Load triangulation system

Abstract

A load triangulation system is provided for use with a support structure. The load triangulation system includes a load plate configured to provide a support for load placement and distribution, one or more weight modules coupled to the load plate and configured in a matrix arrangement, and one or more load sensors provided in the one or more weight modules. Each load sensor of the one or more load sensors is configured to generate an electrical signal proportional to a weight applied to the corresponding module. A method of triangulating a load includes placing a load on a load plate and distributing the load across one or more load sensors of one or more weight modules associated with the load plate and determining a location of the load on the load plate.

Description

[0001] LOAD TRIANGULATION SYSTEM

[0002] CROSS-REFERENCE TO RELATED APPLICATION

[0003] This application claims the benefit under 35 U.S.C. § 119(e) of co-pending U.S. Provisional Patent Application No. 63 / 668,987 titled LOAD TRIANGULATION SYSTEM filed on July 9, 2024, which is herein incorporated by reference in its entirety for all purposes.

[0004] BACKGROUND OF THE DISCLOSURE

[0005] Systems for optimizing efficiency, organization, and processing of goods arc employed across various domains. These systems effectively handle tasks generated by enterprise resource planning (ERP) systems, creating comprehensive to-do lists for labor-intensive operations. One common aspect of such systems is the optimization of item placement on flat transport structures, such as pallets or mobile platforms, which support goods in a stable fashion while being lifted or conveyed. This is especially true when dealing with mixed loads, items of various weight, size, and packaging types.

[0006] Maintaining adherence to optimized placement plans is needed to ensure operational efficiency. Weight verification provides a simple method to validate these plans. Consequently, there is a demand for a reliable and accurate system capable of sensing a three-dimensional mass of a load comprised of items of various weight, size, and packaging types using a two-dimensional platform.

[0007] SUMMARY OF THE DISCLOSURE

[0008] Addressing this need, the present disclosure introduces an innovative system and method for triangulating the three-dimensional mass of a load. The system and method employ a two-dimensional platform equipped with three or more load cells. By measuring weight distribution across these load cells, the system accurately determines the distribution of mass in three-dimensional space.

[0009] The advantages of this system and method are twofold. Firstly, the system provides a straightforward and in- situ means of validating optimized placement plans by comparing the measured weight distribution with the expected distribution without external sensors. This validation process ensures the proper execution of placements, optimizing operational efficiency while minimizing errors. Secondly, the use of load cells within a triangulation setup offers an efficient and precise approach to determine the mass distribution and a perimeter of a load, eliminating the need for complex and timeconsuming measurement techniques. In summary, this disclosure presents an innovative solution to address the challenges associated with inventory management and validating optimized placement plans. By introducing a method for localizing three-dimensional mass from a two-dimensional platform supported by load cells, the proposed system ensures accuracy and adherence to placement plans and item verification to enhance operational efficiency and reducing errors across various applications, including but not limited to warehouse management.

[0010] One aspect of the present disclosure is directed to a load triangulation system for use with a support structure. In one embodiment, the load triangulation system comprises a load plate configured to provide a support for load placement and distribution, one or more weight modules coupled to the load plate and configured in a matrix arrangement, and one or more load sensors provided in the one or more weight modules. Each load sensor of the one or more load sensors is configured to generate an electrical signal proportional to a weight applied to the corresponding module.

[0011] Another aspect of the present disclosure is directed to a method of triangulating a load. In one embodiment, the method comprises: placing a load on a load plate and distributing the load across one or more load sensors of one or more weight modules associated with the load plate; and determining a location of the load on the load plate.

[0012] Embodiments of the method further may include identifying an item to be moved on an automated pallet having the load plate and directing the movement of the item on the automated pallet. The method further may include referencing a library to identify the item placed on the load cell based on one or more characteristics of the item, and verifying the item placed on the load cell.

[0013] One aspect of the present disclosure is directed to a load triangulation system comprising a load plate and a plurality of weight modules arranged in a 2D array. The plurality of weight modules is configured to support the load plate. The load triangulation system further comprises a plurality of load sensors embedded within the plurality of weight modules and a controller configured to receive signals from the plurality of load sensors to identify items and determine a load placement of the items using a data augmented finite element algorithm.

