The invention relates to a method for dynamically navigating an autonomous mobile robot. The method comprises the steps of: providing an area map relating to mapped elements having initial route implications; providing a planned robot route through said area map, wherein said planned robot route is based on circumnavigating at least some of said mapped elements according to said initial route implications; maneuvering said autonomous mobile robot through said planned robot route at least partly based on sensing robot surroundings of said autonomous robot using a sensory system of said autonomous mobile robot; sensing one or more sensed obstacles in said robot surroundings using said sensory system, wherein said one or more sensed obstacles differentiate from said mapped elements; reducing said initial route implications of at least some of said mapped elements to establish reduced route implications; and establishing a sensor-based sub route based on said reduced route implications.
Mobile robots that include a front, a rear, a left side, and a right side, the mobile robots comprising a chassis (115), a drive wheel (105) coupled to the chassis by a coupling that allows at least some vertical motion of the drive wheel relative to the chassis (115), a payload deck (110) disposed over the chassis (115) and coupled to the chassis by a coupling, and a mechanical link (162) that links the payload deck (110) to the coupling of the drive wheel (105) to the chassis (115). The coupling between the payload deck (110) and the chassis is rearward of the mechanical link (165).
B62D 24/00 - Connections between vehicle body and vehicle frame
B62D 61/04 - Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with two road wheels in tandem on the longitudinal centre line of the vehicle with two other wheels which are coaxial
An example method includes obtaining information about a path that an autonomous vehicle is to travel during movement of the autonomous vehicle through an environment, and generating a virtual envelope that surrounds the autonomous vehicle and that has at least two dimensions that are greater than two corresponding dimensions of the autonomous vehicle. A length of the virtual envelope along the path is based on at least one of (i) a predefined duration that the autonomous vehicle can travel along the path or (ii) a duration that the autonomous vehicle can travel along the path without stopping. A velocity of the autonomous vehicle is based on the virtual envelope.
G05D 1/242 - Means based on the reflection of waves generated by the vehicle (using passive navigation aids external to the vehicle G05D 1/244;using signals provided by artificial sources external to the vehicle G05D 1/247)
G05D 1/246 - using environment maps, e.g. simultaneous localisation and mapping [SLAM]
G05D 1/622 - Obstacle avoidance (predicting or avoiding probable or impending collision of road vehicles B60W 30/08)
An example method includes obtaining information about a path that an autonomous vehicle is to travel during movement of the autonomous vehicle through an environment, and generating a virtual envelope that surrounds the autonomous vehicle and that has at least two dimensions that are greater than two corresponding dimensions of the autonomous vehicle. A length of the virtual envelope along the path is based on at least one of (i) a predefined duration that the autonomous vehicle can travel along the path or (ii) a duration that the autonomous vehicle can travel along the path without stopping. A velocity of the autonomous vehicle is based on the virtual envelope.
Planning driving sequences of mobile robots and other devices. In one aspect, a method includes receiving an instruction for movement of a device along a supporting surface. The device includes at least one drive wheel and at least one caster that is rotatable about a generally vertical axis. During motion, the caster is configured to reorient so that an swivel joint of the caster to the device leads a wheel of the caster. The method also includes planning a drive instruction for the device to implement the instruction for movement based on an orientation or expected orientation of the at least one caster upon beginning of the movement. The drive instruction is tailored to the drive wheel and the caster of the device and configured to limit reorientation of the caster during motion in accordance with the drive instruction.
G05D 1/646 - Following a predefined trajectory, e.g. a line marked on the floor or a flight path
B62D 7/14 - Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
An autonomous mobile robot can include a body, at least one sensor configured to detect aspects of the environment in the vicinity of the autonomous mobile robot, and a control unit configured to process data received from the sensor to identify a position of a workpiece of the autonomous mobile robot and to define a safety field that has a position referenced to the position of the workpiece. The safety field is an area or a volume in which the presence of an object triggers a safety response by the autonomous mobile robot.
