AGV HAVING DYNAMIC SAFETY ZONE

Abstract

There is provided an automatically guided vehicle (AGV), which is configured to detect if a payload mass differs significantly from a preset payload mass towed and/or carried by the vehicle, and if a payload mass different from the preset payload is detected, the control system of the vehicle is automatically updated to adjust either: i) the speed of the vehicle based on preset safety brake distance information associated with the detected different payload mass; or ii) increase the safety zone or switch to a safer safety zone in order to avoid collision with any obstacles.

Claims

1. An automatically guided vehicle (AGV) comprising: wheels; a robot body mounted on the wheels; a scanner or sensor to detect an obstacle inside a safety zone of the AGV, the safety zone being associated with a travel path of the AGV; and a control system configured to: receive information from the scanner or sensor relating to the obstacle; calculate a payload or towing mass based on acceleration of the AGV from a stopped state and based on an incline or a decline of ground under the AGV; dynamically set a safety brake distance for the AGV based on the payload or towing mass; detect whether the payload or towing mass has changed; and if the payload or towing mass has changed, automatically adjust at least one of: a speed of the AGV based on preset safety brake distance information associated with a changed value of the payload or towing mass; or a size of the safety zone in order to avoid collision with the obstacle.

2. The AGV of claim 1, wherein the control system comprises multiple sub-control systems.

3. The AGV of claim 1, further comprising: a cart attaching mechanism mounted to the robot body for coupling a cart to the vehicle.

4. The AGV of claim 1, wherein the control system is configured to receive the preset safety brake distance information or the size of the safety zone, the preset safety brake distance information or the size of the safety zone being received from user input or from system storage.

5. The AGV of claim 1, wherein the preset safety brake distance information or the size of the safety zone is based on the payload or towing mass determined using at least one of an acceleration test or a deceleration test.

6. The AGV of claim 5, wherein the control system is configured to implement at least one of the acceleration test or the deceleration test by performing operations comprising at least one of: accelerating the AGV to drive at a predetermined motor torque and determining an acceleration of the AGV based on input from an encoder associated with a motor or a wheel of the AGV; or braking for a predetermined period of time or operating the AGV absent braking to determine deceleration.

7. The AGV of claim 1, wherein further comprising: a proximity sensor on the robot body, the proximity sensor for detecting whether a cart is attached to the AGV or whether additional payload has been loaded onto the AGV.

8. The AGV of claim 7, wherein the proximity sensor is configured to perform detection based on light, capacitance, inductance, or mechanical movement.

9. The AGV of claim 1, further comprising: a mass sensor to detect the payload or towing mass.

10. The AGV of claim 9, wherein the mass sensor comprises one of a load cell, a scale, or a balance for weighing the payload or towing mass.

11. The AGV of claim 2, further comprising: a cart attaching mechanism mounted to the robot body for coupling a cart to the vehicle.

12. The AGV of claim 11, wherein the control system is configured to receive the preset safety brake distance information or the size of the safety zone, the preset safety brake distance information or the size of the safety zone being received from user input or from system storage.

13. The AGV of claim 12, wherein the preset safety brake distance information or the size of the safety zone is based on the payload or towing mass determined using at least one of an acceleration test or a deceleration test.

14. The AGV of claim 13, wherein the control system is configured to implement at least one of the acceleration test or the deceleration test by performing operations comprising at least one of: accelerating the AGV to drive at a predetermined motor torque and determining an acceleration of the AGV based on input from an encoder associated with a motor or a wheel of the AGV; or braking for a predetermined period of time or operating the AGV absent braking to determine deceleration.

15. The AGV of claim 14, further comprising: a proximity sensor on the robot body, the proximity sensor for detecting whether a cart is attached to the AGV or whether additional payload has been loaded onto the AGV.

16. The AGV of claim 15, wherein the proximity sensor is configured to perform detection based on light, capacitance, inductance, or mechanical movement.

17. The AGV of claim 16, further comprising: a mass sensor to detect the payload or towing mass.

18. The AGV of claim 17, wherein the mass sensor comprises one of a load cell, a scale, or a balance for weighing the payload or towing mass.

19. A method of controlling an automatically guided vehicle (AGV), the method comprising: receiving information from a scanner or sensor relating to an obstacle inside a safety zone of the AGV, the safety zone being associated with a travel path of the AGV; determining a payload or towing mass based on acceleration of the AGV from a stopped state and based on an incline or a decline of ground under the AGV; dynamically setting a safety brake distance for the AGV based on the payload or towing mass; detecting whether the payload or towing mass has changed; and if the payload or towing mass has changed, automatically adjusting at least one of: a speed of the AGV based on preset safety brake distance information associated with a changed value of the payload or towing mass; or a size of the safety zone in order to avoid collision with the obstacle.

20. An automatically guided vehicle (AGV) comprising: a body; wheels attached to the body; and a controller configured to perform operations comprising: receiving information from a scanner or sensor relating to an obstacle inside a safety zone of the AGV, the safety zone being associated with a travel path of the AGV; determining a payload or towing mass based on acceleration of the AGV from a stopped state and based on an incline or a decline of ground under the AGV; detecting whether the payload or towing mass has changed; and if the payload or towing mass has changed, automatically adjusting at least one of: a speed of the AGV based on preset safety brake distance information associated with a changed value of the payload or towing mass; or a size of the safety zone in order to avoid collision with the obstacle.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0015] FIGS. 1A-1D show a flow diagram of the steps performed by the AGV in order to dynamically change its safety zones in response to any obstacles.

[0016] FIGS. 2A-2C show the principles of calculating ground level inclination or declination.