[0014] Embodiments of the load triangulation system further may include configuring the controller to triangulate a location of a load based on measured variations among the plurality of load sensors. The controller may include a matching process between previously known load configuration and measured values to accurately infer newly added load position and orientation in 3D. The controller may include a matching process between previously known package dimensions, and measured values to accurately identify an item based on such dimensions. The load triangulation system further may include an application programming interface (API) configured to transmit load placement data to an external warehouse management system. Each load sensor of the plurality of load sensors may include a button style, a sheer-beam style or a traditional loadcell. Each load sensor of the plurality of load sensors may include a Fiber-Bragg grating sensor.

[0015] Another aspect of the present disclosure is directed to a load triangulation system for use with a support structure. In one embodiment, the load triangulation system comprises a load plate configured to provide a support for load placement and distribution, one or more weight modules coupled to the load plate and configured in a matrix arrangement, and one or more load sensors provided in the one or more weight modules. Each load sensor of the one or more load sensors is configured to generate an electrical signal proportional to a weight applied to the corresponding module.

[0016] Embodiments of the load triangulation system further may include a controller configured to receive signals from the one or more load sensors to identify items and determine a load placement of the items using a data augmented finite element algorithm. The controller further may be configured to triangulate a location of a load based on measured variations among the plurality of load sensors. The controller further may include a matching process between previously known load configuration and measured values to accurately infer newly added load position and orientation in 3D. The controller may include a matching process between previously known package dimensions, and measured values to accurately identify an item based on such dimensions. The load triangulation system further may include an application programming interface (API) configured to transmit load placement data to an external warehouse management system. Each load sensor of the plurality of load sensors may include a button style, a sheer-beam style or a traditional loadcell. Each load sensor of the plurality of load sensors may include a Fiber-Bragg grating sensor.

[0017] Yet another aspect of the present disclosure is directed to a method of triangulating a load. In one embodiment, the method comprises: placing a load on a load plate and distributing the load across one or more load sensors of one or more weight modules associated with the load plate; and determining a location of the load on the load plate.

[0018] Embodiments of the method further may include referencing a library to identify the item placed on the load cell based on one or more characteristics of the item, and verifying the item placed on the load cell. The method further may include triangulating a location of a load based on measured variations among the one or more load sensors. The further may include performing a matching process between previously known load configurations and measured values to accurately infer newly added load position and orientation in 3D. The method further may include performing a matching process between previously known item dimensions, and measured values to accurately identify an item based on such dimensions. Placing the load on the load plate may include identifying an item to be moved on an automated pallet having the load plate and directing the movement of the item on the automated pallet.

[0019] BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures is represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. In the drawings:

[0021] FIG. 1A is a perspective view of an automated pallet having a load triangulation system of an embodiment of the present disclosure;

[0022] FIG. IB is a top plan view of a base of the load triangulation system having several load cells;

[0023] FIG. 2A is a perspective view of a single weight module including a load cell and a load plate;

[0024] FIG. 2B is a side cross-sectional view of the single weight module shown in FIG. 2A;

[0025] FIG. 3A is a perspective view of an example of a load triangulation system used on a warehouse automation robot carrying stacks of goods, with a package removed from the stack of goods;

[0026] FIG. 3B is a perspective view of the stack of goods shown in FIG. 3A with the package being inserted on the stack of goods; and

[0027] FIG. 4 is a diagram of a load triangulation algorithm data flow of an embodiment of the disclosure.

[0028] DETAILED DESCRIPTION

[0029] Embodiments of the present disclosure are directed to an interface network for warehouse and transportation management systems.

[0030] Referring to the drawings, and more particularly to FIGS. 1A and IB, an automated pallet is generally indicated at 10. As shown, the automated pallet 10 includes a base 12 having a rectangular body. Although illustrated as being rectangular, the base 12 of the automated pallet 10 can be shaped for a particular purpose. For example, the base 12 of the automated pallet 12 can be square-shaped, triangular- shaped, or polygonal- shaped. Further, the base 12 of the automated pallet 10 may be fabricated from a variety of materials, such as metal, carbon fiber and / or plastic. The base 12 of the automated pallet 10 further includes wheels, each indicated at 14, which are provided on a bottom of the base 12 to enable the base 12 to roll across a horizontal surface, such as a floor of a facility. The wheels 14 may be positioned along the sides of the base 12 or at the four comers on the bottom of the base 12 to provide sufficient support for the base 12 when positioned on the horizontal surface.