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
37 - Construction and mining; installation and repair services
38 - Telecommunications services
41 - Education, entertainment, sporting and cultural services
42 - Scientific, technological and industrial services, research and design
Goods & Services
The bringing together, for the benefit of others, of a variety of goods, namely indoor self-driving robots for industrial or commercial use, transportation robots, including by use of remote control, robots for use in industry, laboratory robots and transportation robots for use in hospitals, robotic vacuum cleaners, robots for transferring workpieces, including by use of remote control, mobile platforms (lifting), enabling consumers to conveniently compare and purchase those goods; the bringing together, for the benefit of others, of a variety of goods, namely unmanned transportation conveyors being cargo handling machines, including unmanned remote controlled transportation conveyors being cargo handling machines, automatic transportation systems, unmanned transportation conveyors, including unmanned remote controlled transportation conveyors, pallet jacks, enabling consumers to conveniently compare and purchase those goods; the bringing together, for the benefit of others, of a variety of goods, namely scientific, nautical, surveying, photographic, cinematographic, optical, weighing, measuring, signaling, checking (supervision), life-saving and teaching apparatus and instruments, none of the aforesaid goods for use in the field of diagnostic medical apparatus and instruments and telemedicine services, enabling consumers to conveniently compare and purchase those goods; the bringing together, for the benefit of others, of a variety of goods, namely apparatus for recording, transmission or reproduction of sound or images, magnetic data carriers, recording discs, data processing equipment, robot operated electric control apparatus, none of the aforesaid goods for use in the field of diagnostic medical apparatus and instruments and telemedicine services, enabling consumers to conveniently compare and purchase those goods; the bringing together, for the benefit of others, of a variety of goods, namely software, scanners, 3D scanners, cameras, 3D cameras, control apparatus, computer programs (downloadable software), computer programs (downloadable software) downloadable from global computer information network, none of the aforesaid goods for use in the field of diagnostic medical apparatus and instruments and telemedicine services, enabling consumers to conveniently compare and purchase those goods; the bringing together, for the benefit of others, of a variety of goods, namely unmanned transportation robots, including unmanned remote controlled transportation robots, unmanned conveying vehicles, including unmanned remote controlled conveying vehicles, unmanned transportation robots being cargo handling machines, automatic operated transport robots and conveying vehicles, forklift trucks, enabling consumers to conveniently compare and purchase those goods; the bringing together, for the benefit of others, of a variety of goods, namely downloadable software for controlling, monitoring, analyzing, programming, manufacturing, processing, handling and assembling goods, downloadable software for controlling, monitoring, analyzing, programming, manufacturing, processing, handling and assembling robots, robot parts and accessories, pallet jacks, forklift trucks, and automated machines, enabling consumers to conveniently compare and purchase those goods; the bringing together, for the benefit of others, of a variety of goods, namely downloadable software for use in cloud computing and data storage, cameras containing image sensors, cameras, electronic sensors for robots and robotic parts and accessories, namely, electronic sensors for measuring distance, position and proximity not for medical use, electronic sensors for measuring distance, position and proximity not for medical use, enabling consumers to conveniently compare and purchase those goods; the bringing together, for the benefit of others, of a variety of goods, namely computer hard drives for controlling, monitoring, analyzing, programming, manufacturing, processing, handling and assembling robots, robot parts and accessories, pallet jacks, forklift trucks, and automated machines, computer hard drives, electronic controllers for robots and component parts therefor, enabling consumers to conveniently compare and purchase those goods; the bringing together, for the benefit of others, of a variety of goods, namely electronic controlling devices for robots and component parts therefor, electrical integrated control systems for use in the field of robotics, routers, namely, computer network routers, protective covers for electric cables, LCD monitors display units for attaching to robots, enabling consumers to conveniently compare and purchase those goods; the bringing together, for the benefit of others, of a variety of services, namely installation, repair and maintenance services for robots, robot parts and accessories, transportation robots, robots for use in industry, laboratory robots and transportation robots for use in hospitals, robotic vacuum cleaners, robots for transferring workpieces, including by use of remote control, mobile platforms (lifting), enabling consumers to conveniently compare and purchase those services; the bringing together, for the benefit of others, of a variety of services, namely installation, repair and maintenance services for unmanned transportation conveyors being cargo handling machines, including unmanned remote controlled transportation conveyors being cargo handling machines, enabling consumers to conveniently compare and purchase those services; the bringing together, for the benefit of others, of a variety of services, namely installation, repair and maintenance services for automatic transportation systems, unmanned transportation conveyors, including unmanned remote controlled transportation conveyors, pallet jacks, forklift trucks, and automated machines, enabling consumers to conveniently compare and purchase those services; the bringing together, for the benefit of others, of a variety of services, namely repair of computer hardware in the fields of robotics, automated machines and industrial automation, enabling consumers to conveniently compare and purchase those services; the bringing together, for the benefit of others, of a variety of services, namely providing access to online communities in the fields of robotics and industrial automation, providing access to online communities' platforms in the fields of robotics and industrial automation, providing on-line chat rooms and electronic bulletin boards for transmission of messages among users in the fields of robotics and industrial automation, enabling consumers to conveniently compare and purchase those services; the bringing together, for the benefit of others, of a variety of services, namely providing online community forums in the fields of robotics and industrial automation for users to post, search, watch, share, critique, rate, and comment on, messages, news, comments, multimedia content, videos, movies, films, photos, audio content, animation, pictures, images, text, information, and user-generated and non-user generated content, enabling consumers to conveniently compare and purchase those services; the bringing together, for the benefit of others, of a variety of services, namely education services, namely, classes, seminars, workshops, and conferences in the fields of robotics and industrial automation and computer programming in the fields of robotics and industrial automation, enabling consumers to conveniently compare and purchase those services; the bringing together, for the benefit of others, of a variety of services, namely providing online training, namely, classes, seminars, workshops, and educational conferences in the fields of robotics and industrial automation