Power source monitoring system for AGVs and method
First Claim
1. In an automatic guided vehicle (AGV) system for automatically transporting loads along a predetermined path, the improvement comprising:
- a stationary master controller;
at least one stationary system power source; and
a plurality of self-propelled AGVs, wherein at least one of said AGVs comprises;
a drive assembly;
a rechargeable power source on-board said AGV, and configured to supply power to said drive assembly for moving said AGV along the predetermined path, wherein said rechargeable power source is adapted to be selectively electrically connected to said system power source, which supplies an electrical power to recharge said rechargeable power source; and
a controller on-board said AGV, and configured to determine when said rechargeable power source of said AGV is to be recharged, control a recharging process of said rechargeable power source independent of receiving information from said master controller, communicate with said master controller, and substantially continuously monitor at least two conditions comprising;
an operating condition of said AGV; and
a state of charge of said rechargeable power source;
whereby when said rechargeable power source is electrically connected to said system power source, said controller dynamically determines when said rechargeable power source of said AGV is to be recharged, controls a recharging process of said rechargeable power source independent of receiving information from said master controller, and communicates at least one of said monitored conditions to said master controller.
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Accused Products
Abstract
An automatic guided vehicle (AGV) and method has at least one AGV with a drive assembly, a rechargeable power source on-board the AGV configured to supply power to the drive assembly, and a controller on-board the AGV. The controller on-board the AGV is configured to substantially continuously monitor at least two conditions including an operating condition of the AGV, a state of charge of the power source, and an electrical power supplied for recharging the rechargeable power source, wherein the controller determines when the rechargeable power source of the AGV is to be recharged, and controls a recharging process of the power source based upon at least one of the monitored conditions.
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Citations
21 Claims
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1. In an automatic guided vehicle (AGV) system for automatically transporting loads along a predetermined path, the improvement comprising:
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a stationary master controller; at least one stationary system power source; and a plurality of self-propelled AGVs, wherein at least one of said AGVs comprises; a drive assembly; a rechargeable power source on-board said AGV, and configured to supply power to said drive assembly for moving said AGV along the predetermined path, wherein said rechargeable power source is adapted to be selectively electrically connected to said system power source, which supplies an electrical power to recharge said rechargeable power source; and a controller on-board said AGV, and configured to determine when said rechargeable power source of said AGV is to be recharged, control a recharging process of said rechargeable power source independent of receiving information from said master controller, communicate with said master controller, and substantially continuously monitor at least two conditions comprising; an operating condition of said AGV; and a state of charge of said rechargeable power source; whereby when said rechargeable power source is electrically connected to said system power source, said controller dynamically determines when said rechargeable power source of said AGV is to be recharged, controls a recharging process of said rechargeable power source independent of receiving information from said master controller, and communicates at least one of said monitored conditions to said master controller. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An automatic guided vehicle (AGV) comprising:
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a drive assembly; a rechargeable power source on-board the AGV, and configured to supply power to said drive assembly; and a controller on-board the AGV, and configured to substantially continuously monitor at least two conditions comprising of; an operating condition of the AGV; a state of charge of said power source; and an electrical power supplied for recharging said rechargeable power source, wherein said controller dynamically determines when said rechargeable power source of the AGV is to be recharged independent of receiving information from a stationary master controller of an AGV system that comprises the AGV, and controls a recharging process of said power source based upon at least one of said monitored conditions. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A method of controlling an automatic guided vehicle (AGV), said method comprising the steps of:
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providing a controller on-board the AGV; monitoring an operating condition of the AGV by said controller; monitoring a state of charge of a rechargeable AGV power source by said controller; dynamically determining, by said controller, to recharge said AGV power source based upon said monitored operating condition and said monitored state of charge, wherein said dynamic determination is made independent of receiving information from a master controller of an AGV system that includes the AGV; and controlling a recharging process by said controller when said AGV power source is recharged, wherein said controlling of said recharging process is independent of receiving information from a master controller of said AGV system that includes the AGV. - View Dependent Claims (16, 17, 18, 19, 20)
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21. A method of controlling an automatic guided vehicle (AGV) for automatically transporting loads along a predetermined path in at least one of a warehouse, a factory, and a shipyard, said method comprising:
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providing a controller on-board the AGV; providing an AGV system comprising the AGV, a master controller, and a stationary power source; monitoring an operating condition of the AGV by said controller; monitoring a state of charge of a rechargeable AGV power source by said controller; dynamically determining, by said controller, to recharge said AGV power source based upon said monitored operating condition and said monitored state of charge, wherein said dynamic determination is made independent of receiving information from said master controller; controlling a recharging process by said controller when said AGV power source is recharged, wherein said controlling of said recharging process is independent of receiving information from said master controller; determining, by said controller, when said rechargeable power source is to be equalized; determining, by said controller, when said rechargeable power source is to be recharged to a state of charge above a threshold value; controlling said stationary power source, by said master controller, to recharge said rechargeable power source above a threshold value, and equalize said rechargeable power source; and over-riding, by said controller, a command received from said master controller independent of receiving information from said master controller other than said command when said controller determines said rechargeable power source has an inadequate state of charge to perform said command received from said master controller.
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Specification