[0031] The automated pallet 10 may be designed to function with standard manual and automated pallet loading procedures. The automated pallet 10 may be configured to be joined together with other automated pallets 10 vertically or horizontally to accommodate varying load size through interlockings or electromagnetic connections. The automated pallet 10 may be configured to be fitted with motorized wheels 14 to allow the automated pallet 10 to move across a warehouse or distribution center without the use of an external device, such as a forklift, although the automated pallet 10 can contain voids, each indicated at 16, so that they can be moved by forklift when necessary. The motion of the automated pallet 10 can be controlled by an onboard electric propulsion and guidance system and rechargeable battery. Other guidance systems could be used as well. In one embodiment, the base 12 may include several motors, one for each wheel 14, to drive the movement of the wheels 14. The provision of the motors enables the base 12 to move autonomously under the control of a controller wirelessly coupled to the base 12.

[0032] The automated pallet 10 further includes a load triangulation system, generally indicated at 20. As noted above, the load triangulation system 20 is configured to optimize placement of loads by comparing the measured weight distribution with the expected distribution of the load. As shown, the load triangulation system 20 of the automated pallet 10 includes four load cells, each generally indicated at 22. As will be described in greater detail below, each load cell 22 embodies a type of transducer that converts a force or load to an electrical signal. Each load cell 22 is configured to measure weight, force, or pressure of the load on the automated pallet 10. In one embodiment, the load cell 22 may include a sensing element, e.g., a strain gauge, which deforms when a force is applied. It is this deformation that is converted into an electrical signal. Although four load cells 22 are shown as part of the load triangulation system 20, the automated pallet 10 can be configured with any number of load cells 22 suitable for measuring the weight of the load and determining a weight distribution of the load on the automated pallet 10.

[0033] As used herein, load triangulation implemented by the load triangulation system 20 includes, in a structural context, using triangular shapes to detect the distribution of loads and improve the stability of the load. By triangulating locations of loads, the load can be made more rigid and able to resist bending and other forces that would weaken a load lacking triangulation. Referring to FIGS. 2A and 2B, each load cell 22 of the load triangulation system 20 includes a weight module 24, a load plate 26 coupled to the weight module 24, and a load sensor 28 coupled to the weight module 24 and the load plate 26. The weight module 24 is configured in a matrix (2D array) arrangement and is specifically designed based on the size and dimensions of the load plate 26. The weight modules 24 of the load cells 22 are positioned on the base 12 of the automated pallet 10 and arranged in the manner shown in FIGS. 1A and IB. Other configurations may alternatively be provided. The load plate 26 is securely fastened to the weight module 24 at one end of the load plate 26. The load plate 26 is constructed from any suitable material, and serves as the foundation for load placement and distribution of items on the automated pallet 10. The load sensor 28 is supported by the weight module 24 and coupled to the load plate 26. The load sensor 28 may embody a specialized transducer capable of generating an electrical signal proportional to the weight applied to the corresponding weight module. As will be described in greater detail below, items, e.g., packages, are placed on the load plates 26 of the load cells 22 of the automated pallet 20, and the load sensors 28 detect the deformation of the load plates 26 to provide information on the amount and placement of the items on the automated pallet 10. The load cell 22 provides essential data for accurate load measurement and analysis.

[0034] Referring to FIGS. 3 A and 3B, the automated pallet 10 is shown supporting a load, including packages, each indicated at 30. As shown, the automated pallet 10 includes several packages 30 arranged in a rectangular cuboid structure, with each package 30 containing an item or items for shipping. The packages 30 can be arranged in any configuration to achieve the shape shown in the drawings or to achieve other dimensions. FIG. 3 A shows a package 30 being added to the load of packages 30. FIG. 3B shows the load of packages 30 supported by the automated pallet 10 with the package 30 added to the load.

[0035] In one embodiment, the load triangulation system 20 operates as follows. Any load placed on the load plates 26 is distributed across all of the load sensors 28 within the 2D array of weight modules 24 of the load cells 22. The distribution of the packages 30 on the automated pallet 10 ensures an even weight distribution across the surfaces of the load plates 26 of the load cells 22. For multi-tier stacks of packages, such as the load of packages 30 shown in FIGS. 3A and 3B, the load is transferred to lower tiers until the load reaches the load plates 26 of the load cells 22. The resulting weight readings detected by the load sensors 28 associated with the 2D array of weight modules 24 is a function of specific 3D load configurations. To precisely determine the location of the load on the load plates 26, the load triangulation system 20 utilizes a data augmented finite element algorithm. The algorithm uses a gaussian process to match measured weight readings from the load cells 22 to a finite element simulation of the known item configurations. This matching can output a 3D pose of a newly placed load onto the load plates 26 given a previous load configuration or provide all possible load configurations given just the measured signals.

