 to travel linearly along screw 610 and against the outside base of a ULD. A single screw could be utilized. Alternatively, more than two screw drives may be used.

[0069] At least one mover may be coupled to the one or more screws 610. In some examples, a respective motor may be coupled to each of screws 610. The motor is configured to drive the respective screws 610, e.g., by rotation.

[0070] Components of screw drive system 608 may be integrated with frame members of dolly 602 or may be configured as modular units that can be removably coupled to frame members of dolly 602.

[0071] Screw drive running the full length of dolly, or partial length, rotates a finger or tooth to position a ULD onto or off of the surface. The finger can be permanently fixed in the up position or actuated up by lever, over center, pin, or spring-loaded feature. The finger can be wide to aid in maintaining liner control of the ULD during motion, or multiple drives can be mounted to the substructure.

[0072] Tilt-Table Load / Unloader.

[0073] FIGS. 7A through 7E are conceptual diagrams illustrating an example power-assisted dolly system 700. Power-assisted dolly system 700 may be the same as or substantially similar to power-assisted dolly systems 300, 400, 500, and / or 600 described above, except for the differences described herein. For example, power-assisted dolly system 700 includes a dolly 702 configured to secure thereon ULD 706, which may be the same as or substantially similar to dolly 302 and ULD 306 described above.

[0074] Power assisted dolly 700 includes a tilt-table system 708 (e.g., tiltable roller assembly). Tilt-table system 708 is fixed to dolly 702. Tilt-table system 708 is configured to tilt at least a portion of ULD 706 a sufficient height to move ULD 706 on to or off of dolly 602. For example, at least a portion of tilt-table system 708 may be raise or lower, therebyapplying leverage (e.g., a gravitational force) to ULD 706 to aid in lateral movement as indicated by arrow 714 (FIG. 7E).

[0075] Although described as moving ULD 706 relative to dolly 702, in other examples, tilttable system 708 may be configured to move a child dolly on to or off of a parent dolly.

[0076] Tilt-table system 708 includes a one or more roller assemblies 710 coupled to an actuatable arm 712 that is configured to raise a first portion of the roller assembly 710 relative to a second portion of roller assembly 710. Tilt-table system 708 is capable of being configured per customer specifications. Roller assembly 710 may include suitable roller assembly system. Actuatable arm 712 may include an electric, hydraulic, pneumatic, or manually operate piston, linear actuator, screw drive, or the like. A single actuatable arm 712 could be utilized. Alternatively, more than two actuatable arm 712 may be used.

[0077] In some examples, at least one mover may be coupled to actuatable arm 712. In some examples, a respective motor may be coupled to actuatable arm 712. The motor is configured to drive actuatable arm 712.

[0078] Components of Tilt-table system 708 may be integrated with frame members of dolly 702 or may be configured as modular units that can be removably coupled to frame members of dolly 702.

[0079] Powered Drive Roller Load / Unloader.

[0080] FIGS. 8 A through 8C are conceptual diagrams illustrating an example power-assisted dolly system 800. Power-assisted dolly system 800 may be the same as or substantially similar to power-assisted dolly systems 300, 400, 500, 600, and / or 700 described above, except for the differences described herein. For example, power-assisted dolly system 800 includes a dolly 802 configured to secure thereon ULD 806, which may be the same as or substantially similar to dolly 302 and ULD 306 described above.

[0081] Power-assisted dolly system 800 includes a powered drive roller system 808.Powered drive roller system 808 is fixed to dolly 802. Powered drive roller system 808 is configured to provide to a portion of ULD 806 a force from a powered roller 810 sufficient to move ULD 806 on to or off of dolly 802. Although described as moving a ULD relative to dolly 802, in other examples, powered drive roller system 808 may be configured to move a child dolly on to or off of a parent dolly.

[0082] Powered drive roller system 808 includes a one or more powered rollers 810 capable of being configured to engage and move one or more selected types and / or weights of ULD. Powered rollers 810 may include a roller and motor system which, in some examples, may be located within the roller. The roller may engage and provide a motive force to a bottomsurface of ULD 806. Powered roller 810 is coupled to dolly 802 via a bracket assembly 812. In some examples, powered roller 810 may be placed within recesses defined by bracket assembly 812 without a need to further secure powered roller 810. In other examples, bracket assembly 812 may include a gate or latch configured to secure powered roller 810 to bracket assembly 812. In this way, powered drive roller system 808 may provide for a modular system. A single powered roller 810 could be utilized. Alternatively, more than two powered rollers 810 may be used on one or more bracket assemblies 812.

[0083] Although illustrated as including bracket assembly 812, in other examples, power roller 810 may be integrated with frame members of dolly 802.

[0084] Power rollers 810 and bracket assembly 812 may be configured to provide a motive force in any suitable direction, such as a north-south direction or an east-west direction. In some examples, power rollers 810 may be substantially disengaged from ULD 806 until activated. For example, power rollers 810 may be coupled to brackets 812 via a cog or loped end such that when activated power roller rotates upward to contact a bottom of ULD 806. In some examples, two or more power rollers 810 may be positioned so as to provide motive forces in different directions, e.g., a first power roller oriented in a north-south direction and second power roller oriented in an east- west direction.

[0085] Swing Arm Load / Unloader.

[0086] FIGS. 9 A through 9C are conceptual diagrams illustrating an example power-assisted dolly system 900. Power-assisted dolly system 900 may be the same as or substantially similar to power-assisted dolly systems 300, 400, 500, 600, 700, and / or 800 described above, except for the differences described herein. For example, power-assisted dolly system 900 includes a dolly 902 configured to secure thereon a ULD, which may be the same as or substantially similar to dolly 302 and ULD 306 described above.

[0087] Power-assisted dolly system 900 includes a powered swing arm system 908. Powered swing arm system 908 is fixed to dolly 802 or a gantry framework extending from dolly 802. In other examples, powered swing arm system 908 may be freestanding or coupled to other equipment such as a loader. Powered swing arm system 908 is configured to provide to a portion of a ULD a force from an actuating arm 910 via a motor 912 sufficient to move a ULD on to or off of dolly 902. Although described as moving a ULD relative to dolly 902, in other examples, powered swing arm system 908 may be configured to move a child dolly on to or off of a parent dolly.

[0088] Powered swing arm system 908 includes actuating arm 910 that is operatively coupled to motor 912. In some examples, a drive shaft may be positioned between motor 912 andactuating arm 912 to extend actuating arm 910 a selected distance from motor 912.Optionally, the drive shaft may be telescoping or otherwise adjustable in length, via motor or manual operation.

[0089] In some examples, actuating arm 912 may include a tether or similar feature configured to removably couple with the ULD during movement of the ULD.

[0090] In some examples, the stacking tubes of dolly 902 may keep ULD 906 substantially straight as arm 910 urges ULD 806 off of or onto dolly 902.

[0091] In some examples, arm 910 could be integrated into other positions of the frame of dolly 902 to push ULD 906 straight off of or onto dolly 902.

[0092] Traversing Boom.

