Modular multifunctional workcells for autonomous guided vehicle applications

Patent metadata

Field	Value
Publication number	US-11267653-B2
Application number	US-201916594700-A
Country	US
Kind code	B2
Filing date	Oct 7, 2019
Priority date	Oct 7, 2019
Publication date	Mar 8, 2022
Grant date	Mar 8, 2022

Abstract

Methods, systems, and apparatus for transporting workcells. In one aspect, a system includes a first fleet of AGVs that each include electro-mechanical interface that is adapted to (i) connect to or lift multiple different types of workcells and (ii) provide charging power to or receive charging power from multiple different types of workcells. A second fleet of multiple different types of workcells are each adapted to perform one or more particular tasks. A control system is configured to identify a set of tasks to be performed by the second fleet of workcells and, for each task, select a workcell to perform the task, select an AGV to transport the selected workcell to a location at which the task is to be performed, and provide, to the selected AGV, instructions that cause the selected AGV to transport the selected workcell to the location at which the task is to be performed.

First claim

The invention claimed is:

1. A method performed by one or more data processing apparatus, the method comprising:
identifying a set of tasks to be performed by a set of workcells, wherein each workcell is adapted to perform one or more particular tasks and at least one workcell performs a different task than each other workcell; and
for each task:
selecting a workcell to perform the task based at least on the one or more particular tasks that each workcell is adapted to perform;
selecting, from a set of autonomous guided vehicles (AGVs), an AGV to transport the selected workcell to a location at which the task is to be performed, wherein each AGV includes an electro-mechanical interface that is adapted to (i) connect to or lift multiple different types of workcells and (ii) provide charging power to or receive charging power from multiple different types of workcells; and
causing the selected AGV to transport the selected workcell to the location at which the task is to be performed and provide charging power to or receive charging power from the selected workcell,

wherein one or more of the workcells comprise a base having fork receiving areas for receiving forks of forklift AGVs, a tow hitch for receiving a tow pin of a tugger AGV, and a lift area for receiving a lifter AGV under the workcell.

2. The method of claim 1 , wherein one or more fork receiving areas, the tow hitch, and the lift area each comprise one or more connector pads that are electrically connected to one or more batteries of the workcell, wherein each connector pad is configured to contact a corresponding connector pad of each AGV when the AGV is transporting the workcell.

3. The method of claim 1 , further comprising determining a schedule that defines when each selected AGV will transport the selected workcell for each task based on (i) a location at which each workcell will be placed and (ii) physical limitations of navigating each AGV to the locations at which the tasks are to be performed.

4. The method of claim 1 , wherein each AGV is configured to communicate with each workcell.

5. The method of claim 1 , wherein the set of workcells includes at least one of a robot arm, a robot, a conveyor, or an inspection workcell.

6. A method, comprising:
identifying a set of tasks to be performed by a set of workcells, wherein each workcell is adapted to perform one or more particular tasks and at least one workcell performs a different task than each other workcell;
for each task:
selecting a workcell to perform the task based at least on the one or more particular tasks that each workcell is adapted to perform;
selecting, from a set of autonomous guided vehicles (AGVs), an AGV to transport the selected workcell to a location at which the task is to be performed, wherein each AGV includes an electro-mechanical interface that is adapted to (i) connect to or lift multiple different types of workcells and (ii) provide charging power to or receive charging power from multiple different types of workcells;
causing the selected AGV to transport the selected workcell to the location at which the task is to be performed and provide charging power to or receive charging power from the selected workcell; and

determining, for a particular AGV, whether to provide charging power to or receive charging power from a particular workcell that the particular AGV is transporting based on one or more of (i) a battery charge level of the AGV, (ii) a battery charge level of the particular workcell, or (iii) whether the particular workcell will receive power from another source at a location that the particular AGV will leave the workcell.

7. A method, comprising:
identifying a set of tasks to be performed by a set of workcells, wherein each workcell is adapted to perform one or more particular tasks and at least one workcell performs a different task than each other workcell;
for each task:
selecting a workcell to perform the task based at least on the one or more particular tasks that each workcell is adapted to perform;
selecting, from a set of autonomous guided vehicles (AGVs), an AGV to transport the selected workcell to a location at which the task is to be performed, wherein each AGV includes an electro-mechanical interface that is adapted to (i) connect to or lift multiple different types of workcells and (ii) provide charging power to or receive charging power from multiple different types of workcells;
causing the selected AGV to transport the selected workcell to the location at which the task is to be performed and provide charging power to or receive charging power from the selected workcell; and

for a particular task:
determining whether the selected workcell for the particular task can be left at the location at which the particular task is to be performed;
determining whether the selected workcell for the particular task has sufficient battery charge to complete the task; and
in response to determining that the selected workcell can be left at the location at which the particular task is to be performed, but that the selected workcell for the particular task does not have sufficient battery charge to complete the task, causing the selected AGV for the particular task to continue charging the selected workcell for the particular task while the task is being performed.

8. A method, comprising:
identifying a set of tasks to be performed by a set of workcells, wherein each workcell is adapted to perform one or more particular tasks and at least one workcell performs a different task than each other workcell; and
for each task:
selecting a workcell to perform the task based at least on the one or more particular tasks that each workcell is adapted to perform;
selecting, from a set of autonomous guided vehicles (AGVs), an AGV to transport the selected workcell to a location at which the task is to be performed, wherein each AGV includes an electro-mechanical interface that is adapted to (i) connect to or lift multiple different types of workcells and (ii) provide charging power to or receive charging power from multiple different types of workcells;
causing the selected AGV to transport the selected workcell to the location at which the task is to be performed and provide charging power to or receive charging power from the selected workcell,

wherein each AGV is configured to communicate with each workcell, and
wherein each AGV is configured to provide safety information to the workcell being transported by the AGV, wherein the safety information comprises instructions that cause moving parts of the workcell being transported by the AGV to remain stationary while the AGV is moving.

9. A system, comprising:
a first fleet of AGVs that each include electro-mechanical interface that is adapted to (i) connect to or lift multiple different types of workcells and (ii) provide charging power to or receive charging power from multiple different types of workcells;
a second fleet of multiple different types of workcells that are each adapted to perform one or more particular tasks, wherein at least one workcell in the second fleet performs a different task than each other workcell in the second fleet; and
a control system configured to:
identify a set of tasks to be performed by the second fleet of workcells;
for each task:
select a workcell to perform the task based at least on the one or more particular tasks that each workcell is adapted to perform;
select an AGV to transport the selected workcell to a location at which the task is to be performed; and
provide, to the selected AGV, instructions that cause the selected AGV to transport the selected workcell to the location at which the task is to be performed and provide charging power to or receive cha

Assignees

• Google Llc

Inventors

• Helsel Michael
• Lecky Ned
• Panga Avinash
• Morton Adam

Classifications

• G06Q10/083

  Shipping · CPC title

• B60L53/57

  Charging stations without connection to power networks · CPC title

• Y02T90/16

  Information or communication technologies improving the operation of electric vehicles · CPC title

• Y02T10/72

  Electric energy management in electromobility · CPC title

• B60L53/68

  Off-site monitoring or control, e.g. remote control · CPC title