[0036] The load triangulation system 20 enhances load distribution on the automated pallet 10. By leveraging the matrix configuration of weight modules 24, the load triangulation system 20 achieves optimized load distribution, effectively utilizing a weight-bearing capacity of the load plate 26 and the load-bearing capacity of the packages 30 of intermediate packages 30 stacked on the load plate 26. Through the implementation of the augmented finite clement algorithm, the load triangulation system 20 provides precise load placement determination, enabling users to identify the exact location of loads on the load plate 26.

[0037] The load triangulation system 20 automates formerly manual load measurement and analysis tasks. By seamlessly integrating with warehouse and transportation management systems, it generates accurate load distribution data, reducing human intervention and increasing operational efficiency.

[0038] By integrating weight modules 24 and the load sensors 28 of the load cells 22 and a sophisticated finite element algorithm, the load triangulation system 20 provides accurate positioning and item perimeter data that can be utilized by external systems via its application programming interface (API). Although the preferred embodiment centers around warehouse automation robots handling stacked goods, the applications of the load triangulation system 20 are not limited solely to warehouses or automated systems.

[0039] Referring to FIG. 4, one example scenario illustrates the integration of the load triangulation system 20 onto the automated pallet 10, sometimes referred to as a warehouse automation robot, designed to transport stacked goods, e.g., packages 30. During the placement of a package 30, e.g., a box, onto the stack, the load triangulation system 20 measures the signal differences from all weight modules 24, both before and after the package 30 placement. As shown, the load sensors 28 of the load cells 22 provide information via load sensors 28 signals about the load on the automated pallet 10 to a controller, indicated at 32. Specifically, the load sensors 28 of the load cells 22 provide a discrete lattice or subgroup of measurements of the load. These signals are subsequently fed into a finite element algorithm module 34 of the controller 32, which outputs precise X, Y, and Z position, estimated orientation, and perimeter values of the newly placed package 30. This positioning data serves as a reliable indicator of an identity of the items by matching the shape of a package 30 of the item against an item library and a correct placement of the package 30 on the stack. In one embodiment, the finite element algorithm module 34 can include an inverse finite element analysis, which is configured to determine unknown parameters or design variables of the load triangulation system 20 by comparing the results of a finite element analysis model 34 with experimental data. The inverse finite element analysis is essentially the reverse of a standard finite element analysis where input parameters are provided, and results are received. With inverse finite element analysis, the results are first provided, and the input parameters are searched to provide the input parameters that best match the results.

[0040] The controller 32 further includes a comparison and regression module 36, which receives the results from the finite clement algorithm module 34 to produce results. The comparison and regression module 36 of the controller 32 is coupled to a library of known configurations 38 to produce results of the load placement on the automated pallet 10. Specifically, the comparison and regression module 36 is configured to continuously determine a distribution of the load in which the load is spread out evenly over a length, area, or volume, rather than being concentrated at specific points. In other words, the distribution of the load is represented as a force that is distributed continuously rather than being applied in discrete steps.

[0041] The load triangulation system 20 enables real-time monitoring and validation of item positioning through its accurate weight measurement and analysis capabilities. The provision of realtime monitoring and validation provides the continuous and instantaneous observation, measurement, and analysis of the load data provided by the load triangulation system 10. The load sensors 28 of the load triangulation system 10 provides data to the controller 32, which is configured to analyze the data in real-time, allowing for immediate alerts and responses to loading issues. By continuously assessing weight distribution and utilizing the finite element algorithm, the load triangulation system 20 provides instant feedback on the correct placement of items. This data is made accessible to external systems via the applications of the load triangulation system 20, allowing for seamless integration with other monitoring or validation systems.

[0042] While the preferred embodiment of the load triangulation system 20 focuses on warehouse automation robots, its potential applications extend to various domains where precise item placement is essential. The system’s robust weight measurement, analysis, and position calculation features make it applicable in logistics, manufacturing, retail, and other industries requiring accurate item tracking and positioning.