[0093] FIG. 10A is a conceptual diagram illustrating an example power-assisted dolly system 1000. Power-assisted dolly system 1000 may be the same as or substantially similar to power-assisted dolly systems 300, 400, 500, 600, 700, 800, and / or 900 described above, except for the differences described herein. For example, power-assisted dolly system 1000 includes a dolly 1002 configured to secure thereon a ULD, which may be the same as or substantially similar to dolly 302 and ULD 306 described above.

[0094] Power-assisted dolly system 1000 includes a traversing boom system 1008.Traversing boom system 1008 is fixed to dolly 1002. Traversing boom system 1008 includes at least one boom 1010 configured to travel along one or more tracks 1012, each of which are capable of being configured per customer specifications. Tracks 1012 may extend below a frame of dolly 1002, be integrated with the frame of dolly 1002, be removably coupled to the frame of dolly 1002, or define or couple to a gantry framework extending from dolly 1002. Traversing boom system 1008 is configured to provide to a portion of a ULD a force from a boom 1010 via movement along track 1012 sufficient to move a ULD on to or off of dolly 1002. For example, boom 1010 is configured to translate on tracks 1012 via linear actuators, screw mechanisms, or other devices. In this way, boom may engage and apply a force to at least a portion of a ULD.

[0095] In some examples, tracks 1012 may include threaded rods that spin in unison via chain, belt, or other means routed through the frame of dolly 1002. The chain is driven by an electric motor or handwheel with mechanical advantage. If an electric motor, it may be controlled by a lever or pedal user interface mounted on the dolly in a safe location.

[0096] In some examples, boom 1010 is attached at either end to the threaded rods and traverses the top side of the deck just above the casters. In this way, boom 1010 pushes containers off the dolly 1002.

[0097] Optionally, the boom may be replaced with a flexible strap. One end of the flexible strap would be permanently affixed to one of the traversing shuttles . The other end of the flexible strap would be hooked to the other traversing shuttle. The affixed end may be retractable. This may allow the strap to be looped around ULD’s offboard of the dolly allowing users to pull ULD’s onto the dolly.

[0098] Although described as moving a ULD relative to dolly 1002, in other examples, traversing boom system 1008 may be configured to move a child dolly on to or off of a parent dolly.

[0099] Components of traversing boom system 1008 may be integrated with frame members of dolly 1002 or may be configured as modular units that can be removably coupled to frame members of dolly 1002. Alternatively, in some examples, track 1012 may be removable and, optionally, portable, such that track 1012 may be used on a plurality of dollies 1002.

[0100] FIG. 10B is a conceptual diagram illustrating an example power-assisted dolly system 1000B. Power-assisted dolly system 1000B may be the same as or substantially similar to system 1000 described above in reference to FIG. 10A, except for the differences described herein. For example, system 1000B includes a portable track 1012B that may be removably fixed to dolly 1002B. Rather than a traversing boom, system 1000B includes a trolley 1008B. Trolley 1008B is configured to travel along track 1012B and includes a protrusion, such as a finger, configured to contact and provide to ULD 1006B a force sufficient to move ULD 1006B onto or off of dolly 1002B. For example, trolley 1008B may include one or more gears having teeth configured to mesh with apertures defined in track 1012B. The one or more gears of trolley 1008 may be driven by a portable electric motor, such as a portable impact driver, a manual hand crank, or the like.

[0101] Powered Panels.

[0102] In some examples, one or more of the power-assisted dolly systems described herein may define panels that are swappable with existing panels of a dolly. FIGS. 11A and 1 IB are conceptual diagrams illustrating an example frame and swappable panels of a dolly 1102. Dolly 1102 may be the same as or substantially similar to one or more of the dollies above, except for the differences described herein. FIG. 11A illustrates an example frame 1104 of dolly 1102. Generally, dolly 1102 may include a forward section 1106, and middle section 1108, and a rear section 1110, which each may receive separate panels. FIG. 11B illustrated example panels including a forward panel 1112, a middle panel 1114, and a rear panel 1116 fitted to respective sections of dolly 1102. In some examples, any of panels 1112, 1114, or 1116 may be swapped for a panel having an above-described power-assisted dolly system.

[0103] Loader Gap.

[0104] In some examples, one or more of the power-assisted dolly systems described herein may define frame systems configured to receive therein at least a portion of one or more power-assisted dolly systems describer herein or a portion of a loader. FIGS. 12A and 12B are conceptual diagrams illustrating an example frame a dolly 1202 including a gap configure to receive therein at least a portion of one or more power- assisted dolly systems describer herein or a portion of a loader. Dolly 1202 may be the same as or substantially similar to one or more of the dollies above, except for the differences described herein. Generally, dolly 1202 may include frame 1204 defining at least one gap 1206. In some examples, the gap may be configured to the above described power-assisted dolly system.

[0105] Transfer Device.

[0106] FIGS. 13A through 13C are conceptual diagram illustrating an example unit load device transfer system 1300 having a transfer device 1306.

[0107] System 1300 includes a cargo vessel 1302, a loader 1304, a transfer device 1306, and a transporter 1308. Cargo vessel 1402 includes any suitable cargo vessel, such as an airplane. Loader 1304 includes a power loader or a high-lifter. Transporter 1308 includes a ground transport system configured to move a plurality of dollies 1310A, 1310B, and 1310C (collectively, dollies 1310) each configured to carry a respective ULD 1312A, 1312B, and 1312C (collectively, ULDs 1312). In some examples, transporter 1308 may include a operator-controlled, semi-autonomous, or autonomous tug or other vehicle configured to coupled to and move dollies 1310. Transporter 1308 may include fewer dollies or additional dollies. In other examples, rather than including a tug, each of dollies 1310 may include one or more motors or other suitable drive mechanisms configured to move dollies 1310, whether coupled in a train or provided in single uncoupled units.

[0108] Transfer device 1306 is configured to move ULDs 1312 from dollies 1310 to loader 1308 or vice versa. For example, transfer device 1306 may include a mover 1314 that is configured to enable power assistance movement of ULDs 1312 from dollies 1310 to loader 1308, from loader 1308 to dolly 1310, or both. Mover 1314 may be the same as or similar to one or more of the movers described above.

[0109] Transfer device 1306 may include a standalone device configured to be manipulated and operated via an operator interface 1316 or remote device 1318. Additionally, or alternatively, transfer device 1306 may be couplable to either or both of loader 1308 and dollies 1310.

[0110] In some examples, transfer device 1306 may be manually operated. For example, transfer device 1306 may include a self-propelled walk behind unit that is tiller controlled. At least a portion of transfer device 1306 may be positionable adjacent a dolly (e.g., dolly 1310B). For example, a first set of wheels of transfer device 1306 may be maneuvered under dolly 1310B. Transfer device 106 may include an arm that is actuatable in a vertical direction to engage or disengage ULD 1312B on dolly 1310B. The arm may include an above-described power assisted transfer device, such as a power roller with sufficient traction to propel a ULD. In some examples, the dolly may define a passageway to allow for the arm to pass within its structure but below the bottom surface of the of the dolly. During operation, the arm raises to apply upward pressure to the bottom of the ULD with the motorized roller. Once adequate pressure is applied the user uses electronic controls to activate the roller and propel the ULD off or onto the dolly. Once the ULD is satisfactorily positioned the arm and motorized roller can be lowered and the unit can be backed out from within the dolly footprint.

