Modular multifunctional workcells for autonomous guided vehicle applications

Patent metadata

Field	Value
Publication number	US-11718478-B2
Application number	US-202217591471-A
Country	US
Kind code	B2
Filing date	Feb 2, 2022
Priority date	Oct 7, 2019
Publication date	Aug 8, 2023
Grant date	Aug 8, 2023

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
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), a particular 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 connect to or lift one or more types of workcells, and wherein selecting the AGV comprises selecting the particular AGV from one or more AGVs for which the electro-mechanical interface of each of the one or more AGVs is adapted to connect to or lift the workcell selected to perform the task; 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.

2. The method of claim 1 , wherein selecting the AGV to transport the selected workcell comprises:
identifying the one or more AGVs for which the electro-mechanical interface of each of the one or more AGVs is adapted to connect to or lift the workcell selected to perform the task; and
selecting the particular AGV based on a respective location of each of the one or more AGVs and the location at which the task is to be performed.

3. The method of claim 1 , wherein selecting the AGV to transport the selected workcell comprises:
identifying the one or more AGVs for which the electro-mechanical interface of each of the one or more AGVs is adapted to connect to or lift the workcell selected to perform the task; and
selecting the particular AGV based on a respective location of each of the one or more AGVs and the location of the selected workcell.

4. The method of claim 1 , wherein selecting the AGV to transport the selected workcell comprises:
identifying the one or more AGVs for which the electro-mechanical interface of each of the one or more AGVs is adapted to connect to or lift the workcell selected to perform the task; and
selecting the particular AGV based on a charge level of a battery of the particular AGV and a charge level of a battery of the selected workcell.

5. The method of claim 4 , wherein selecting the workcell and selecting the particular AGV comprises selecting the workcell and the particular AGV such that a largest number of tasks are completed per unit charge of each battery of each workcell in the set of workcells and each battery of each AGV in the set of AGVs.

6. The method of claim 1 , wherein selecting the workcell comprises selecting the workcell based further on (i) the location at which the task is to be performed, (ii) a current location of each workcell in the set of workcells, and (iii) a status of each workcell in the set of workcells.

7. The method of claim 1 , wherein selecting the workcell comprises selecting the workcell based further on a task that the workcell is currently performing and a charge level of a battery of the workcell.

8. A system, comprising:
a first fleet of AGVs that each include electro-mechanical interface that is adapted connect to or lift one or more types of workcells;
a second fleet of multiple different types of workcells that are each adapted to perform one or more particular tasks; and
a control system configured to,
identify 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
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, from a set of autonomous guided vehicles (AGVs), a particular 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 connect to or lift one or more types of workcells, and wherein selecting the AGV comprises selecting the particular AGV from one or more AGVs for which the electro-mechanical interface of each of the one or more AGVs is adapted to connect to or lift the workcell selected to perform the task, and
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 charging power from the selected workcell.

9. The system of claim 8 , wherein selecting the AGV to transport the selected workcell comprises:
identifying the one or more AGVs for which the electro-mechanical interface of each of the one or more AGVs is adapted to connect to or lift the workcell selected to perform the task; and
selecting the particular AGV based on a respective location of each of the one or more AGVs and the location at which the task is to be performed.

10. The system of claim 8 , wherein selecting the AGV to transport the selected workcell comprises:
identifying the one or more AGVs for which the electro-mechanical interface of each of the one or more AGVs is adapted to connect to or lift the workcell selected to perform the task; and
selecting the particular AGV based on a respective location of each of the one or more AGVs and the location of the selected workcell.

11. The system of claim 8 , wherein selecting the AGV to transport the selected workcell comprises:
identifying the one or more AGVs for which the electro-mechanical interface of each of the one or more AGVs is adapted to connect to or lift the workcell selected to perform the task; and
selecting the particular AGV based on a charge level of a battery of the particular AGV and a charge level of a battery of the selected workcell.

12. The system of claim 11 , wherein selecting the workcell and selecting the particular AGV comprises selecting the workcell and the particular AGV such that a largest number of tasks are completed per unit charge of each battery of each workcell in the set of workcells and each battery of each AGV in the set of AGVs.

13. The system of claim 8 , wherein selecting the workcell comprises selecting the workcell based further on (i) the location at which the task is to be performed, (ii) a current location of each workcell in the set of workcells, and (iii) a status of each workcell in the set of workcells.

14. The system of claim 8 , wherein selecting the workcell comprises selecting the workcell based further on a task that the workcell is currently performing and a charge level of a battery of the workcell.

15. A non-transitory computer readable storage medium carrying instructions that, when executed by one or more processors, cause the one or more processors to perform operations 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
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), a particular 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 connect to or lift one or more types of workcells, and wherein selecting the AGV comprises selecting the particular AGV from one or more AGVs for which the electro-mechanical interface of each of the one or more AGV

Assignees

• Google Llc

Inventors

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

Classifications

• G05D1/0259 Primary

  using magnetic or electromagnetic means · CPC title

• G05D1/0214

  in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13) · CPC title

• G05D1/0278

  using satellite positioning signals, e.g. GPS · CPC title

• G05D1/0276

  using signals provided by a source external to the vehicle (involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058) · CPC title

• G05D1/0225

  involving docking at a fixed facility, e.g. base station or loading bay (parking aids B62D15/027) · CPC title