[0043] The load triangulation system 20 offers several benefits, including but not limited to accurate item placement tracking, accurate item validation, real-time monitoring and validation and seamless integration with external systems. Accurate item placement tracking is achieved by leveraging weight modules 24 and a sophisticated finite element algorithm, the load triangulation system 20 ensures accurate tracking of item placement within a network of warehouses or other applicable environments. Accurate item validation is achieved by sensing the perimeter of the package 30, a warehouse management system can identify the whether the sensed perimeter dimensions of the package 30 match the known dimensions in the library of known configurations 38, sometimes referred to as an item library. The load triangulation system 20 enables real-time monitoring and validation of item positioning, allowing for immediate feedback on the correctness of placement. Seamless integration with external systems is achieved through its API, with the load triangulation system 20 facilitating seamless integration with other monitoring or validation systems, expanding its capabilities and versatility across various domains.

[0044] While the load triangulation system 20 focuses on the warehouse automation industry, the versatility of the load triangulation system 20 enables its application in various other sectors, including but not limited to airport logistics, trucking, rail, container shipping, and civil infrastructure. The load triangulation system 20 can be implemented in airport logistics to accurately identify or track the positioning and distribution of heavy cargo, luggage, or equipment. This ensures proper weight distribution within aircraft, cargo handling facilities, and ground transportation vehicles, enhancing safety and operational efficiency. In the trucking industry, the load triangulation system 20 can be utilized to monitor and validate the proper positioning and weight distribution of cargo within trucks or trailers. This ensures compliance with weight regulations, enhances load stability, and improves overall transportation efficiency. In the railroad industry, the load triangulation system 20 is configured to collect data on the load and the load balance over various legs of travel that will improve damage prevention design and mitigation in freight rail. In the container shipping industry, the load triangulation system 20 can revolutionize container shipping by enabling accurate load placement and weight distribution within shipping containers. This ensures optimal utilization of container space, prevents imbalanced loads, and enhances safety during transportation, ultimately improving the efficiency of global trade. In civil infrastructure applications, the potential of the load triangulation system 20 extends to civil infrastructure projects, such as building construction, road construction, and bridge engineering. By precisely monitoring load distribution and positioning, the load triangulation system 20 ensures structural integrity, enhances safety, and enables efficient construction and maintenance processes. In some embodiments, a method of triangulating a load includes placing the load on the load plate 26 and distributing the load across the load sensor 28 of the weight module 24 associated with the load plate 26 and determining a location of the load on the load plate 26. Placing the load on the load plate 26 includes identifying the package 30 to be moved on the automated pallet 10 having the load plate 26 and directing the movement of the package 30 on the automated pallet 10. The method further includes referencing a library 38 to identify the package 30 placed on the load cell 22 based on one or more characteristics of the package 30, and verifying the package 30 placed on the load cell 22. The method further includes triangulating a location of the load based on measured variations among the load sensor 28. The method further includes performing a matching process between previously known load configurations and measured values to accurately infer newly added load position and orientation in 3D. The method further includes performing a matching process between previously known package dimensions, and measured values to accurately identify the package 30 based on such dimensions.

[0045] In some embodiments, systems and methods include placing a load on a load plate, identifying an item to be moved on an automated pallet having the load plate, and directing the movement of the item on the automated pallet.

[0046] In some embodiments, systems and methods include referencing a library to identify the item placed on the load cell based on one or more characteristics of the item, and verifying the item placed on the load cell.

[0047] Furthermore, while the example weight module depicted in FIGS. 2A and 2B employs load cells for load measurement, the load triangulation system allows for the possibility of utilizing Fiber-Bragg load sensing technology. Fiber-Bragg grating sensors offer the advantage of distributed sensing along the load plate, providing precise and distributed load measurements. This alternative implementation expands the capabilities and versatility of the load triangulation system, allowing for enhanced load measurement accuracy in various applications.

[0048] In some embodiments, the controller of the automated pallet is configured to control the operation of the automated pallet 10 based on operational parameters obtained by the controller. The controller can be configured to communicate with a controller associated with a facility, for example, a warehouse management system. In one embodiment having multiple automated pallets 10, the controller may embody a plurality of controllers provided in each automated pallet 10 that communicates with one another over a controller area network (CAN) Bus or other type of network. In other embodiments, a master controller may be provided to control the operation of the controllers of the automated pallet 10. Various controllers may execute various operations discussed above. For example, the controller may be configured to perform the methods of the load triangulation system. Using data stored in associated memory and / or storage, the controller may execute one or more instructions stored on one or more non-transitory computer-readable media, which the controller may include and / or be coupled to, that may result in manipulated data. In some examples, the controller may include one or more processors or other types of controllers. In one example, the controller is or includes at least one processor. In another example, the controller performs at least a portion of the operations discussed above using an application-specific integrated circuit tailored to perform particular operations in addition to, or in lieu of, a general-purpose processor. As illustrated by these examples, examples in accordance with the present disclosure may perform the operations described herein using many specific combinations of hardware and software and the disclosure is not limited to any particular combination of hardware and software components. Examples of the disclosure may include a computer-program product configured to execute methods, processes, and / or operations discussed above. The computer-program product may be, or include, one or more controllers and / or processors configured to execute instructions to perform methods, processes, and / or operations discussed above.