and computer programming in the fields of robotics and industrial automation, enabling consumers to conveniently compare and purchase those services; the bringing together, for the benefit of others, of a variety of services, namely providing educational training, namely, classes, seminars, workshops, and conferences in the fields of robotics and computer programming in the fields of robotics and industrial automation, enabling consumers to conveniently compare and purchase those services; the bringing together, for the benefit of others, of a variety of services, namely installation, repair and maintenance of computer software in the fields of robotics, automated machines and industrial automation, enabling consumers to conveniently compare and purchase those services; the bringing together, for the benefit of others, of a variety of services, namely platform as a service (PaaS) featuring software for controlling, monitoring, analyzing, programming, manufacturing, processing, handling and assembling robots and industrial automation solutions, enabling consumers to conveniently compare and purchase those services; the bringing together, for the benefit of others, of a variety of services, namely software as a service (SaaS) in the fields of robotics and industrial automation, information technology, [IT] support services [troubleshooting of software] in the fields of robotics and industrial automation, enabling consumers to conveniently compare and purchase those services. Installation, repair and maintenance services for robots, robot parts and accessories, transportation robots, robots for use in industry, laboratory robots and transportation robots for use in hospitals, robotic vacuum cleaners, robots for transferring workpieces, including by use of remote control, mobile platforms (lifting), unmanned transportation conveyors being cargo handling machines, including unmanned remote controlled transportation conveyors being cargo handling machines; installation, repair and maintenance services for automatic transportation systems, unmanned transportation conveyors, including unmanned remote controlled transportation conveyors, pallet jacks, forklift trucks, and automated machines; repair of computer hardware in the fields of robotics, automated machines and industrial automation. Providing access to online communities in the fields of robotics and industrial automation, providing access to online communities' platforms in the fields of robotics and industrial automation; providing on-line chat rooms and electronic bulletin boards for transmission of messages among users in the fields of robotics and industrial automation; providing online community forums in the fields of robotics and industrial automation for users to post, search, watch, share, critique, rate, and comment on, messages, news, comments, multimedia content, videos, movies, films, photos, audio content, animation, pictures, images, text, information, and user-generated and non-user generated content. Education services, namely, classes, seminars, workshops, and conferences in the fields of robotics and industrial automation and computer programming in the fields of robotics and industrial automation; providing online training, namely, classes, seminars, workshops, and educational conferences in the fields of robotics and industrial automation and computer programming in the fields of robotics and industrial automation; providing educational training, namely, classes, seminars, workshops, and conferences in the fields of robotics and computer programming in the fields of robotics and industrial automation. Installation, repair and maintenance of computer software in the fields of robotics, automated machines and industrial automation; platform as a service (PaaS) featuring software for controlling, monitoring, analyzing, programming, manufacturing, processing, handling and assembling robots and industrial automation solutions; software as a service (SaaS) in the fields of robotics and industrial automation; information technology [IT] support services [troubleshooting of software] in the fields of robotics and industrial automation.
8.
CONTROL OF AN AUTOMATED GUIDED VEHICLE WITH FORKLIFT CAPABILITIES
The invention relates to a method for monitoring and controlling the navigation of an automated guided vehicle. The vehicle comprises a fork, a primary sensor, a secondary sensor, and a controller. The method comprises: monitoring movement of the vehicle in a normal mode between first position and second position and monitoring movement of the vehicle in an object handling mode between said second position and a target position. The monitoring in the object handling mode includes: establishing the change of distance between the vehicle and the object in two points in time based on distance obtained by the primary sensor, measuring a distance travelled by the vehicle during the two points in time by said secondary sensor, and comparing the change of distance and the measure distance and based on the comparing result determine if correction of the motion of the vehicle is needed.
The invention relates to a method of controlling an automated guided vehicle on a path between a start position and an object handle position. The control includes navigating the automated guided vehicle in a predefined corridor along a first part of said path, towards an alignment position. The control further includes navigating the automated guided vehicle, along a second part of said path, towards a docking start position, based on at least one predetermined navigation step. The control includes navigating said automated guided vehicle at least partly based on input from said primary sensor along a third part of said path and stopping movement of said automated guided vehicle when said automated guided vehicle is aligned with said object handle position.
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
Methods, systems, and non-transitory machine-readable media encoding instructions for managing a fleet of autonomous mobile robots in a facility. In one aspect, a computer-implemented system for managing a fleet of autonomous mobile robots in a facility can include a log of characteristics of cycle times of communications between the system and the autonomous mobile robots in the fleet over time, and an analysis component configured to determine, based on the logged characteristics of the cycle times, i) a location in a facility at which or ii) a time of day during which or iii) equipment used in communications between the system and the autonomous mobile robots in the plurality that are either inadequate or deficient. Each communications cycle includes wireless transmission of test signals to a plurality of the autonomous mobile robots in the fleet and receipt of responses to the test signals transmitted wirelessly from each of the autonomous mobile robots in the plurality.
The present invention provides a transport system comprising an Autonomous Mobile Robot (AMRs) (1) and the equipment to be moved (2), which can be operated safely and efficiently within an industrial/commercial environment, while the AMRs (1), as well as the equipment to be moved (2), can be produced in a cost-efficient way. A particular object of the invention is to: providing supporting members (4) of the equipment to be moved, which have no or only a negligible impact on the safety system, providing equipment to be moved (2) which can carry heavy payloads, preferably of hundreds and thousands of kilograms; providing a safety sensor system for an AMR, which can provide protective zones (5) around the AMR and the equipment to be moved and where the supporting members (4) of the equipment to be moved (2) have no or only a negligible impact on the safety of transportation. Another object of the invention is the correct attachment of the cart/shelf (2) to the AMR (1) is ensured before and during driving.
G05D 1/02 - Control of position or course in two dimensions
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
12.