[0111] In some examples, a power roller integrated with a dolly may be powered by the jammer. In some examples, the jammer may be configured to convert a dolly into a power- assisted dolly system. In some examples, a loader may be integrated with a jammer, e.g., a jammer unit may be coupled to and extend from a loader. In some examples, a jammer may be integrated with a loader flapper arm to grab a child cart off of a patent cart.

[0112] As illustrated in FIG. 13B, transfer device 1306 includes a chassis 1320 supporting a platform 1322 that is configured to receive thereon ULD 1312. In some examples, platform 1322 may include securement features configured to retain ULD 1312 for ground transport. Chassis 1320 may be operatively coupled to wheels 1324 or other ground engaging members. Wheels 1324 may be coupled to a motor 1326 or other drive mechanism that is configured to drive wheels 1324. Motor 1326 may include any suitable internal combustion engine, electric power, or hybrid-based powertrain systems.

[0113] Although described as including a platform 1322, in other example, transfer device 1306 may include an overhead or other vertically extending frame in a gantry configuration. For example, a gantry framework of transfer device 1306 may support one or more movers 1314 that are configured to push, pull, or lift ULD 1312.

[0114] In some examples, transfer device 1306 may include a steering system coupled to wheels 1324. When implemented with a steering system, motor 1326 may include a first motor configured to drive wheels 1324 and a second motor configured to drive the steeringsystem. In other examples, two or more of wheels 1324 may be coupled to respective motors 1326 that are independently controllable to steer transfer device 1306.

[0115] Operator interface 1316 is configured to receive an input from an operator to control an operation of transfer device 1306. In some examples, operator interface 1316 may include a handle or similar device to enable an operator to move and steer transfer device 1306, e.g., manually or via power assistance. Additionally, or alternatively, operator interface 1316 may include one or more controls including, but not limited to, one or more of discrete physical controls, a push button, a toggle switch, a touch screen control, or an interface configured to receive input from a remote device 1318.

[0116] Remote device 1318 may include any suitable device configured to communicatively couple to transfer device 1306 and provide thereto a control signal. For example, remote device 1318 may include a remote controller configured to provide to at least operator interface a wireless signal that is indicative a selected operation of transfer device 1306. In other example, remote device 1318 may include other handheld devices, such as, for example, a smart phone or tablet, or other computing device, such as, for example, a laptop computer, a server, a dedicated airport ground support computing terminal, or the like. Remote device 1318 may be communicatively coupled to transfer device, e.g., operator interface 1316, via any suitable wired or wireless connection.

[0117] As illustrated in FIG. 13C, transfer device 1306 includes a controller 1330 having processing circuitry 1332, a memory device 1334, communications circuitry 1336, and a locator 1338. Controller 1330 is operatively coupled to mover 1314 (e.g., actuator 1340), motor 1326, sensors 1342, a machine vision system 1344, and power source 1346. While an operator may manually control mover 1314, motor 1326, or both via operator interface 1316, in some examples, transfer device 1306 may be configured for semi-autonomous or autonomous operation. For example, controller 1330 may be configured to automatically, or based on an input received via operator interface 1316 and / or remote device 1318, control motor 1326 to position transfer device 1306 relative to loader 1304, dollies 1310, or ULDs 1312; control mover 1314 to transfer ULDs 1312 between dollies 1310 and loader 1304; or both.

[0118] Processing circuitry 1332 may implement functionality and / or execute instructions within controller 1330. For example, processing circuitry 1332 may receive and execute instructions stored by memory device 1334. The instructions executed by processing circuitry 1332 may cause controller 1330 to store and / or modify information within memorydevice 1334. Processing circuitry 1332 may execute instruction to cause controller 1330 to perform one or more operations in accordance with the techniques of this disclosure.

[0119] For example, processing circuitry 1332 may be used to execute software for controlling at least one operational parameter of transfer device 1306. The at least one operational parameter, may include but is not limited to, a position or a target location of transfer device 1306 relative to loader 1304, dollies 1310, and / or ULD 1312, the position of transfer device 1306 relative to the target location or other features in an environment surrounding transfer device 1306, a power state of motor 1326, a power state of mover 1314 (i.e., an actuator 1340 or motor of mover 1314), speed or variation in speed, load weight distribution (e.g., if using more than one mover to ensure centering), force to load / unload or other parameters indicative of a state of caster / rollers on dolly (e.g., indicative of whether dolly components require maintenance or the ULD damaged), or operation of other components associated with transfer device 1306. As used herein, the power state of motor 1326 or mover 1314 may include an electrical signal applied to produce a selected torque and / or speed of motor 1326 or mover 1314 (i.e., an actuator 1340 or motor of mover 1314).

[0120] Processing circuitry 1332 may include multiple microprocessors, one or more general-purpose microprocessors, one or more special-purpose microprocessors, and / or one or more application specific integrated circuits (ASICS), or some combination thereof. For example, the processing circuitry 1332 may include one or more reduced instruction set (RISC) processors.

[0121] Memory device 1334 may include a volatile memory, such as random-access memory (RAM), and / or a nonvolatile memory, such as ROM. Memory device 1334 includes one or more tangible, non-transitory, machine-readable media collectively storing instructions executable by the processing circuitry 1332 to perform the methods and control actions described herein. Such machine-readable media can be any available media that can be accessed by the processing circuitry 1332 or by any general purpose or special purpose computer or other machine with a processor.

[0122] Memory device 1334 may store a variety of information and may be used for various purposes. For example, the memory device 1334 may store processor-executable instructions (e.g., firmware or software) for processing circuitry 1332 to execute, such as instructions for carrying out any of the techniques disclosed herein, such as processing the signals received from one or more of operator interface 1316, remote device 1318, actuator 1340, sensors 1342, and machine vision system 134 to control an operation of transfer device 1306 and / or mover 1314 to facilitate handling ULDs 1312. The storage device(s) (e.g., nonvolatilestorage) may include read-only memory (ROM), flash memory, a hard drive, or any other suitable optical, magnetic, or solid-state storage medium, or a combination thereof. The storage device(s) may store data, instructions, predetermined thresholds, and any other suitable data.

[0123] Communications circuitry 1336 (also referred to as, comms circuitry 1336) is configured to communicate with devices by transmitting and / or receiving data. For example, controller 1330 may use communications circuitry 1336 to transmit and / or receive radio signals on a radio network such as a cellular radio network. Examples of communications circuitry 1336 include a network interface card (e.g. such as an Ethernet card), an optical transceiver, a radio frequency transceiver, or any other type of device sending and / or receiving information. Other examples of communications circuitry 1336 may include Bluetooth®, cellular (e.g., 3G, 4G, or 5G), LPWAN, and Wi-Fi® radios. As another example, communications circuitry 1336 may communicate with devices by transmitting and / or receiving data via wired communication.

[0124] Locator 1338 is configured to determine a location of transfer device 1306. For example, locator 1338 may determine a location of transfer device based on a communication with a remote device 1318, including, but not limited to, a GPS satellite, a radio tower, a cellular tower, a WiFi-gateway or wireless router, a radio frequency identification (RFID) tag, a cellular phone, a Bluetooth enabled device, and a nearfield communications enabled device.