[0049] Having thus described several aspects of at least one embodiment, it is to be appreciated various alterations, modifications, and improvements will readily occur to those skilled in the art. Such alterations, modifications, and improvements are intended to be part of this disclosure and are intended to be within the scope of the disclosure. Accordingly, the foregoing description and drawings are by way of example only.

[0050] What is claimed is:

Claims

CLAIMS1. A load triangulation system comprising: a load plate; a plurality of weight modules arranged in a 2D array, the plurality of weight modules being configured to support the load plate; a plurality of load sensors embedded within the plurality of weight modules; and a controller configured to receive signals from the plurality of load sensors to identify items and determine a load placement of the items using a data augmented finite element algorithm.

2. The load triangulation system of claim 1, wherein the controller further is configured to triangulate a location of a load based on measured variations among the plurality of load sensors.

3. The load triangulation system of claim 1, wherein the controller includes a matching process between previously known load configuration and measured values to accurately infer newly added load position and orientation in 3D.

4. The load triangulation system of claim 1, wherein the controller includes a matching process between previously known package dimensions, and measured values to accurately identify an item based on such dimensions.

5. The load triangulation system of claim 1, further comprising an application programming interface (API) configured to transmit load placement data to an external warehouse management system.

6. The load triangulation system of claim 1, wherein each load sensor of the plurality of load sensors includes a button style, a sheer-beam style or a traditional loadcell.

7. The load triangulation system of claim 1, wherein each load sensor of the plurality of load sensors includes a Fiber-Bragg grating sensor.

8. A load triangulation system for use with a support structure, the load triangulation system comprising: a load plate configured to provide a support for load placement and distribution; one or more weight modules coupled to the load plate and configured in a matrix arrangement; and one or more load sensors provided in the one or more weight modules, each load sensor of the one or more load sensors being configured to generate an electrical signal proportional to a weight applied to the corresponding module.

9. The load triangulation system of claim 8, further comprising a controller configured to receive signals from the one or more load sensors to identify items and determine a load placement of the items using a data augmented finite element algorithm.

10. The load triangulation system of claim 9, wherein the controller further is configured to triangulate a location of a load based on measured variations among the plurality of load sensors.

11. The load triangulation system of claim 9, wherein the controller includes a matching process between previously known load configuration and measured values to accurately infer newly added load position and orientation in 3D.

12. The load triangulation system of claim 9, wherein the controller includes a matching process between previously known package dimensions, and measured values to accurately identify an item based on such dimensions.

13. The load triangulation system of claim 9, further comprising an application programming interface (API) configured to transmit load placement data to an external warehouse management system.

14. The load triangulation system of claim 8, wherein each load sensor of the plurality of load sensors includes a button style, a sheer-beam style or a traditional loadccll.

15. The load triangulation system of claim 8, wherein each load sensor of the plurality of load sensors includes a Fiber-Bragg grating sensor.

16. A method of triangulating a load, the method comprising: placing a load on a load plate and distributing the load across one or more load sensors of one or more weight modules associated with the load plate; and determining a location of the load on the load plate.

17. The method of claim 16, wherein placing the load on the load plate includes identifying an item to be moved on an automated pallet having the load plate and directing the movement of the item on the automated pallet.

18. The method of claim 16, further comprising referencing a library to identify the item placed on the load cell based on one or more characteristics of the item, and verifying the item placed on the load cell.

19. The method of claim 16, further comprising triangulating a location of a load based on measured variations among the one or more load sensors.

20. The method of claim 16, further comprising performing a matching process between previously known load configurations and measured values to accurately infer newly added load position and orientation in 3D.

21. The method of claim 16, further comprising performing a matching process between previously known item dimensions, and measured values to accurately identify an item based on such dimensions.

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