Methods and systems for dispatching and controlling autonomous guided vehicles and work units

Abstract

The present invention relates to methods and systems for dispatching and controlling autonomous guided vehicles (AGVs) and work units. Methods, systems and devices for transporting work units. In one aspect, a system includes a first team of AGVs, each AGB including an electromechanical interface suitable for: (i) connecting to or lifting multiple different types of work units, and (ii) providing charging power to or receiving charging power from multiple different types of work units. A second team of multiple different types of work units, each work unit is suitable for performing one or more specific tasks. A control system, the control system is configured to identify a set of tasks to be performed by the second team of work units; for each task: select a work unit to perform the task; select an AGV to transport the selected work unit to a location where the task is to be performed; and provide instructions to the selected AGV, the instructions causing the selected AGV to transport the selected work unit to the location where the task is to be performed.

Description

Technical Field

[0001] The present invention relates to a modular multifunctional work unit for autonomous guided vehicle applications. Background Art

[0002] Autonomous guided vehicles (AGVs) are mobile robots that typically use floor markers, lasers, vision cameras, or other mechanisms to guide the mobile robot to navigate an area. A common use for AGVs is to carry goods within a facility such as a warehouse or industrial facility. Summary of the invention

[0003] This specification describes technologies related to AGVs with electromechanical interfaces for transporting and charging various different types of work units, as well as technologies for scheduling and controlling the AGVs and work units.

[0004] In general, an innovative aspect of the subject matter described in this specification can be embodied in a method that includes identifying a set of tasks to be performed by a set of work units. Each work unit is suitable for performing one or more specific tasks, and at least one work unit performs a task different from each other work unit. For each task, a work unit that performs the task is selected based at least on the one or more specific tasks that each work unit is suitable for performing. For each task, an AGV that transports the selected work unit to a location where the task is to be performed is selected from a group of autonomous guided vehicles (AGVs), wherein each AGV includes an electromechanical interface suitable for (i) connecting to or lifting a plurality of different types of work units, and (ii) providing charging power to or receiving charging power from a plurality of different types of work units. The selected AGV is caused to transport the selected work unit to the location where the task is to be performed, and to provide charging power to or receive charging power from the selected work unit. Other embodiments of this aspect include corresponding devices, systems, and computer programs configured to execute various aspects of the execution method encoded on a computer storage device.

[0005] These and other embodiments may each optionally include one or more of the following features. In some aspects, each work unit includes a base having a fork receiving area for receiving the forks of a forklift AGV, a towing hook for receiving the towing pin of a tractor AGV, and a lifting area for receiving a lift AGV under the work unit. One or more fork receiving areas, towing hooks, and lifting areas may include one or more connector pads electrically connected to one or more batteries of the work unit. Each connector pad may be configured to contact a corresponding connector pad of each AGV when the AGV transports the work unit.

[0006] Some aspects may include determining a schedule that defines when each selected AGV will transport the selected work unit for each task based on (i) the location where each work unit will be placed and (ii) the physical constraints of navigating each AGV to the location to perform the task.

[0007] Some aspects include: for a particular AGV, determining whether to provide charging power to or receive charging power from a particular work unit that the AGV is transporting based on one or more of: (i) the battery charge of the AGV, (ii) the battery charge of the particular work unit, or (iii) whether the particular work unit will receive power from another power source at the location where the particular AGV is leaving the work unit.

[0008] Some aspects include, for a particular task: determining whether a selected work unit for the particular task can be left at a location where the particular task is to be performed; determining whether the selected work unit for the particular task has sufficient battery power to complete the task; and in response to determining that the selected work unit can be left at the location where the particular task is to be performed, but the selected work unit for the particular task does not have sufficient battery power to complete the task, causing the selected AGV for the particular task to continue charging the selected work unit for the particular task while the task is being performed.

[0009] In some aspects, each AGV is configured to communicate with each work cell. Each AGV is configured to provide safety information to the work cell transported by the AGV, wherein the safety information includes instructions that cause moving parts of the work cell transported by the AGV to remain stationary while the AGV moves. In some aspects, a group of work cells includes at least one of a manipulator, a robot, a conveyor, or an inspection work cell.