A PALLET HANDLING SYSTEM AND A METHOD FOR HANDLING PALLETS
Disclosed is a pallet handling system (1) comprising a pallet rack (2) including three support means (3, 4, 5) being parallel in a longitudinal direction of the three support means (3, 4, 5), wherein each of the three support means (3, 4, 5) comprises one or more upper support surfaces (6) being substantially horizontally level. The three support means (3, 4, 5) are connected to one or more support structures (7) arranged for suspending the three support means (3, 4, 5) above a ground level (20), wherein the three support means (3, 4, 5) comprises first support means (3), second support means (4) and third support means (5) of which the second support means (4) are arranged between the first and third support means (5). The second support means (4) are formed as a lever having a second support connection end (8) being connected to at least one of the one or more support structures (7) and a second support free end (9) and wherein said second support means (4) has a width (SSW) of between 140 and 5 mm and preferably between 120 and 20 mm. The pallet handling system (1) also includes an automated guided vehicle (10) comprising a pallet lifting device (11) having at least two upper lifting surfaces (12, 13), wherein the at least two upper lifting surfaces (12, 13) are separated by a slit (14) along a middle part of the pallet lifting device (11) so that a first upper lifting surface (12) of the at least two upper lifting surfaces (12, 13) fits between the first support means (3) and the second support means (4) and so that a second upper lifting surface (13) of the at least two upper lifting surfaces (12, 13) fits between the second support means (4) and the third support means (5), and wherein the slit (14) is arranged to accommodate the second support means (4). A method for handling pallets (21) is also disclosed.
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control (DNC), flexible manufacturing systems (FMS), integrated manufacturing systems (IMS), computer integrated manufacturing (CIM)
B66F 7/28 - Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
A gripping system for an autonomous guided vehicle (AGV) and such AGV are disclosed herein. The gripping system for automated gripping and pulling/pushing a cart comprises a unique gripping end effector ensuring controlled steering of the cart while allowing rolling of the cart relative to the body of the AGV. The end effector comprises means for indication of state of connection between the cart and the gripping system, ensuring a reliable, safe and efficient cart gripping and pulling operation.
The invention relates to a method for detecting an occurring deadlock conflict in a robot fleet of autonomous mobile robots. The method comprises the steps of: designating a plurality of robot resource zones to respective physical zones in a physical environment; operating said robot fleet such that autonomous mobile robots of said robot fleet individually and dynamically block different resource zones of said plurality of robot resource zones; monitoring said robot fleet to identify deadlock- relevant robot states associated with at least two mobile robots of said robot fleet, wherein said at least two mobile robots comprises at least a first robot and a second robot; and identifying that said first robot is being operated towards a resource zone of said plurality of robot resource zones blocked by said second robot to detect said occurring deadlock conflict. The invention further relates to a deadlock detection system.
The invention relates to a method for dynamically navigating an autonomous mobile robot. The method comprises the steps of: providing an area map relating to mapped elements having initial route implications; providing a planned robot route through said area map, wherein said planned robot route is based on circumnavigating at least some of said mapped elements according to said initial route implications; maneuvering said autonomous mobile robot through said planned robot route at least partly based on sensing robot surroundings of said autonomous robot using a sensory system of said autonomous mobile robot; sensing one or more sensed obstacles in said robot surroundings using said sensory system, wherein said one or more sensed obstacles differentiate from said mapped elements; reducing said initial route implications of at least some of said mapped elements to establish reduced route implications; and establishing a sensor-based sub route based on said reduced route implications.
An example system includes a body having wheels to move along a surface, a laser-based scanner on the body to output a beam in a plane, a camera on the body to capture an image of an area in which the beam intersects an object, and one or more processing devices to determine whether at least part of the laser-based scanner is misaligned based on the image.
An example system includes a body having wheels to move along a surface, a laser-based scanner on the body to output a beam in a plane, a camera on the body to capture an image of an area in which the beam intersects an object, and one or more processing devices to determine whether at least part of the laser-based scanner is misaligned based on the image.
G01C 11/08 - Interpretation of pictures by comparison of two or more pictures of the same area the pictures not being supported in the same relative position as when they were taken
A chassis for an autonomous mobile robot comprises a moulded frame having a stable support for any payload or additional machinery loaded on top of the mobile robot, while ensuring a rigidity of the chassis which again ensures that the supporting elements for the sensors are kept in a stable position relative to each other. The chassis has several separated compartments for EEE placement. These EEE compartments are accessible from the sides and ends of the mobile robot by removing detachable cover parts. A removable top cover is mounted on top of the moulded frame providing a top covering for central inside compartment and outside side compartments. Side covers and end covers are provided for outside compartments and are removable.
B62D 21/18 - Understructures, i.e. chassis frame on which a vehicle body may be mounted characterised by the vehicle type and not provided for in groups
Planning driving sequences of mobile robots and other devices. In one aspect, a method includes receiving an instruction for movement of a device along a supporting surface. The device includes at least one drive wheel and at least one caster that is rotatable about a generally vertical axis. During motion, the caster is configured to reorient so that an swivel joint of the caster to the device leads a wheel of the caster. The method also includes planning a drive instruction for the device to implement the instruction for movement based on an orientation or expected orientation of the at least one caster upon beginning of the movement. The drive instruction is tailored to the drive wheel and the caster of the device and configured to limit reorientation of the caster during motion in accordance with the drive instruction.
B62D 7/15 - Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
The present invention relates to a basic mobile robot (1) where the weight on the drive wheels (6) can be adjusted in order to achieve the optimal traction and braking performance of the mobile robot (1) for the relevant application. With the inventive design of the bogie arm (4) and the modular traction weights (9), the gravitation forces and resulting friction acting on the drive wheels (6) can be increased by attaching one or more traction weight modules (13) to the bogie arm extensions (12), while due to the cantilever effect, the resulting gravitation forces acting on the (front) caster wheels (7) are decreased. Thus, making it relatively easy to achieve just enough traction on the drive wheels (6) for the intended application, without compromising safety and with a minimum impact on the overall energy efficiency of the mobile robot (1). The mobile robot (1) is configurable for different applications including transportation of goods loaded on top of the mobile robot (1), cart pulling or automated hauling of materials indoors.
