Safeguard enclosure and method of operating an autonomous part processing system

Patent metadata

Field	Value
Publication number	US-12384061-B2
Application number	US-202318159225-A
Country	US
Kind code	B2
Filing date	Jan 25, 2023
Priority date	Jan 25, 2023
Publication date	Aug 12, 2025
Grant date	Aug 12, 2025

Abstract

A safeguard enclosure of an autonomous part processing system for enclosing an autonomous guided vehicle (AGV) is provided. The safeguard enclosure includes a frame having panels defining an enclosed space. The frame has an opening allowing the AGV to enter and exit the enclosed space. The frame surrounds a parking spot for the AGV in the enclosed space. The safeguard enclosure includes a safety system for controlling operation of the AGV. The safety system includes an AGV location sensor configured to detect presence of the AGV at the parking spot. The safety system configured to control operation of the AGV based on an AGV location signal from the AGV location sensor. The safety system includes a presence sensor configured to detect presence of an object other than the AGV in the enclosed space. The safety system configured to control operation of the AGV based on an object presence signal from the presence sensor.

First claim

What is claimed is:

1. A safeguard enclosure of an autonomous part processing system for enclosing an autonomous guided vehicle (AGV), the safeguard enclosure comprising:
a frame having panels defining an enclosed space, the frame having an opening allowing the AGV to enter and exit the enclosed space, the frame surrounding a parking spot for the AGV in the enclosed space; and
a safety system for controlling operation of the AGV, the safety system including an AGV location sensor configured to detect presence of the AGV at the parking spot, the safety system configured to control operation of the AGV based on an AGV location signal from the AGV location sensor, the safety system including a presence sensor configured to detect presence of an object other than the AGV in the enclosed space, the safety system configured to control operation of the AGV based on an object presence signal from the presence sensor, wherein the safety system allows normal operation of the AGV when presence of the AGV at the parking spot is detected by the AGV location sensor.

2. The safeguard enclosure of claim 1 , wherein the panels include a front panel, a rear panel, a first side panel between the front and rear panels, and a second side panel between the front and rear panels, the front panel, the rear panel, the first side panel, and the second side panel surrounding the enclosed space on four sides.

3. The safeguard enclosure of claim 1 , wherein the safety system stops operation of the AGV when the object is detected.

4. The safeguard enclosure of claim 3 , wherein the safety system allows normal operation of the AGV when no object is detected.

5. The safeguard enclosure of claim 1 , wherein the safety system restricts operation of the AGV when no presence of the AGV is detected by the AGV location sensor.

6. The safeguard enclosure of claim 1 , wherein the presence sensor includes an enclosure scanner configured to detect the object within the enclosed space.

7. The safeguard enclosure of claim 1 , wherein the presence sensor includes an opening scanner configured to detect the object passing through the opening.

8. The safeguard enclosure of claim 1 , wherein the presence sensor is deactivated when the AGV moves between the opening and the parking spot.

9. The safeguard enclosure of claim 1 , wherein the AGV location sensor includes a proximity sensor.

10. The safeguard enclosure of claim 1 , further comprising a locking pin coupled to the frame, the locking pin being actuated to engage the AGV and secure a position of the AGV at the parking spot, the safety system being operably coupled to the locking pin and causing the locking pin to move to a locked position based on the AGV location signal from the AGV location sensor.

11. The safeguard enclosure of claim 1 , wherein the frame further comprises a guide track extending between the opening in the parking spot to guide the AGV between the opening and the parking spot.

12. The safeguard enclosure of claim 1 , further comprising a vision system having an imaging device configured to image the AGV at the parking spot, the vision system configured to control operation of the AGV based on images by the imaging device.

13. The safeguard enclosure of claim 1 , wherein the safety system further comprises an emergency stop button, the safety system configured to control operation of the AGV based on an emergency stop signal from the emergency stop button.

14. The safeguard enclosure of claim 1 , wherein the frame includes a port through one of the panels, the parking spot located adjacent the port to allow the AGV to interface with parts at a part processing station outside of the enclosed space through the port.

15. The safeguard enclosure of claim 1 , wherein the safety system includes a communication module having an antenna configured to wirelessly communicate with the AGV to control operation of the AGV.

16. An autonomous part processing system comprising:
a part processing station for processing parts;
an autonomous guided vehicle (AGV) movable relative to the part processing station, the AGV having a base and a platform assembly supported by the base, the base having a motor driving wheels to move the AGV in a logistics facility, the platform assembly including a collaborative manipulator having an arm and an end effector at an end of the arm, the end effector configured to manipulate the parts; and
a safeguard enclosure positioned adjacent the part processing station, the safeguard enclosure enclosing the AGV when the AGV is manipulating the parts at the part processing station, the safeguard enclosure including a frame having panels defining an enclosed space, the frame having an opening allowing the AGV to enter and exit the enclosed space, the frame surrounding a parking spot for the AGV in the enclosed space, wherein the AGV is configured to interface with the parts at the part processing station when the AGV is at the parking spot, the safeguard enclosure including a safety system for controlling operation of the AGV, the safety system including an AGV location sensor configured to detect presence of the AGV at the parking spot, the safety system configured to control operation of the AGV based on an AGV location signal from the AGV location sensor, the safety system including a presence sensor configured to detect presence of an object other than the AGV in the enclosed space, the safety system configured to control operation of the AGV based on an object presence signal from the presence sensor, wherein the safety system prevents operation of the collaborative manipulator based on an AGV location signal from the AGV location sensor and based on an object presence signal from the presence sensor.

17. A method of processing parts using an autonomous guided vehicle (AGV), the method comprising:
guiding the AGV into a safeguard enclosure, the safeguard enclosure including a frame having panels defining an enclosed space surrounding a parking spot for the AGV in the enclosed space, the safeguard enclosure including a safety system for controlling operation of the AGV, the safety system including an AGV location sensor configured to detect presence of the AGV at the parking spot, the safety system including a presence sensor configured to detect presence of an object other than the AGV in the enclosed space;
controlling operation of the AGV based on an AGV location signal from the AGV location sensor by restricting operation of the AGV when no presence of the AGV is detected by the AGV location sensor and allowing normal operation of the AGV when presence of the AGV at the parking spot is detected by the AGV location sensor; and
controlling operation of the AGV based on an object presence signal from the presence sensor by restricting operation of the AGV when the object is detected and allowing normal operation of the AGV when no object is detected.

18. The safeguard enclosure of claim 1 , wherein the safety system prevents operation of the collaborative manipulator based on an AGV location signal from the AGV location sensor and based on an object presence signal from the presence sensor.

19. The autonomous part processing system of claim 16 , wherein the safety system restricts operation of the AGV when no presence of the AGV is detected by the AGV location sensor.

20. The autonomous part processing system of claim 16 , wherein the safety system allows normal operation of the AGV when presence of the AGV at the parking spot is detected by the AGV location sensor.

Assignees

• Te Connectivity Solutions Gmbh

Inventors

• Swann Anthony L
• Solanki Swapnilsinh
• Burk Tim
• Roper Craig S

Classifications

• B25J9/162

  Mobile manipulator, movable base with manipulator arm mounted on it · CPC title

• B25J9/1676 Primary

  Avoiding collision or forbidden zones · CPC title

• B25J9/1697

  Vision controlled systems · CPC title

• B25J21/00

  Chambers provided with manipulation devices (constructional features of the mounting of the manipulator in the wall B25J1/08 {; glove-boxes for nuclear applications G21F7/04}) · CPC title

• B25J19/06 Primary

  Safety devices · CPC title