[0125] Additionally, or alternatively, locator 1338 may be configured to determine, based on one or more detected velocity changes of transfer device 1306 and / or one or more detected directional changes of transfer device 1306, a location of transfer device 1306. For example, transfer device 1306 may be communicatively coupled to a motion sensor suite that includes one or more accelerometers, gyroscopes, and / or inertial sensors. The motion sensor suite may include a subset of sensors 1342. The motion sensor suite may be disposed within controller 1330 or associated with other systems of transfer device 1306. The motion sensor suite is configured to determine, based on a predetermined start location and a compilation of tracked velocity changes and / or directional changes an end location of transfer device 1306. In this way, locator 1338 may be configured to determine the location of transfer device 1306 based at least in part on inertial navigation and / or dead reckoning.

[0126] Mover 1314 includes at least one actuator 1340. Actuator 1340 may include one or more of the actuators discussed above, such as an electric linear actuator or motor, a hydraulic motor or piston, a pneumatic motor or piston, or other devices configurable toprovide linear motion or rotational motion. Mover 1314 may include one or more of the mover systems described above to enable transfer device 1306 to engage with ULDs 1312 and apply a force to ULDs 1312 to move ULDs 1312 from dollies 1310 to loader 1304, or vice versa. For example, mover 1314 may include one or more of a linear actuator, a piston, a motor, a belt drive, a chain drive, a screw drive, a tilt-table, a powered roller, a swing arm, and a powered panel, as discussed above.

[0127] Operator interface 1316 may be configured to generate an output understandable by an operator or a machine that is indicative of an operational parameter of transfer device 1306. For example, operator interface 1316 may include a user interface having a display, a speaker, and / or vibration device suitable to generate, e.g., based on a signal received from processing circuitry 1332, one or more of a visual output, audible output, and / or tactile output. In some examples, operator interface 1316 may generate, based on a signal received by processing circuitry 1332, visual, audible, and / or tactile output indicative of an operational parameter of transfer device 1306.

[0128] Sensors 1342 are configured to detect operational parameters of transfer device 1306. In some examples, sensor 1342 may enable autonomous or semi-autonomous operation of at least one function of transfer device 1306. Sensors 1342 may include a motion sensor suite, as discussed above, to enable locator 1338 and / or processing circuitry 1332 to determine a location of transfer device 1306. Other example sensors 1342 may include, but are not limited to, sensor configured to detect operational parameters associated with an operation of transfer device 1306 such as motion, light, temperature, moisture, acceleration, angular motion, sound, electrical current, weight, and the like.

[0129] In some examples, sensors 1342 may be configured to determine a weight of ULD 1312 when positioned on transfer device 1306 by measuring a weight of ULD 1312 or using imaging or other indicators to detect an identification of ULD 1312 having a previously determined (e.g., known) weight. The weight of ULD 1312 may be used, e.g., by processing circuitry 1332, to determine if ULD 1312 is too heavy for actuator 1340 to move safely without damaging components of mover 1314. Additionally, or alternatively, sensors 1342 monitor an electrical current provided to actuator 1340 and a temperature of at least one component of actuator 1340, which may be compared, e.g., by processing circuitry 1332, to a predetermined operating range of current and / or temperature, e.g., stored in a lookup table via memory 1334, to ensure that actuator 1340 is within the predetermined safe operating range. In some examples, when a weight of ULD 1312 is greater than a threshold value or actuator 1340 is approaching or operating outside a predetermined operating temperature or current,controller 1330 may be configured to halt operation of transfer device 1306 and, optionally, notify a ground crew member to address or correct the issue. In these ways, sensors 1342 may be configured to protect transfer device 1306 or otherwise reduce wear on the components of transfer device 1306.

[0130] Machine vision 1344 is configured to enable controller 1330 to control an operation of transfer device 1306 based on visual indicators from the environment surrounding transfer device 1306. Machine vision 1344 may include a suitable camera system, such as a visual light camera, an infrared light camera, or other wavelength specific camera system. In some examples, machine vision 1344 may include a plurality of camera, such as stereo cameras configured to determine depth.

[0131] Machine vision 1344 may aid in positioning of transfer device 1306 relative to a loader 1304 and / or dollies 1310. For example, processing circuitry 1332 may be configured to determine, based on image data received from machine vision 1344 a distance of transfer device 1306 from loader 1304, dollies 1310, and / or ULDs 1312. In one example, the distance may be based on a depth determined by a stereo camera. In other examples, the distance may be determined based on a detected resolution of a known image, such as a QR code, associated with loader 1304 and / or dollies 1310.

[0132] Additionally, or alternatively, machine vision 1344 may identify ULDs 1312 to facilitate transfer of ULDs 1312. For example, a particular operation of mover 1314 (e.g., current applied to actuator 1340, configuration of a boom arm, or the like) may depend on a type of ULD 1312 and / or a weight of ULD 1312. Processing circuitry 1332 may be configured to determine, based on image data received from machine vision 1344, an identity of ULD 1312. For example, the image data may include a ULD code. The ULD code may include an alpha-numeric code, such as, for example, a three-character prefix indicating a type of ULD followed by a four to five character serial number; barcode; QR code; or other machine readable visual indicia. The ULD identification may be used to determine, e.g., retrieved from a look-up table, a predetermined weight of ULD or a threshold weight of the ULD. In some examples, processing circuitry 1332 may determine, based on the ULD identification and / or weight, whether transfer device 1306 is compatible with the particular ULD. If transfer device 1306 is not compatible with ULD 1312, e.g., due to a weight or size of ULD 1312, processing circuitry 1332 may prevent operation of transfer device 1306 and, optionally, notify via operator interface 1316, a ground crew member.

[0133] In some examples, the identity of ULD 1312 may be used to associate ULD 1312 with selected dolly to determine a location of ULD 1312. For example, the dolly may include aGPS or similar locator device. Processing circuitry 1332 may be communicatively coupled to the locator device of the dolly such that, after identification of ULD 1312, processing circuitry 1332 may determine a location of ULD 1312 based on a location of the dolly. Additionally, or alternatively, processing circuitry 1332 may be configured to utilize location data to locate missing equipment or monitor equipment utilization. In this way, system 1300 may be configured to track a location of ULD 1312 as ULD 1312 is loaded onto or off of various dollies or other components.

[0134] In some examples, the identity of ULD 1312 may be used to determine a selected restraint of ULD 1312. For example, processing circuitry 1332 may determine, based on the ULD identification including a predetermined weight, size, or load distribution characteristic, a predetermined restrain of ULD 1312 is required to enable movement of ULD 1312 on dollies 1310. In some examples, processing circuitry 1332 may be configured to automatically operate restrains. For examples, processing circuitry 1332 may automatically raise restraints that are coupled to portions of the chassis of dollies 1310. Additionally, or alternatively, processing circuitry 1332 may be configured to provide a visual indication, e.g., lighted indicators or the like, of select restraints an operator may manually raise prior to transport.