B62D 61/10 - Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
An autonomous mobile robot can include a body, at least one sensor configured to detect aspects of the environment in the vicinity of the autonomous mobile robot, and a control unit configured to process data received from the sensor to identify a position of a workpiece of the autonomous mobile robot and to define a safety field that has a position referenced to the position of the workpiece. The safety field is an area or a volume in which the presence of an object triggers a safety response by the autonomous mobile robot.
Methods, systems, and non-transitory machine-readable media encoding instructions for managing a fleet of autonomous mobile robots in a facility. In one aspect, a computer-implemented system for managing a fleet of autonomous mobile robots in a facility can include a log of characteristics of cycle times of communications between the system and the autonomous mobile robots in the fleet over time, and an analysis component configured to determine, based on the logged characteristics of the cycle times, i) a location in a facility at which or ii) a time of day during which or iii) equipment used in communications between the system and the autonomous mobile robots in the plurality that are either inadequate or deficient. Each communications cycle includes wireless transmission of test signals to a plurality of the autonomous mobile robots in the fleet and receipt of responses to the test signals transmitted wirelessly from each of the autonomous mobile robots in the plurality.
An example system includes a positioning surveillance system (PSS) to identify locations of objects that are movable throughout a space. The PSS is configured to identify the locations without requiring a line-of-sight between the objects. A control system is configured to determine distances based on the locations of the objects in the space and to communicate information to the objects that is based on the distances. The information is usable by the objects for collision avoidance.
An example system includes a positioning surveillance system (PSS) to identify locations of objects that are movable throughout a space. The PSS is configured to identify the locations without requiring a line-of-sight between the objects. A control system is configured to determine distances based on the locations of the objects in the space and to communicate information to the objects that is based on the distances. The information is usable by the objects for collision avoidance.
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.
B60T 8/1755 - Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
B60T 7/22 - Brake-action initiating means for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle
B60T 8/17 - Using electrical or electronic regulation means to control braking
A gripping system for an autonomous guided vehicle (AGV) and such AGV are disclosed herein. The gripping system for automated gripping and pulling/pushing a cart comprises a unique gripping end effector ensuring controlled steering of the cart while allowing rolling of the cart relative to the body of the AGV. The end effector comprises means for indication of state of connection between the cart and the gripping system, ensuring a reliable, safe and efficient cart gripping and pulling operation.
An example system includes a sensor for obtaining information about an object in an environment and one or more processing devices configured to use the information in generating or updating a map of the environment. The map includes the object and boundaries or landmarks in the environment. The map includes a static score associated with the object. The static score represents a likelihood that the object will remain immobile within the environment. The likelihood may be between certain immobility and certain mobility.
An example system includes a sensor for obtaining information about an object in an environment and one or more processing devices configured to use the information in generating or updating a map of the environment. The map includes the object and boundaries or landmarks in the environment. The map includes a static score associated with the object. The static score represents a likelihood that the object will remain immobile within the environment. The likelihood may be between certain immobility and certain mobility.
An example autonomous device is configured to detect objects within a vicinity of the autonomous device. The autonomous device is configured to move along a surface. The autonomous device includes a body, at least one long-range sensor on the body configured for detection in a first field, and at least one short-range sensor on the body. Each short-range sensor is configured for detection in a second field directed towards the surface. The second field is smaller than the first field. Each short-range sensor is configured to output signals based on detection of an object within the second field. A control system is configured to control movement of the autonomous device based, at least in part, on the signals.
A chassis for an autonomous mobile robot comprises a moulded frame having a stable support for any payload or additional machinery loaded on top of the mobile robot, while ensuring a rigidity of the chassis which again ensures that the supporting elements for the sensors are kept in a stable position relative to each other. The chassis has several separated compartments for EEE placement. These EEE compartments are accessible from the sides and ends of the mobile robot by removing detachable cover parts. A removable top cover is mounted on top of the moulded frame providing a top covering for central inside compartment and outside side compartments. Side covers and end covers are provided for outside compartments and are removable.
B62D 29/04 - Superstructures characterised by material thereof predominantly of synthetic material
B62D 21/18 - Understructures, i.e. chassis frame on which a vehicle body may be mounted characterised by the vehicle type and not provided for in groups
There is provided a system and method for evacuating one or more mobile robots from a confined area. The system and method involve one or more mobile robots equipped with sensors or receivers for receiving evacuation commands directing the one or more mobile robots to leave the evacuation area and enter a location outside the evacuation area.
The present invention provides a transport system comprising an Autonomous Mobile Robot (AMRs) (1) and the equipment to be moved (2), which can be operated safely and efficiently within an industrial/commercial environment, while the AMRs (1), as well as the equipment to be moved (2), can be produced in a cost-efficient way. A particular object of the invention is to: providing supporting members (4) of the equipment to be moved, which have no or only a negligible impact on the safety system, providing equipment to be moved (2) which can carry heavy payloads, preferably of hundreds and thousands of kilograms; providing a safety sensor system for an AMR, which can provide protective zones (5) around the AMR and the equipment to be moved and where the supporting members (4) of the equipment to be moved (2) have no or only a negligible impact on the safety of transportation. Another object of the invention is the correct attachment of the cart/shelf (2) to the AMR (1) is ensured before and during driving.