[0010] Generally, another aspect of the subject matter described in the present specification can be embodied in a system comprising a first team of AGVs, each AGV comprising an electromechanical interface adapted to: (i) connect to or lift a plurality of different types of work units, and (ii) provide charging power to or receive charging power from a plurality of different types of work units; a second team of a plurality of different types of work units, each work unit adapted to perform one or more specific tasks, wherein at least one work unit in the second team performs a task different from each other work unit in the second team; and a control system configured to: identify a set of tasks to be performed by the second team of work units; for each task: select a work unit to perform the task based at least on the one or more specific tasks that each work unit is adapted to perform; select an AGV to transport the selected work unit to a location where the task is to be performed; and provide instructions to the selected AGV, the instructions causing the selected AGV to transport the selected work unit to the location where the task is to be performed and provide charging power to or receive charging power from the selected work unit via the electromechanical interface. Other embodiments of this aspect include apparatus configured to execute the corresponding method encoded on a computer storage device, and computer programs configured to perform the actions of the method.

[0011] These and other embodiments may each optionally include one or more of the following features. In some aspects, each work unit includes a base having a fork receiving area for receiving the forks of a forklift AGV, a towing hook for receiving the towing pin of a tractor AGV, and a lifting area for receiving a lift AGV below the work unit.

[0012] In some aspects, one or more fork receiving areas, the tow hook, and the lifting area each include one or more connector pads that are electrically connected to one or more batteries of the work unit, wherein each connector pad is configured to contact a corresponding connector pad of each AGV when the AGV transports the work unit.

[0013] In some aspects, the controller is further configured to determine a schedule that defines when each selected AGV will transport the selected work unit for each task based on (i) the location where each work unit will be placed and (ii) the physical constraints of navigating each AGV to the location to perform the task.

[0014] In some aspects, the controller is also configured to determine, for a particular AGV, whether to provide charging power to or receive charging power from a particular work unit that the AGV is transporting based on one or more of: (i) the battery charge of the AGV, (ii) the battery charge of the particular work unit, or (iii) whether the particular work unit will receive power from another power source at a location where the particular AGV is leaving the work unit.

[0015] In some aspects, the controller is further configured to: for a specific task: determine whether the selected work unit for the specific task can be left at the location where the specific task is to be performed; determine whether the selected work unit for the specific task has sufficient battery power to complete the task; and in response to determining that the selected work unit can be left at the location where the specific task is to be performed, but the selected work unit for the specific task does not have sufficient battery power to complete the task, cause the selected AGV for the specific task to continue charging the selected work unit for the specific task while the task is being performed.

[0016] In some aspects, each AGV is configured to communicate with each work cell. Each AGV is configured to provide safety information to the work cell transported by the AGV, wherein the safety information includes instructions that cause moving parts of the work cell transported by the AGV to remain stationary while the AGV moves. In some aspects, the second team of work cells includes at least one of a manipulator, a robot, a conveyor, or an inspection work cell.

[0017] The subject matter described in this specification can be implemented in specific embodiments to achieve one or more of the following advantages. Using an AGV that can transport and drop off various types of work units (e.g., manipulators, part inspectors, material transfer conveyors, and / or computer equipment) rather than being attached to a single work unit provides better flexibility in moving work units and scheduling tasks performed by the work units. This also reduces the cost and storage space associated with dedicated AGVs for each type of work unit. This flexibility is particularly useful in data center applications, where many different work units are required to perform tasks and there is limited space for AGVs to store and navigate around the data center. The facility controller can schedule AGVs based on the location of the work units and other AGVs so as not to block the restricted path of the navigating AGV, thereby avoiding delays caused by such blockages.

[0018] AGVs that include electromechanical interfaces enable the AGV to charge a battery-powered work unit during transport of the work unit and / or while the work unit is performing its task. This provides more flexibility in situations where the work unit is not located near a power source while performing its task. Additionally, these interfaces can enable the work unit to charge a battery-powered AGV, which enables a fully charged work unit to keep the AGV moving in situations where the schedule for transporting the work unit does not allow the AGV to stop and charge. This reduces AGV downtime and increases the amount of transport and other work that the AGV can do.