[0135] In some examples, processing circuitry 1332 may be configured to determine, based on data indicative of use, maintenance intervals for dollies 1310, ULDs 1312, or other components of system 1300. Maintenance intervals may be based on predefined maintenance tasks, time between maintenance tasks, or both. In some examples, processing circuitry 1332 may be configured to determine maintenance intervals based on, for example, duty cycles, periods of heavy use such as moving ULDs having a size or weight over a threshold size or weight, or use in environments that accelerate wear on components such as in temperature conditions above or below a threshold value or in areas with exposure to salt, silica sand, or other chemically or physically abrasive materials. In this way, processing circuitry 1332 may more accurately determine maintenance intervals compared to other maintenance tracking techniques.

[0136] In some examples, processing circuitry 1332 may be configured to determine, based on data indicative of use, equipment utilization. In addition to determining maintenance intervals as described above, processing circuitry 1332 may be configured to determine, based on equipment utilization data, a cycling of equipment in duty as well as monitoring or predicting damage to equipment. In some examples, damage to equipment may be indicated by, for example, current draw of electric motors, ULD load height and / or angle, or the like.

[0137] Transfer device 1306 may be operated or controlled using any suitable technique. As discussed above, in some examples, transfer device 1306 may be manually operated to control a power transfer device to transfer ULDs 1312 from dollies 1310 to loader 1304 or vis versa. In other examples, technique of operating or controlled transfer device 1306 may include autonomous or semi-autonomous operations enabled by controller 1330.

[0138] FIG. 14 is a flow diagram illustrating an example technique for transferring a ULD from a dolly to a loader. While the technique illustrated in FIG. 14 is described in reference to ULD transfer system 1300 discussed above, the technique may be used to control other ULD transfer systems. Additionally, alternative techniques may be used to control ULD transfer system 1300.

[0139] The technique includes positioning transfer device 1306 adjacent to a target loader (e.g., loader 1304) or a target dolly (e.g., one of dollies 1310) (1402). In some examples, positioning transfer device 1306 may include determining, by processing circuitry 1332, a target position of transfer device 1306 relative to the target loader or the target dolly. The target position may include a location and an orientation suitable to transfer of a ULD (e.g., ULDs 1312), as discussed above.

[0140] In some examples, positioning transfer device 1306 may include controlling, by processing circuitry 1332, motor 1326 and / or steering system of transfer device 1306 to position transfer device 1306 at the target position. For example, positioning transfer device 1306 may include controlling at power state of motor 1326 to drive the plurality of ground engaging members to position transfer device 1306 at or near the target position.

[0141] Processing circuitry 1332 may receive from one or more of locator 1338, sensors 1342, and machine vision 1344, position data indicative of a position of transfer device 1306 to navigate transfer device 1306 toward the target position. Processing circuitry 1332 may be configured to generate, based on the position data, a position confirmation data indicative of the transfer device being positioned at the target location. Operator interface 1316 may be configured to generate, based on the position confirmation data, an indication to an operator that the transfer device is positioned at the target location.

[0142] Once at the target position, processing circuitry 1332 may be configured to control actuator 1340 of mover 1314 to engage at least a portion of a ULD 1312 (1404). In some examples, processing circuitry 1332 may identify ULD 1312, based on image data received from machine vision system 1344. Additionally, or alternatively, processing circuitry 1332 may determine, based on image data received from machine vision system 1344 and / orsensor data received from sensors 1342, whether an engagement with ULD 1312 is sufficient to apply a force to ULD 1312 to move ULD 1312.

[0143] Once ULD 1312 is properly engaged, processing circuitry 1332 may be configured to control actuator 1340 to apply a force from mover 1314 to ULD 1312 to move ULD 1312 from a first ULD transport device (e.g., dollies 1310) to a second ULD transport device (e.g., loader 1304) (1406). During the transfer, processing circuitry 1332 may monitor, e.g., via image data received from machine vision system 1344 and / or sensor data received from sensors 1342 components of transfer device 1306 and / or ULD 1312, the progress of the transfer. In some examples, processing circuitry 1332 may halt the transfer progress if processing circuitry 1332 determines that ULD 1312 cannot be safely moved.

[0144] The following clauses illustrate example subject matter described herein.

[0145] Clause 1. A power-assisted dolly system, comprising: a chassis supported by a plurality of ground engaging members, wherein the chassis is configured to support a unit load device (ULD) for ground transport; and a mover coupled to at least a portion of the chassis, wherein the mover is configured to engage and apply a force to at least a portion of the ULD to move the ULD relative to the chassis, wherein the mover comprises at least one of a linear actuator, a piston, a motor, a belt drive, a chain drive, a screw drive, a tilt-table, a powered roller, a swing arm, or a powered panel.

[0146] Clause 2. The power-assisted dolly system of clause 1, wherein the mover comprises: a linear actuator extending from a first end to a second end, wherein the first end of the linear actuator is coupled to the chassis; an arm defining an elongate body having a first portion coupled to and extending from the second end of the linear actuator, wherein the linear actuator is configured to linearly translate the arm relative to the chassis; and a finger extending from at least a portion of the arm, wherein the finger is configured to engage the portion of the ULD.

[0147] Clause 3. The power-assisted dolly system of clause 2, wherein the first end of the linear actuator is coupled to the chassis at a pivot point, and wherein the linear actuator is configured to rotate at least 180-degrees about the pivot point relative to the chassis.

[0148] Clause 4. The power-assisted dolly system of clause 2 or 3, wherein the linear actuator is a first linear actuator, wherein the mover comprises a second linear actuator, and wherein the first linear actuator is couped to a first side of the chassis and the second linear actuator is coupled to a second, opposing side of the chassis.

[0149] Clause 5. The power-assisted dolly system of any one of clauses 2 through 4, wherein the linear actuator comprises an electrical linear actuator, and wherein the mover further comprises a power source.

[0150] Clause 6. The power-assisted dolly system of clause 1, wherein the mover comprises: a belt extending from a first end to a second end and comprising a medial portion therebetween, wherein the medial portion is configured to engage the portion of the ULD; and at least one motor coupled to the first end of the belt and configured to at least partially wind the medial portion of the belt to apply the force to the portion of the ULD.

[0151] Clause 7. The power-assisted dolly system of clause 6, further comprising an anchor coupled to the chassis, wherein the second end of the belt is fixed to the anchor.

[0152] Clause 8. The power-assisted dolly system of clause 6, further comprising an armature configured to wrap the belt around the portion of the ULD, wherein the second end of the belt is fixed to the armature.

[0153] Clause 9. The power-assisted dolly system of clause 1, wherein the mover comprises: a chain drive having at least one finger extending therefrom, wherein the at least one finger is configured to engage the portion of the ULD; and at least one motor coupled to the chain drive and configured to rotate the chain drive to cause the at least one finger to apply the force to the portion of the ULD.

[0154] Clause 10. The power-assisted dolly system of clause 1, wherein the mover comprises: a screw drive having a drive screw and at least one finger extending therefrom, wherein the at least one finger is configured to engage the portion of the ULD; and at least one motor coupled to the drive screw and configured to rotate the drive screw to cause the at least one finger to travel longitudinally along the drive screw to apply the force to the portion of the ULD.

[0155] Clause 11. The power-assisted dolly system of clause 10, wherein the at least one finger is spring loaded and configured to deflect downward in response to the ULD travelling over the finger in a first direction and engage the ULD when applying the force to the ULD in a second direction.