G05D 1/02 - Control of position or course in two dimensions
B66F 5/00 - Mobile jacks of the garage type mounted on wheels or rollers
G01S 17/00 - Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
The present invention relates to a basic mobile robot (1) where the weight on the drive wheels (6) can be adjusted in order to achieve the optimal traction and braking performance of the mobile robot (1) for the relevant application. With the inventive design of the bogie arm (4) and the modular traction weights (9), the gravitation forces and resulting friction acting on the drive wheels (6) can be increased by attaching one or more traction weight modules (13) to the bogie arm extensions (12), while due to the cantilever effect, the resulting gravitation forces acting on the (front) caster wheels (7) are decreased. Thus, making it relatively easy to achieve just enough traction on the drive wheels (6) for the intended application, without compromising safety and with a minimum impact on the overall energy efficiency of the mobile robot (1). The mobile robot (1) is configurable for different applications including transportation of goods loaded on top of the mobile robot (1), cart pulling or automated hauling of materials indoors.
A system comprises a computing system configured to identify an event in an area between a first location and a second location and to adjust, based on the event, content of a cost map containing a representation of one or more routes between the first location and the second location. The system also includes an autonomous device configured to move between the first location and the second location based on the cost map.
An example system includes a computing system configured to identify an event in an area between a first location and a second location and to adjust, based on the event, content of a cost map containing a representation of one or more routes between the first location and the second location. The system also includes an autonomous device configured to move between the first location and the second location based on the cost map.
An example autonomous device is configured to move within a space. The autonomous device includes a first system to detect a first location of the autonomous device within the space, with the first location being based on a first fixed reference; a second system to detect a second location of the autonomous device within the space, with the second location being based on a second fixed reference; and a third system to detect a third location of the autonomous device within the space based on relative movements of the autonomous device. One or more processing devices are configured to select one of the first location or the second location based on reliability of at least one of the first location or the second location, and to control movement of the autonomous device using an estimated location that is based on the third location and the selected one of the first location or the second location.
An example autonomous device is configured to move within a space. The autonomous device includes a first system to detect a first location of the autonomous device within the space, with the first location being based on a first fixed reference; a second system to detect a second location of the autonomous device within the space, with the second location being based on a second fixed reference; and a third system to detect a third location of the autonomous device within the space based on relative movements of the autonomous device. One or more processing devices are configured to select one of the first location or the second location based on reliability of at least one of the first location or the second location, and to control movement of the autonomous device using an estimated location that is based on the third location and the selected one of the first location or the second location.
G05D 1/02 - Control of position or course in two dimensions
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers
G01S 17/86 - Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
G01S 17/48 - Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
Goods & Services
Robots; transportation robots, including by use of remote
control; robots for use in industry; transportation robots
for use in hospitals; robotic vacuum cleaners; robots for
transferring workpieces, including by use of remote control;
mobile platforms (lifting); unmanned transportation
conveyors being cargo handling machines, including unmanned
remote controlled transportation conveyors being cargo
handling machines; automatic conveyor installations;
unmanned transportation conveyors, including unmanned remote
controlled transportation conveyors. Data processing equipment for use with transportation
robots, conveying vehicles and robots for use in industry;
robot operated scanners, 3D scanners, cameras, 3D cameras
for use with transportation robots, conveying vehicles and
robots for use in industry; control apparatus for use with
transportation robots, conveying vehicles and robots for use
in industry; computer programs (downloadable software) for
use with transportation robots, conveying vehicles and
robots for use in industry; computer programs (downloadable
software) downloadable from global computer information
network for use with transportation robots, conveying
vehicles and robots for use in industry; none of the
aforesaid goods for use in the field of diagnostic medical
apparatus and instruments and telemedicine services;
laboratory robots. Vehicles in the form of unmanned transportation robots,
including unmanned remote controlled transportation robots;
unmanned conveying vehicles, including unmanned remote
controlled conveying vehicles; vehicles in the form of
unmanned transportation robots being cargo handling
machines; vehicles in the form of automatically operated
transport robots and conveying vehicles.
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.
B60T 8/18 - Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle weight or load, e.g. load distribution
B60T 8/17 - Using electrical or electronic regulation means to control braking
B60T 8/00 - Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
B60T 7/22 - Brake-action initiating means for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle
B60T 17/22 - Devices for monitoring or checking brake systems; Signal devices
An example system includes an autonomous device. The system includes a movement assembly to move the autonomous device, memory storing information about classes of objects and storing rules governing operation of the autonomous device based on a class of an object in a path of the autonomous device, one or more sensors to detect at least one attribute of the object, and one or more processing devices. The one or more processing devices determine the class of the object based on the at least one attribute, execute a rule to control the autonomous device based on the class, and control the movement assembly based on the rule.
An example autonomous device is configured to detect objects within a vicinity of the autonomous device. The autonomous device is configured to move along a surface. The autonomous device includes a body, at least one long-range sensor on the body configured for detection in a first field, and at least one short-range sensor on the body. Each short-range sensor is configured for detection in a second field directed towards the surface. The second field is smaller than the first field. Each short-range sensor is configured to output signals based on detection of an object within the second field. A control system is configured to control movement of the autonomous device based, at least in part, on the signals.
There is provided a system and method for evacuating one or more mobile robots from a confined area. The system and method involve one or more mobile robots equipped with sensors or receivers for receiving evacuation commands directing the one or more mobile robots to leave the evacuation area and enter a location outside the evacuation area.