[0017] FIG. 3 shows an embodiment of the AGV towing a trailer.

DETAILED DESCRIPTION OF THE INVENTION

[0018] One aspect of the invention solves the problem of different braking distances with or without the vehicle towing a cart/trailer. This is achieved by utilizing a sensor, which detects if a cart is attached or not. The sensor can be a simple proximity sensor which uses light (IR, laser or similar), capacitance, inductance or mechanical movement (switch). When the sensor indicates that a cart is attached the safety zones are changed to other preset values that reflect the larger braking distance or the values used for calculating the braking distance or check the collision is changed.

[0019] Another aspect of the invention solves the problem of higher braking distances when the vehicle has a heavy payload. This is achieved by utilizing a load sensor in the payload area of the vehicle or on the wheel suspension area, which detects the mass of the payload or total mass of the vehicle. The load values can then be used for selecting different safety zones from a number of different tables of braking distance for different speeds or be calculated via Newtonian rules, each table representing a different payload range. Alternatively the payload figure can be used for selecting different values for calculating the braking distance or check the collision. A variant of the method is to have more than one payload sensor and from these inputs determine the gravitational centre and the total payload and use these values for selecting the safety zones or calculating the braking distance or the collision check.

[0020] The third aspect is to decide the payload, towing mass and braking distance from an acceleration and deceleration test. At various intervals, i.e. after every stop of a certain duration or similar, the robot will start driving with a known predetermined motor torque and from the motor/wheel encoder input it can calculate the acceleration of the vehicle. After a small acceleration the vehicle can apply a predetermined period of braking or free running and from the encoder input in this period calculate the deceleration. From the acceleration and deceleration figures the inclination/declination of the ground can be determined and based on this information the braking payload, towing mass, and braking distance can be calculated by the robot software.

[0021] Referring to FIG. 1A-1D there are shown flow diagrams, which reflect the steps carried out by the controller of the AGV in three alternative modes.

[0022] In accordance with FIG. 1A there is provided a solution to the problem of different braking distances with or without the vehicle towing a cart/trailer is to have a sensor which detects if a cart is attached or not. The sensor can be a simple proximity sensor which uses light (IR, laser or similar), capacitance, inductance or mechanical movement (switch). When the sensor indicates that a cart is attached the safety zones are increased to other preset values that reflect the larger braking distance or the values used for calculating the braking distance or check the collision is changed.

[0023] As shown in FIG. 1B the problem of higher braking distances when the vehicle has a heavy payload is solved by having a load sensor in the payload area of the vehicle or on the wheel suspension area which detects the mass of the payload or total mass of the vehicle. The load values can then be used for selecting different safety zones. Alternatively the payload figure can be used for selecting different values for calculating the braking distance or check the collision. A variant of the method is to have more than one payload sensor and from these inputs determine the gravitational centre and the total payload and use these values for selecting the safety zones or calculating the braking distance or the collision check.

[0024] In FIG. 1C, which constitute the third alternative, is to decide the payload or towing mass from an acceleration and deceleration test. At various intervals, i.e after every stop of a certain duration or similar, the robot will start driving with a known predetermined motor torque and from the motor/wheel encoder input it can calculate the acceleration of the vehicle. After a small acceleration the vehicle can apply a predetermined period of braking or free running and from the encoder input in this period calculate the deceleration. From the acceleration and deceleration figures the inclide/declide of the ground can be determined as well as the payload or towing mass.

[0025] The ground level inclination or declination can be calculated by performing an acceleration and a deceleration of the robot with known forces. By performing both an acceleration test followed immediately be a deceleration period of either free running or known braking force the levelness of the ground plane can be calculated, see FIGS. 2A-2C. The ratio between acceleration and deceleration visualized by the angle alpha is proportional to the inertia and thereby the mass of the robot including payload and/or attached cart. Hence by calculating alpha and determine for a given system the relationship between alpha and total mass the mass can be calculated from the acceleration and deceleration data.

[0026] An alternative to making both acceleration and deceleration tests is to only perform an acceleration test and combine this with data from a gyroscope sensor.

[0027] Referring to FIG. 3 there is shown a cart attached to the robot. The cart attaching mechanism has automatically made a coupling with the cart and transports it to a destination. In FIG. 2 the automatically guided vehicle is used for towing (or pushing) a wheeled cart having at least four wheels and provided with a cart frame, the vehicle comprising drive wheels; a robot body mounted on said drive wheels; a control system utilizing a navigational system; a cart attaching mechanism mounted on said robot body for coupling the cart to said vehicle; at least one proximity sensor mounted on the robot body, said control system coupled to said at least one proximity sensor for adjusting the calculated robotic position and detecting any obstacles. The cart attaching mechanism includes a trailer arm that is freely rotatable in a horizontal plane, said arm mounted in a pivot point on the robot body in one end and provided with a gripping portion in the other end for gripping and holding the cart to be towed. A proximity sensor placed on the rear side of the AGV may detect whether or not a cart is attached. A load detector placed below the cart may measure the load carried and transfer this information to the controller of the AVG to dynamically adjust the safety zones of the robot in order to match the increased brake distances.

[0028] The mobile robot of the present invention includes a chassis, a drive system disposed on the chassis and configured to maneuver the robot over a work surface. It may further comprises a control system connected to the drive system. Furthermore, the robot (AGV) may have a deck system including a payload deck configured to receive a removable payload.

[0029] For the sake of completeness it is noted that the present disclosure uses the term automatically guided vehicle (AGV) for any mobile robot having a navigation system, which may be guided by e.g. vision, magnets, geoguidance, gyroscope, and lasers. It is therefore understood that the term also comprises Autonomous Mobile Robots (AMR).