[0156] Clause 12. The power-assisted dolly system of clause 1, wherein the mover comprises: a tilt-table having one or more roller assemblies extending from a first end to a second end and at least actuatable arm, wherein the one or more roller assemblies are configured to engage the portion of the ULD, wherein the portion of the ULD is a base of the ULD; and at least one motor coupled to the actuatable arm and configured to raise the first end of the one or more roller assemblies relative to the second end of the roller assemblies toapply the force to the portion of the ULD, wherein upon raising the one or more roller assemblies gravity causes the ULD to move toward the second end of the one or more roller assemblies.

[0157] Clause 13. The power-assisted dolly system of clause 1, wherein the mover comprises: a powered drive roller system having a bracket assembly coupled to the chassis and powered roller removal coupled to the bracket assembly, wherein at least a portion of the power roller is configured to engage the portion of the ULD; and at least one motor coupled to the powered roller and configured to rotate the powered roller to apply the force to the portion of the ULD.

[0158] Clause 14. The power-assisted dolly system of clause 13, wherein the at least one motor is disposed with in the powered roller.

[0159] Clause 15. The power-assisted dolly system of clause 13 or 14, wherein the powered roller comprises a roller defining a radially exterior surface of the powered roller, and wherein the roller is configured to engage a base of the ULD.

[0160] Clause 16. The power-assisted dolly system of any one of clauses 13 through 15, wherein the powered roller comprises opposing spindles configured to coupled to the bracket assembly and a roller defining a radially exterior surface of the powered roller that is configured to engage a base of the ULD, and wherein the at least one motor is fixedly coupled to the spindles and rotatably coupled to the roller.

[0161] Clause 17. The power-assisted dolly system of clause 1, wherein the mover comprises: a swing arm extending from a first end to a second end, wherein the first end is configured to engage the portion of the ULD; and at least one motor coupled to the second end of the swing arm and configured to at least partially rotate the swing arm to apply the force to the portion of the ULD.

[0162] Clause 18. The power-assisted dolly system of clause 17, wherein the swing arm is telescoping.

[0163] Clause 19. The power-assisted dolly system of clause 1, wherein the mover comprises: a traversing boom configured to travel along one or more tracks and configured to engage the portion of the ULD; and at least one motor configured to translate the traversing boom through the one or more tracks to apply the force to the portion of the ULD.

[0164] Clause 20. The power-assisted dolly system of clause 1, wherein the mover comprises:

[0165] a track configured to removable couple to the chassis of the dolly; and

[0166] a trolley operatively coupled to and configured to traverse the track, wherein at least a portion of the trolley is configured to engage the portion of the ULD, and wherein the trolley is configured to receive convert an inputted torque into a lateral traversal of the track.

[0167] Clause 21. The power-assisted dolly system of any of the preceding clauses, further comprising a controller operatively coupled to the mover, wherein the controller is configured to control an operation of the mover, and wherein the mover is removably coupled to the chassis

[0168] Clause 22. A ULD dolly system, comprising: a dolly configured to transport the ULD; and the power-assisted dolly system of any one of clauses 1 through 21.

[0169] Clause 23. A method of moving a unit load device, wherein the method comprises: coupling the power-assisted dolly system of any one of clauses 1 through 21 to a dolly; and operating the power-assisted dolly system to move the ULD at least partially onto or off of the dolly.

[0170] Clause 24. A transfer device for moving a unit load device (ULD), comprising: a chassis supported by a plurality of ground engaging members; a mover coupled to and extending from the chassis, wherein the mover is configured to engage at least a portion of the ULD and apply a force to the portion of the ULD to transload the ULD from a first ULD transport device to a second ULD transport device; and an operator interface coupled to the chassis and configured to enable an operator to at least one of move the transfer device and control a power state of the mover.

[0171] Clause 25. The transfer device of clause 24, further comprising a platform supported by the chassis, wherein the platform is configured to support the ULD for transloading from the first ULD transport device to the second ULD transport device.

[0172] Clause 26. The transfer device of clause 24 or 25, wherein the mover comprises the mover of any one of clauses 1 through 21.

[0173] Clause 27. The transfer device of any one of clauses 24 through 26, wherein the mover comprises the at least one of a linear actuator, a piston, a motor, a belt drive, a chain drive, a screw drive, a tilt-table, a powered roller, a swing arm, and a powered panel.

[0174] Clause 28. The transfer device of any one of clauses 24 through 27, further comprising at least one motor operatively coupled to one or more of the plurality of ground engaging members, wherein the motor is configured to drive one or more of the plurality of ground engaging members to move the transfer device, and wherein the operator interface is configured to control a power state of the motor.

[0175] Clause 29. The transfer device of any one of clauses 24 through 28, wherein the operator interface a handle of a steering system coupled to two or more of the plurality of ground engaging members.

[0176] Clause 30. The transfer device of any one of clauses 24 through 29, wherein the chassis comprises a securement feature configured to retain the ULD for ground transport.

[0177] Clause 31. The transfer device of any one of clauses 24 through 30, further comprising a controller operatively coupled to the operator interface, wherein the controller is configured to receive, from the operator interface, an operator input indicative of an operation of the mover, wherein the controller is configured to determine a location of the transfer device relative to at least one of the first ULD transport device, the second ULD transport device, or the ULD, and wherein the controller is configured to, based on the operator input and the location of the transfer device, control a power state of the mover.

[0178] Clause 32. The transfer device of any one of clauses 24 through 31, wherein the first ULD transport device is a dolly and wherein the second ULD transport device is a loader.

[0179] Clause 33. A transfer device for moving a unit load device (ULD), comprising: a chassis supported by a plurality of ground engaging members; a motor supported by the chassis and operatively coupled to one or more of the plurality of ground engaging members, wherein the motor is configured to drive one or more of the plurality of ground engaging members to move the transfer device; a mover configured to engage at least a portion of the ULD and apply the force to the portion of the ULD to transload the ULD from the first ULD transport device to the second ULD transport device; and a controller comprising: processing circuitry operatively coupled to at least one of the mover; and a memory device storing instructions executable by the processing circuitry, wherein the controller is configured to at least one of control a power state of at least one of the motor to move the transfer device and the mover to at least one of engage the portion of the ULD and apply the force to the portion of the ULD.

[0180] Clause 34. The transfer device of clause 33, wherein the controller further comprises communication circuitry operatively coupled to the processing circuitry and communicatively coupled to at least one of an operator interface or a remote device, and wherein the controller is configured to receive, via communication circuitry, an operator input indicative of the power state.

[0181] Clause 35. The transfer device of clause 33 or 34, wherein the controller further comprises a locator operatively coupled to the processing circuitry and configured to determine a location of the transfer device relative to at least one of the first ULD transportdevice, the second ULD transport device, or the ULD, and wherein the controller is configured to determine, based on the determined location, the power state.

[0182] Clause 36. The transfer device of any one of clauses 33 through 34, wherein the controller further comprises at least one sensor operatively coupled to the processing circuitry and configured to generate an output indicative of a detected proximity of at least one of the first ULD transport device, the second ULD transport device, or the ULD, and wherein the controller is configured to determine, based on the output of the sensor, the power state.