[0019] Various features and advantages of the foregoing subject matter are described below with reference to the accompanying drawings. Other features and advantages are apparent from the subject matter described herein and from the claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a block diagram of an environment in which an example facility control system controls AGVs to transport work cells around the facility.

[0021] Figure 2A is a diagram showing an example lift AGV that transports a robot working unit.

[0022] Figure 2B is a diagram showing an example lift AGV transporting another robot working unit.

[0023] Figure 2C is a diagram illustrating an exemplary lift AGV transporting a parts scanning or inspection work cell.

[0024] Figure 3A is an exemplary lift AGV shown approaching a work cell.

[0025] Figure 3B is a diagram illustrating an exemplary lift AGV that transports a robot work unit.

[0026] Figure 4A is a diagram showing an example tractor AGV that transports a robot working unit.

[0027] Figure 4B is a diagram showing an example tractor AGV transporting another robot working unit.

[0028] Figure 4C is a diagram showing an example tractor AGV transporting a parts scanning or inspection work unit.

[0029] Figure 5A is a tractor AGV shown approaching a work cell.

[0030] Figure 5Bis a tractor AGV shown connected to a work unit and engaging with the connector pads of the work unit.

[0031] Fig. 6A is a diagram showing an example forklift AGV that transports a robot working unit.

[0032] Figure 6B is a diagram showing an example forklift AGV transporting another robot working unit.

[0033] Figure 6C is a diagram showing an example forklift AGV transporting a parts scanning or inspection work cell.

[0034] Fig. 7A is a diagram showing an example forklift AGV approaching a work cell.

[0035] Figure 7B is a diagram showing an example forklift AGV lifting a work unit and engaging with a connector pad of the work unit.

[0036] Figure 8 is a flow chart illustrating an example process for controlling an AGV to transport a work unit to a task location.

[0037] Like reference numerals and designations in the various drawings indicate like elements. DETAILED DESCRIPTION

[0038] In general, the document describes technologies related to AGVs with electromechanical interfaces for transporting and charging various different types of work units, as well as technologies for scheduling and controlling AGVs and work units. Each work unit can be configured to perform one or more tasks. For example, one work unit may include a manipulator for moving a product, attaching a part to a product, or exchanging computer equipment, while another work unit may include a part inspection system for inspecting a part. As the location of the task changes, the AGV can be controlled to transport the work unit to the location of the task performed by the work unit.

[0039] Each AGV can be configured to transport various types of work units, such as manipulators, part inspection or scanning work units, computer work units, product labelers, package sorters, conveyors for material transfer, and / or other types of work units that perform tasks on other items or equipment. For example, each AGV may include an electromechanical interface that attaches to or lifts various types of work units. The electromechanical interface may also include electrical connector pads that contact connector pads of various types of work units so that the battery of the AGV can charge the battery of the work unit and / or receive charge from the battery of the work unit during transportation. The connector pads of the electromechanical interface may be arranged so that when the work unit is attached to the AGV or supported by the AGV, the connector pads contact the connector pads of the work unit.

[0040] Each work unit can be configured to be transported by multiple different types of AGVs. For example, a work unit can include: a fork receiving area for receiving the forks of a forklift AGV; a hook receiver for receiving the towing pin of a tractor AGV; and a lifting area below the work unit for receiving a lift AGV. Each of these areas can include a connector pad that contacts a corresponding connector pad of the AGV for charging the work unit or AGV.

[0041] Figure 1 1 is a block diagram of an environment 100 in which an example facility control system 110 controls AGVs 125 (e.g., AGV 125A and AGV 125B) to transport work units around a facility 120. A facility may be an indoor facility (e.g., a data center, a warehouse, a distribution center, an industrial facility) or an outdoor facility (e.g., a farm, an event center, etc.). In this example, facility 120 is a data center having multiple rows of computer racks 121A-121D containing computing equipment.

[0042] The facility 120 includes a fleet of multiple different types of work cells 127 and a fleet of multiple different types of AGVs 125, which are configured to transport the work cells 127 around the facility 120. The work cells 127 may include work cells 127 that perform different tasks. For example, one work cell may be a manipulator work cell that includes a manipulator configured to swap out computer parts, while another work cell may include a test system that tests computer components. As described below, each work cell 127 may be configured to be transported by multiple different types of AGVs, including tractor AGVs, lift AGVs, and forklift AGVs.