G08G 1/00 - Traffic control systems for road vehicles
G08B 7/06 - Signalling systems according to more than one of groups ; Personal calling systems according to more than one of groups using electric transmission
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
Goods & Services
Robots, namely, industrial robots; robots for use in industry; robotic vacuum cleaners; mobile platforms, namely, elevating and lifting work platforms; unmanned transportation conveyors being cargo handling machines; unmanned remote controlled transportation conveyors being cargo handling machines; automatic conveyor installations, namely, machines for use in moving equipment in the nature of linear motion machines for moving objects; unmanned transportation conveyors, namely, conveyers being machines; unmanned remote controlled transportation conveyors, namely, assembly line conveyors Data processing equipment for use with robotic transport vehicles and robots for use in industry; robot operated scanners, namely, robot operated electric control devices for steering and tracking robots for use in industry; 3D scanners, cameras, and 3D cameras for use with robotic transport vehicles and for use with robots for use in industry; robot operated electronic apparatus for the remote control of steering and tracking industrial transportation robots, robotic transport vehicles and robots for use in industrial operations; computer programs, namely, downloadable software for controlling, tracking, steering, navigation, configuration, optimization, and traffic flow coordination for use with transportation robots, in the nature of industrial transportation robots, robotic transport vehicles and robots for use in industry; computer programs, namely, downloadable software from a global computer network for controlling, tracking, steering, navigation, configuration, optimization, and traffic flow coordination for use with transportation robots, in the nature of industrial transportation robots, industrial robots and robotic transport vehicles, and robots for use in industry; none of the aforesaid goods for use in the field of diagnostic medical apparatus and instruments and telemedicine services; laboratory robots Vehicles in the form of unmanned transportation robots, namely, robotic transport vehicles; Unmanned remote controlled transportation robots, namely, robotic transport vehicles; unmanned conveying vehicles in the nature of robotic transport vehicles; unmanned remote controlled conveying vehicles in the nature of robotic transport vehicles; vehicles in the form of unmanned transportation robots being cargo handling machines in the nature of unmanned robotic transport vehicles; vehicles in the form of automatically operated transport robots and conveying vehicles, namely, robotic transport vehicles
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
Goods & Services
Robot; Transportation robots, Including for remote control; Industrial robots, Laboratory robots and transport robots for use in hospitals; Robotic vacuum cleaners; Robots for transferring workpieces, Including for remote control; Mobile platforms [lifting]; Unmanned transportation conveyors being cargo handling machines, Including unmanned remote controlled transport machines for handling goods; Automatic conveyor installations; Unmanned transportation conveyors, Including unmanned remote controlled conveyors. Data processing equipment for use in transport robots, transport vehicles and robots for industrial use; Robotic electrical control apparatus, Software, Image scanners, 3D scanners, Cameras, 3D cameras for use in transport robots, transport vehicles and robots for industrial use; Control apparatus for use in transport robots, transport vehicles and robots for industrial use; Downloadable computer programs for use in transport robots, transport vehicles and robots for industrial use; Computer software downloadable from global computer information networks for use in transport robots, transport vehicles and robots for industrial use; None of the aforesaid goods being for use in relation to diagnostic medical apparatus and instruments and telemedicine. Vehicles in the form of unmanned transportation robots, Including unmanned remote controlled transport robots; unmanned conveying vehicles, Including unmanned remote controlled transport vehicles; vehicles in the form of unmanned transport robots being cargo handling machines; Vehicles in the form of automatically controlled transport robots and transport vehicles.
48.
Robotic cart pulling vehicle for automated pulling of carts
There is provided a robotic cart pulling vehicle for automated docking and pulling a cart, such as a wheeled hospital cart for e.g. linen. In particular the vehicle is provided with a unique gripping means for holding the cart. Furthermore, the robotic vehicle implements a positioning system for safely driving on hospital corridors and further comprises one or more sensors to indicate the position of the robot relative to the surroundings for avoiding unnecessary impacts.
B60D 1/24 - Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
B60D 1/62 - Auxiliary devices involving supply lines, electric circuits, or the like
B60D 1/44 - Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions for being adjustable horizontally
G05D 1/02 - Control of position or course in two dimensions
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
Goods & Services
(1) Industrial robots for cargo handling in offices, hospitals, medical clinics, libraries, post offices, warehouses, automotive industry, pharmaceutical industry; industrial robots, namely conveying machines; unmanned industrial robots for conveying of food, beverages, medicines, sanitary articles, luggage, letters and parcels; robots for use in industry, namely, cargo handling robots for use in corporate offices, hospitals, libraries, medical clinics, post offices, warehouses; industrial robots for sewing and welding; industrial robots for working glass, metal, plastic material and wood; labelling robots; meat processing robots; robotic arms for assembling, drilling, loading, packaging, palletizing, sanding and buffing, and dispensing machines; robotic welding machines; robots and robotic arms for glassware manufacturing and lumbering; unmanned robots being cargo handling machines; robotic vacuum cleaners; mobile lifting platforms for industrial use; unmanned transportation conveyors being cargo handling machines, namely unmanned remote controlled transportation conveyors being cargo handling machines; unmanned transportation conveyors, namely unmanned remote controlled transportation conveyors; Unmanned transportation robots and driverless transporter vehicles namely, cargo handling machines
(2) Data processing equipment, namely computers for conveyors and mobile industrial robots, not for use in the field of diagnostic medical apparatus and instruments and telemedicine services; robot-operated electric control apparatus for the remote control of industrial transportation robots, not for use in the field of diagnostic medical apparatus and instruments and telemedicine services; scanners, namely computer scanners, image scanners, laser scanners and 3D scanners, cameras, 3D cameras, not for use in the field of diagnostic medical apparatus and instruments and telemedicine services.