[0183] Clause 37. The transfer device of any one of clauses 33 through 36, wherein the controller further comprises a machine vision system operatively coupled to the processing circuitry and configured to generate an output indicative of a detected proximity of at least one of the first ULD transport device, the second ULD transport device, or the ULD, and wherein the controller is configured to determine, based on the output of the machine vision system, the power state.

[0184] Clause 38. The transfer device of any one of clauses 33 through 37, wherein the motor comprises a first motor and a second motor, wherein the first motor is configured to drive one or more of the plurality of ground engaging members to move the transfer device, wherein the transfer device further comprises a steering system supported by the chassis and operatively coupled to the plurality of ground engaging members, and wherein the second motor is operably coupled to and configured to control the steering system.

[0185] Clause 39. The transfer device of any one of clauses 33 through 38, further comprising a power source having at least one secondary battery configured to power the motor and the mover.

[0186] Clause 40. A method of transferring by the transfer device of any one of clauses 24 through 39 a unit load device (ULD) from a first ULD transport device to a second ULD transport device, wherein the method comprises: positioning the transfer device adjacent at least one of the first ULD transport device or the second ULD transport device; engaging at least a portion of a ULD with the mover; and operating the mover to move the ULD from the first ULD transport device to the second ULD transport device.

[0187] Clause 41. The method of clause 40, wherein positioning the transfer device comprises: determining, by the processing circuitry, a target location of the transfer device; generating, by the processing circuitry, a signal indicative of the transfer device being positioned at the target location; and generating, by the operator interface, based on the signal, an indication that the transfer device is positioned at the target location.

[0188] Clause 42. The method of clause 40 or 41, wherein positioning the transfer device comprises controlling at power state of the motor to drive the plurality of ground engaging members to position the transfer device.

[0189] Clause 43. The method of any one of clauses 40 through 42, wherein engaging the portion of the ULD comprise determining, by the processing circuitry, based on at least one of image data received from the machine vision system and sensor data received from the sensors, at least one of an identification of the ULD and proper engagement of the mover with the ULD.

[0190] Clause 44. The method of any one of clauses 40 through 43, wherein operating the mover to move the ULD comprises monitoring, by the processing circuitry, based on at least one of image data received from the machine vision system and sensor data received from the sensors, a progress of the transfer of the ULD.

[0191] While the disclosure has been described in connection with what is presently considered to be the most practical and preferred embodiments, it is to be understood that the disclosure is not to be limited to the disclosed embodiments, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims, which scope is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures as permitted under the law. Furthermore, it should be understood that while the use of the word preferable, preferably, or preferred in the description above indicates that feature so described may be more desirable, it nonetheless may not be necessary and any embodiment lacking the same may be contemplated as within the scope of the disclosure, that scope being defined by the claims that follow. In reading the claims it is intended that when words such as “a,” “an,” “at least one” and “at least a portion” are used, there is no intention to limit the claim to only one item unless specifically stated to the contrary in the claim. Further, when the language “at least a portion” and / or “a portion” is used the item may include a portion and / or the entire item unless specifically stated to the contrary.

Claims

CLAIMSWhat is claimed is:

1. A power-assisted dolly system, comprising: a chassis supported by a plurality of ground engaging members, wherein the chassis is configured to support a unit load device (ULD) for ground transport; and a mover coupled to at least a portion of the chassis, wherein the mover is configured to engage and apply a force to at least a portion of the ULD to move the ULD relative to the chassis, wherein the mover comprises at least one of a linear actuator, a piston, a motor, a belt drive, a chain drive, a screw drive, a tilt-table, a powered roller, a swing arm, or a powered panel.

2. The power-assisted dolly system of claim 1, wherein the mover comprises: a linear actuator extending from a first end to a second end, wherein the first end of the linear actuator is coupled to the chassis; an arm defining an elongate body having a first portion coupled to and extending from the second end of the linear actuator, wherein the linear actuator is configured to linearly translate the arm relative to the chassis; and a finger extending from at least a portion of the arm, wherein the finger is configured to engage the portion of the ULD.

3. The power-assisted dolly system of claim 2, wherein the first end of the linear actuator is coupled to the chassis at a pivot point, and wherein the linear actuator is configured to rotate at least 180-degrees about the pivot point relative to the chassis.

4. The power-assisted dolly system of claim 2, wherein the linear actuator is a first linear actuator, wherein the mover comprises a second linear actuator, and wherein the first linear actuator is couped to a first side of the chassis and the second linear actuator is coupled to a second, opposing side of the chassis.

5. The power-assisted dolly system of claim 2, wherein the linear actuator comprises an electrical linear actuator, and wherein the mover further comprises a power source.

6. The power-assisted dolly system of claim 1, wherein the mover comprises: a belt extending from a first end to a second end and comprising a medial portion therebetween, wherein the medial portion is configured to engage the portion of the ULD; and at least one motor coupled to the first end of the belt and configured to at least partially wind the medial portion of the belt to apply the force to the portion of the ULD.

7. The power-assisted dolly system of claim 6, further comprising an anchor coupled to the chassis, wherein the second end of the belt is fixed to the anchor.

8. The power-assisted dolly system of claim 6, further comprising an armature configured to wrap the belt around the portion of the ULD, wherein the second end of the belt is fixed to the armature.

9. The power-assisted dolly system of claim 1, wherein the mover comprises: a chain drive having at least one finger extending therefrom, wherein the at least one finger is configured to engage the portion of the ULD; and at least one motor coupled to the chain drive and configured to rotate the chain drive to cause the at least one finger to apply the force to the portion of the ULD.

10. The power-assisted dolly system of claim 1, wherein the mover comprises: a screw drive having a drive screw and at least one finger extending therefrom, wherein the at least one finger is configured to engage the portion of the ULD; and at least one motor coupled to the drive screw and configured to rotate the drive screw to cause the at least one finger to travel longitudinally along the drive screw to apply the force to the portion of the ULD.

11. The power-assisted dolly system of claim 10, wherein the at least one finger is spring loaded and configured to deflect downward in response to the ULD travelling over the finger in a first direction and engage the ULD when applying the force to the ULD in a second direction.

12. The power-assisted dolly system of claim 1, wherein the mover comprises: a tilt-table having one or more roller assemblies extending from a first end to a second end and at least actuatable arm, wherein the one or more roller assemblies are configured to engage the portion of the ULD, wherein the portion of the ULD is a base of the ULD; and at least one motor coupled to the actuatable arm and configured to raise the first end of the one or more roller assemblies relative to the second end of the roller assemblies to apply the force to the portion of the ULD, wherein upon raising the one or more roller assemblies gravity causes the ULD to move toward the second end of the one or more roller assemblies.

13. The power-assisted dolly system of claim 1, wherein the mover comprises: a powered drive roller system having a bracket assembly coupled to the chassis and powered roller removal coupled to the bracket assembly, wherein at least a portion of the power roller is configured to engage the portion of the ULD; and at least one motor coupled to the powered roller and configured to rotate the powered roller to apply the force to the portion of the ULD.

14. The power-assisted dolly system of claim 13, wherein the at least one motor is disposed with in the powered roller.

15. The power-assisted dolly system of claim 13, wherein the powered roller comprises a roller defining a radially exterior surface of the powered roller, and wherein the roller is configured to engage a base of the ULD.