[0043] Each AGV 125 includes a local controller 128, one or more batteries 129, and an electromechanical interface 130. In addition, the local controller 128 can navigate the AGV 125 around the facility 120 based on instructions received from the AGV controller 111. The local controller 128 can also navigate the AGV 125 to approach and attach to the work cell 127 or lift the work cell 127.

[0044] The battery 129 is used to power the AGV 125, including propelling the AGV 125. The battery 129 is also used to charge the battery of the work unit 127, for example, during transportation of the work unit 127 and / or when the work unit 127 performs a task. In some embodiments, the battery 129 is a rechargeable battery that can be charged by the battery of the work unit 127, for example, during transportation of the work unit 127 and / or when the work unit 127 performs a task. In addition, the AGV 125 can include a connector pad that can be connected to an external charging source. In this way, the AGV 125 can charge its battery 129 at an external charging source at or near the location where the work unit 127 transported by the AGV 125 performs a task. For example, a data center or other facility may include a charging station for the AGV 125 near a rack or other area where the work unit 127 performs a task.

[0045] The electromechanical interface 130 may include a mechanical device for attaching to or supporting the work unit 127. For example, the electromechanical interface 130 may include the forks of a forklift AGV, the towing pin (or hook or ball) of a tractor AGV, or the lifting table of a lift AGC. The electromechanical interface 130 may also include a connector pad on the mechanical device. The connector pad of the AGV 125 can be connected to the connector pad of the work unit 127. The connector pad of the AGV 125 can also be connected to the battery 129, and the connector pad of the work unit 127 can be connected to the battery of the work unit 127. In this way, the battery 129 of the AGV 125 can charge the battery of the work unit 127 through the connector pad and / or the battery of the work unit 127 can charge the battery of the AGV 125 through the connector pad.

[0046] Local controller 128 may determine whether to use battery 129 of AGV 125 to charge a battery of work unit 127 transported by AGV 125, or whether to use a battery of work unit 127 to charge a battery of AGV 125. For example, local controller 128 or AGV controller 111 may make the determination based on the charge level of battery 129 of AGV 125, the charge level of the battery of work unit 127, whether work unit 127 will receive power from another power source at the location where AGV 125 will leave work unit 127 (e.g., where work unit 127 performs a task), and the estimated duration required for work unit 127 to perform its task.

[0047] In a particular example, if work unit 127 does not have enough power to complete its mission (e.g., the battery's charge indicates an estimated duration that is less than the duration to complete the mission), local controller 128 may determine to charge the work unit 127's battery during transport. If work unit 127's battery still does not have enough power to complete the mission, and there is no power source at the mission location, local controller 128 (or AGV controller 111) may determine that an AGV 125 will be used with work unit 127, and then continue to charge work unit 127's battery until the battery has enough power to complete the mission. Depending on the type of work unit 127, work unit 127 may be able to perform a mission while attached to or supported by AGV 125 and charged by the AGV 125's battery.

[0048] In another example, if the battery of the work unit 127 has enough power to complete the task and / or the work unit 127 can plug itself into a power source at the task location, the local controller 128 (or AGV controller 111) can determine that the battery of the work unit 127 will charge the battery of the AGV 125 during transportation. The determination can also be based on whether the battery of the work unit 127 can charge the battery 129 of the AGV 125 during transportation and still have enough power to complete the task after charging the battery 129 of the AGV 125. In another example, the local controller 128 (or AGV controller 111) can stop charging the battery 129 of the AGV 125 if the battery power drops below a threshold value, which is based on the power required by the work unit 127 to complete the task.

[0049] The local controller 128 may also consider the additional tasks of the working unit 127 and whether the batteries of the working unit 127 have sufficient charge to complete the additional tasks when determining which batteries to charge.

