Automated guided vehicle and method of operating an automated guided vehicle

• US 9,244,463 B2
• Filed: 06/18/2014
• Issued: 01/26/2016
• Est. Priority Date: 06/18/2013
• Status: Active Grant

• Current Assignee: KUKA Laboratories GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Inventors: Pfaff, Patrick, Klein, Bjorn, Bick, Christoph
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US14/308,067
• Publication Number:
  US 20140371973A1
• Time in Patent Office: 587 Days
• Field of Search: 701/23, 701/28, 701/26, 700/245, 700/262
• US Class Current: 1/1
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0221 involving a learning process
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement

Abstract

The invention relates to an automated guided vehicle and a method for operating an automated guided vehicle. Upon arriving at a destination, then the automated guided vehicle is moved, based on a comparison of signals or data assigned to the environment detected by at least one sensor with signals or data which are assigned to a target position or to a target position and orientation of the automated guided vehicle at the destination, such that the actual position or the actual position and orientation is the same as the target position or target position and orientation at least within a pre-specified tolerance.

Claims

1. A method for operating an automated guided vehicle, the method comprising:

(a) automatically moving an automated guided vehicle from a starting point to a destination;

(b) automatically detecting the environment at the destination using at least one sensor of the automated guided vehicle, after automatically stopping the automated guided vehicle at the destination;

(c) comparing signals or data assigned to the environment detected by the at least one sensor with signals or data that are assigned to a target position or target position and orientation of the automated guided vehicle at the destination; and

(d) automatically moving the automated guided vehicle based on the comparison of the signals or data assigned to the environment detected by the at least one sensor with signals or data that are assigned to a target position or target orientation of the automated guided vehicle, such that the actual position or actual position and orientation is the same as the target position or target position and orientation, at least within a pre-specified tolerance;

wherein automatically moving the automated guided vehicle based on the comparison of the signals or data is performed by a positioning control or a positioning and orientation control; and

wherein a command signal for the position control or the position and orientation control of the target position or the target position and orientation of the automated guided vehicle and a controlled variable for the position control or the position and orientation control of the actual position or the actual position and orientation of the automated guided vehicle are assigned to the destination.

2. The method of claim 1, wherein at least one of automatically moving the automated guided vehicle or automatically comparing signals or data is performed by a control device of the automated guided vehicle.

3. The method of claim 1, wherein automatically moving the automated guided vehicle from the starting point to the destination comprises path planning based on a digital map of the route between the starting point and the destination.

4. The method of claim 3, wherein the digital map is stored in a memory operatively coupled with the control device of the automated guided vehicle.

5. Method of claim 3, further comprising, before step (a):

manually moving the automated guided vehicle from the starting point to the destination;

detecting the environment with the at least one sensor in order to obtain the digital map of the route between the starting point and the destination during the manual movement of the automated guided vehicle; and

storing the digital map in a memory operatively coupled with the control device of the automated guided vehicle.

6. The method of claim 1, further comprising repeating steps (b) to (d) until the actual position or the actual position and orientation is the same as the target position or the target position and orientation within the pre-specified tolerance.

7. The method of claim 1, further comprising, before step (a):

manually moving the automated guided vehicle to the destination and aligning the automated guided vehicle such that it occupies the target position and orientation;

detecting the environment at the destination using at least the sensor of the automated guided vehicle in order to obtain signals or data that are assigned to the target position or to the target position and orientation of the automated guided vehicle at the destination; and

storing the signals or data that are assigned to the target position or to the target position and orientation of the automated guided vehicle in a memory coupled with the control device of the automated guided vehicle.

8. An automated guided vehicle, comprising:

a vehicle base body;

a plurality of wheels rotatably mounted to the vehicle base body for moving the automated guided vehicle;

at least one drive coupled with at least one of the wheels for driving the corresponding wheel;

a memory in which signals or data are stored, the signals or data assigned to a target position or a target position and orientation of the automated guided vehicle at a destination; and

at least one sensor equipped to detect the environment at the destination in order to obtain signals or data that are assigned to the target position or target position and orientation of the automated guided vehicle; and

a control device operatively coupled with the at least one drive, the memory, and the at least one sensor, the control device is configured to control the at least one drive in such a way that the automated guided vehicle implements the method of claim 1.

9. The automated guided vehicle of claim 8, wherein the at least one sensor comprises at least one laser scanner and/or at least one camera.

10. The automated guided vehicle of claim 8, wherein the at least one wheel is an omnidirectional wheel.

11. The automated guided vehicle of claim 8, further comprising a robotic arm operatively coupled with the vehicle base body and having a plurality of links connected in series via joints.