16. The power-assisted dolly system of claim 13, wherein the powered roller comprises opposing spindles configured to coupled to the bracket assembly and a roller defining a radially exterior surface of the powered roller that is configured to engage a base of the ULD, and wherein the at least one motor is fixedly coupled to the spindles and rotatably coupled to the roller.

17. The power-assisted dolly system of claim 1, wherein the mover comprises: a swing arm extending from a first end to a second end, wherein the first end is configured to engage the portion of the ULD; and at least one motor coupled to the second end of the swing arm and configured to at least partially rotate the swing arm to apply the force to the portion of the ULD.

18. The power-assisted dolly system of claim 17, wherein the swing arm is telescoping.

19. The power-assisted dolly system of claim 1, wherein the mover comprises: a traversing boom configured to travel along one or more tracks and configured to engage the portion of the ULD; and at least one motor configured to translate the traversing boom through the one or more tracks to apply the force to the portion of the ULD.

20. The power-assisted dolly system of claim 1, wherein the mover comprises: a track configured to removable couple to the chassis of the dolly; and a trolley operatively coupled to and configured to traverse the track, wherein at least a portion of the trolley is configured to engage the portion of the ULD, and wherein the trolley is configured to receive convert an inputted torque into a lateral traversal of the track.

21. The power-assisted dolly system of claim 1, further comprising a controller operatively coupled to the mover, wherein the controller is configured to control an operation of the mover, and wherein the mover is removably coupled to the chassis22. A ULD dolly system, comprising: a dolly configured to transport a ULD; and the power- assisted dolly system of claim 1.

23. A method of moving a unit load device, wherein the method comprises: coupling the power-assisted dolly system of claim 1 to a dolly; and operating the power-assisted dolly system to move the ULD at least partially onto or off of the dolly.

24. A transfer device for moving a unit load device (ULD), comprising: a chassis supported by a plurality of ground engaging members; a mover coupled to and extending from the chassis, wherein the mover is configured to engage at least a portion of the ULD and apply a force to the portion of the ULD to transload the ULD from a first ULD transport device to a second ULD transport device; andan operator interface coupled to the chassis and configured to enable an operator to at least one of move the transfer device and control a power state of the mover.

25. The transfer device of claim 24, further comprising a platform supported by the chassis, wherein the platform is configured to support the ULD for transloading from the first ULD transport device to the second ULD transport device.

26. The transfer device of claim 24, wherein the mover is coupled to at least a portion of the chassis, wherein the mover is configured to engage and apply a force to at least a portion of the ULD to move the ULD relative to the chassis.

27. The transfer device of claim 26, wherein the mover comprises the at least one of a linear actuator, a piston, a motor, a belt drive, a chain drive, a screw drive, a tilt-table, a powered roller, a swing arm, and a powered panel.

28. The transfer device of claim 24, further comprising at least one motor operatively coupled to one or more of the plurality of ground engaging members, wherein the motor is configured to drive one or more of the plurality of ground engaging members to move the transfer device, and wherein the operator interface is configured to control a power state of the motor.

29. The transfer device of claim 24, wherein the operator interface a handle of a steering system coupled to two or more of the plurality of ground engaging members.

30. The transfer device of claim 24, wherein the chassis comprises a securement feature configured to retain the ULD for ground transport.

31. The transfer device of claim 24, further comprising a controller operatively coupled to the operator interface, wherein the controller is configured to receive, from the operator interface, an operator input indicative of an operation of the mover, wherein the controller is configured to determine a location of the transfer device relative to at least one of the first ULD transport device, the second ULD transport device, or the ULD, and wherein the controller is configured to, based on the operator input and the location of the transfer device, control a power state of the mover.

32. The transfer device of claim 24, wherein the first ULD transport device is a dolly and wherein the second ULD transport device is a loader.

33. A transfer device for moving a unit load device (ULD), comprising: a chassis supported by a plurality of ground engaging members; a motor supported by the chassis and operatively coupled to one or more of the plurality of ground engaging members, wherein the motor is configured to drive one or more of the plurality of ground engaging members to move the transfer device; a mover configured to engage at least a portion of the ULD and apply the force to the portion of the ULD to transload the ULD from the first ULD transport device to the second ULD transport device; and a controller comprising: processing circuitry operatively coupled to at least one of the mover; and a memory device storing instructions executable by the processing circuitry, wherein the controller is configured to at least one of control a power state of at least one of the motor to move the transfer device and the mover to at least one of engage the portion of the ULD and apply the force to the portion of the ULD.

34. The transfer device of claim 33, wherein the controller further comprises communication circuitry operatively coupled to the processing circuitry and communicatively coupled to at least one of an operator interface or a remote device, and wherein the controller is configured to receive, via communication circuitry, an operator input indicative of the power state.

35. The transfer device of claim 33, wherein the controller further comprises a locator operatively coupled to the processing circuitry and configured to determine a location of the transfer device relative to at least one of the first ULD transport device, the second ULD transport device, or the ULD, and wherein the controller is configured to determine, based on the determined location, the power state.

36. The transfer device of claim 33, wherein the controller further comprises at least one sensor operatively coupled to the processing circuitry and configured to generate an output indicative of a detected proximity of at least one of the first ULD transport device, the second ULD transport device, or the ULD, and wherein the controller is configured to determine, based on the output of the sensor, the power state.

37. The transfer device of claim 33, wherein the controller further comprises a machine vision system operatively coupled to the processing circuitry and configured to generate an output indicative of a detected proximity of at least one of the first ULD transport device, the second ULD transport device, or the ULD, and wherein the controller is configured to determine, based on the output of the machine vision system, the power state.

38. The transfer device of claim 33, wherein the motor comprises a first motor and a second motor, wherein the first motor is configured to drive one or more of the plurality of ground engaging members to move the transfer device, wherein the transfer device further comprises a steering system supported by the chassis and operatively coupled to the plurality of ground engaging members, and wherein the second motor is operably coupled to and configured to control the steering system.

39. The transfer device of claim 33, further comprising a power source having at least one secondary battery configured to power the motor and the mover.

40. A method of transferring by a transfer device of claim 24 a unit load device (ULD) from a first ULD transport device to a second ULD transport device, wherein the method comprises: positioning the transfer device adjacent at least one of the first ULD transport device or the second ULD transport device; engaging at least a portion of a ULD with the mover; and operating the mover to move the ULD from the first ULD transport device to the second ULD transport device.

41. The method of claim 40, wherein positioning the transfer device comprises: determining, by the processing circuitry, a target location of the transfer device; generating, by the processing circuitry, a signal indicative of the transfer device being positioned at the target location; and generating, by the operator interface, based on the signal, an indication that the transfer device is positioned at the target location.

42. The method of claim 40, wherein positioning the transfer device comprises controlling at power state of the motor to drive the plurality of ground engaging members to position the transfer device.

43. The method of claims 40, wherein engaging the portion of the ULD comprise determining, by the processing circuitry, based on at least one of image data received from the machine vision system and sensor data received from the sensors, at least one of an identification of the ULD and proper engagement of the mover with the ULD.

44. The method of claim 40, wherein operating the mover to move the ULD comprises monitoring, by the processing circuitry, based on at least one of image data received from the machine vision system and sensor data received from the sensors, a progress of the transfer of the ULD.

Images