(3) Unmanned industrial transportation robots, namely driverless transporter vehicles, namely unmanned remote controlled robots; unmanned remote controlled conveying vehicles, namely unmanned aerial vehicles, unmanned ground vehicles and unmanned underwater vehicles; Automatic operated transport robots and conveying vehicles, namely automatic guided vehicles, self-driving robots for delivery and transport robot vehicles for use in warehouses; remote controlled transportation robots for use in hospitals and laboratories; automated cargo handling transportation robots for use in hospitals and laboratories; remote controlled transportation robots for moving equipment for use in offices, hospitals, medical clinics, libraries, post offices, warehouses, automotive industry and pharmaceutical industry.
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
Goods & Services
Robots, transportation robots (for use in moving equipment),
including by use of remote control; robots for use in
industry, and transportation robots being robotic mechanisms
[machines] for use in hospitals and laboratories; robotic
vacuum cleaners; robots for transferring workpieces,
including by use of remote control; mobile platforms
(lifting), unmanned transportation conveyors being cargo
handling machines, including unmanned remote controlled
transportation conveyors being cargo handling machines;
automatic transportation systems (machines for use in moving
equipment); unmanned transportation conveyors, including
unmanned remote controlled transportation conveyors. Scientific, nautical, surveying, photographic,
cinematographic, optical, weighing, measuring, signalling,
checking (supervision), life-saving and teaching apparatus
and instruments; apparatus for recording, transmission or
reproduction of sound or images; magnetic data carriers,
recording discs; data processing equipment; robot operated
electric control apparatus, software, scanners, 3D scanners,
cameras, 3D cameras; control apparatus; computer programs
(downloadable software), computer programs (downloadable
software) downloadable from global computer information
network; none of the aforesaid goods for use in the field of
diagnostic medical apparatus and instruments and
telemedicine services. Unmanned transportation robots (driverless transporter
vehicles), including unmanned remote controlled
transportation robots; unmanned conveying vehicles,
including unmanned remote controlled conveying vehicles;
unmanned transportation robots [driverless transporter
vehicles] being cargo handling machines; automatic operated
transport robots and conveying vehicles.
51.
ROBOTIC CART PULLING VEHICLE FOR AUTOMATED PULLING OF CARTS
There is provided a robotic cart pulling vehicle (2) for automated docking and pulling a cart (3), such as a wheeled hospital cart for e.g. linen. In particular the vehicle (2) is provided with a unique gripping means (1) for holding the cart (3). Furthermore, the robotic vehicle (2) implements a positioning system for safely driving on hospital corridors and further comprises one or more sensors to indicate the position of the robot (2) relative to the surroundings for avoiding unnecessary impacts.
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
Goods & Services
Robots, namely industrial robots, industrial transportation robots for use in moving equipment, including by use of remote control; robots for use in industry and industrial transportation robots being robotic mechanisms for use in hospitals and laboratories; robotic vacuum cleaners; industrial robots for transferring workpieces, including by use of remote control; mobile platforms, namely elevating or lifting work platforms, unmanned transportation conveyors being cargo handling machines, including unmanned remote controlled transportation conveyors being cargo handling machines; automatic transportation systems, namely machines for use in moving equipment in the nature of linear motions machines for moving objects; unmanned transportation conveyors, including unmanned remote controlled transportation conveyors Optical apparatus and instruments, namely cameras, wireless receivers and transmitters; technical measuring, testing and checking apparatus and instruments for measuring, testing and checking the temperature, pressure, quantity and concentration of gas and liquids; weighing apparatus and instruments; apparatus for recording, transmission or reproduction of sound or images; robot operated electric control apparatus for steering and tracking industrial transportation robots; scanners, 3D scanners, cameras, 3D cameras; none of the aforesaid goods for use in the field of diagnostic medical apparatus and instruments and telemedicine services Unmanned transportation robots, namely robotic transport vehicles; unmanned remote controlled transportation robots; unmanned conveying vehicles namely robotic transport vehicles; unmanned remote controlled conveying vehicles; automatic operated transport robots and conveying vehicles, namely robotic transport vehicles
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
Goods & Services
Robots, transportation robots, including by use of remote control; robots for use in indutry, laboratory robots and transportation robots for use in hospitals; robotic vacuum cleaners; robots for transferring workpieces, including by use of remote control; mobile platforms (lifting), unmanned transportation conveyors being cargo handling machines, including unmanned remote controlled transportation conveyors being cargo handling machines; automatic transportation systems; unmanned transportation conveyors, including unmanned remote controlled transportation conveyors. Scientific, nautical, surveying, photographic, cinematographic, optical, weighing, measuring, signalling, checking (supervision), life-saving and teaching apparatus and instruments; apparatus for recording, transmission or reproduction of sound or images; magnetic data carriers, recording discs; data processing equipment; robot operated electric control apparatus, software, scanners, 3D scanners, cameras, 3D cameras; control apparatus; computer programs (downloadable software), computer programs (downloadable software) downloadable from global computer information network; none of the aforesaid goods for use in the fiels of diagnostic medical apparatus and instruments and telemedicine services. Unmanned transportation robots, including unmanned remote controlled transportation robots; unmanned conveying vehicles, including unmanned remote controlled conveying vehicles; unmanned transportation robots being cargo handling machines; automatic operated transport robots and conveying vehicles.
