Method for controlling the movements of a mobile robot in a multiple node factory
First Claim
1. A method of routing an AGV along one of a plurality of predefined paths, in which a system controller communicates with a plurality of AGV controllers, there being an AGV controller for each AGV being controlled;
- comprising;
(a) defining a plurality of alternate paths, each of which comprises a beginning node and an ending node with a plurality of nodes in-between;
(b) selecting one of said paths;
(c) controlling the movement of an AGV by an AGV controller and moving the AGV from node to node along said selected path and defining the time said AGV will occupy each node of said selected path;
(d) allocating the nodes along the selected path to said AGV;
(e) determining contested nodes of said selected path which also are allocated to another AGV;
(f) directing said AGV to travel from node-to-node along said selected path, stopping the AGV at the node just prior to any encountered contested node.
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Accused Products
Abstract
The invention provides a method for communicating the need to move a mobile robot, such as an AGV, from one location (node) to another, on a node-by-node basis, incrementally, among the nodes established in a physical environment such as a factory. The invention also provides the means to generate the commands necessary to accomplish this motion, by providing specific steering and drive information such as angle and speed to the mobile robot or AGV. The invention accomplishes these tasks in response to direct commands from a stationary controller as well as in response to continuous node-by-node position updates provided by an external navigation system, such as a visual navigation system, or an internal dead-reckoning navigation system, or both.
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Citations
10 Claims
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1. A method of routing an AGV along one of a plurality of predefined paths, in which a system controller communicates with a plurality of AGV controllers, there being an AGV controller for each AGV being controlled;
- comprising;
(a) defining a plurality of alternate paths, each of which comprises a beginning node and an ending node with a plurality of nodes in-between; (b) selecting one of said paths; (c) controlling the movement of an AGV by an AGV controller and moving the AGV from node to node along said selected path and defining the time said AGV will occupy each node of said selected path; (d) allocating the nodes along the selected path to said AGV; (e) determining contested nodes of said selected path which also are allocated to another AGV; (f) directing said AGV to travel from node-to-node along said selected path, stopping the AGV at the node just prior to any encountered contested node. - View Dependent Claims (2, 3, 4, 5)
- comprising;
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6. A system for routing AGVs along one of a plurality of predefined paths, in which a system controller communicates with a plurality of AGV controllers, there being an AGV controller for each AGV being controlled, comprising:
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a plurality of predefined paths, each of which comprises a beginning node and an ending node with a plurality of nodes in-between, said in-between nodes common to more than one predefined path; a system controller for; (1) selecting one of said paths; (2) scheduling the times said AGV will occupy the nodes of said selected path; (3) for allocating said scheduled nodes to said AGV; (4) determining contested nodes of said selected path which are allocated to another AGV; and an AGV controller for directing said AGV to travel from node-to-node along said selected path, stopping at the node just prior to any encountered contested node, in response to communications from said system controller. - View Dependent Claims (7, 8, 9, 10)
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Specification