[0050] The AGV 125 and / or the work unit 127 may include a battery management system that controls its charging state. For example, the AGV 125 may include a battery management system that selectively switches between a battery being charged, such as by the work unit 127 or other external power source, and a battery that charges another battery (such as a battery of the work unit 127). Similarly, the work unit 127 may include a battery management system that selectively switches between a battery being charged, such as by the AGV 125 or other external power source, and a battery that charges another battery (such as a battery of the AGV 125). The local controller 128 may interact with the battery management systems of the AGV 125 and the work unit 127 to control which device (e.g., the AGV or the work unit) charges the other device.

[0051] AGV 125 may be configured to communicate with the work unit, for example, via an electromechanical interface or via another means (e.g., a direct wireless connection). This enables AGV 125 to request a charge from the battery of the transported work unit and / or control work unit 127. For example, AGV 125 may include safety controls for maintaining safe transportation of work unit 127. For example, AGV 125 may control work unit 127 to not move any moving parts (e.g., a manipulator) while AGV 125 is moving, to avoid hitting any obstacles or causing AGV 125 to tip over.

[0052] The facility control system 110, which may be implemented as one or more computers, includes an AGV controller 111 that controls the AGV 125 by sending instructions via a wireless network 105 such as a Wi-Fi network. The AGV controller 111 may instruct the AGV 125 to transport a work unit 127 around the facility 120 so that the work unit can perform a task. For example, the AGV controller 111 may send instructions to the AGV 120 that specify a particular work unit (e.g., an identifier of the work unit) and a destination location for the particular work unit. The instructions may also be the current location of the particular work unit, a route between the current location and the destination location, and / or data related to the task (e.g., whether the AGV remains with the work unit during the task, the estimated duration of the task, or whether the AGV needs to charge the work unit during transportation and / or performance of the task). In a data center, these tasks may include, for example, automated maintenance of computing equipment, rack deployment, automatic deactivation of computing equipment, heavy equipment assistance, stacking and supplying equipment, and / or picking and placing parts in situations where tasks are completed in collaboration with humans or other robots.

[0053] The AGV controller 111 may schedule work units and AGVs based on the task data 112, the facility data 113, the AGV data 114, and / or the work unit data 115. The task data 113 defines the tasks to be performed by the work unit 127. For example, a user or an automated system may specify a set of tasks to be completed by the work unit 127, such as within a given time period (e.g., a given day). For each task, the task data 112 may specify a work unit 127 or a type of work unit 127 that is capable of performing the task. In other examples, the AGV controller 111 or another controller may select a work unit 127 for each task.

[0054] The facility data 113 includes data related to the facility 120. The facility data may include the layout of the facility 120, including any areas that the AGV 125 is allowed to enter and any areas that the AGV is not allowed to enter. The facility data 112 may also include data specifying the location of structures (e.g., racks 121A-121D) and other obstacles, the spaces between structures and obstacles between which the AGV 125 can navigate, and the locations of various items that can perform tasks (e.g., the location of each specific workpiece of computing equipment).

[0055] The AGV data 114 may include data for each AGV 125 of the facility 120. For each AGV 125, the data may include a unique identifier for the AGV 125, the type of AGV 125 (e.g., a lift, tractor, forklift, or other type of AGV), the load capacity of the AGV 125, and / or data specifying work units that the AGV 125 may and / or may not transport (e.g., a unique identifier for the work unit or the type of work unit). For example, the AGV data 114 for a tractor AGV may specify that the AGV is a tractor AGV that can transport work units weighing up to 3,000 pounds. The AGV data 114 may also include data specifying the current location of each AGV 125 and / or the current state of the AGV 125 (e.g., transporting a work unit 127, waiting to be attached to the AGV 125 or a work unit 127 that is supported by the AGV 125 to complete a task, performing other tasks (e.g., moving products independently of any work unit 127), or being idle).

[0056] Work cell data 115 may include data for each work cell 127 of facility 120. For each work cell 127, this data may include a unique identifier for the work cell 127, the type of work cell 127 (e.g., a robot, a part inspector, etc.), one or more tasks that can be performed by the work cell 127, the size and weight of the work cell 127, and / or data specifying an AGV that can transport the work cell 127 (e.g., a unique identifier for the AGV or the type of AGV). Work cell data 115 may also include data specifying the current location of each work cell 117, the current battery charge of the work cell 127, what task (if any) the work cell 127 is currently performing, and / or the duration to complete the task.

[0057] The AGV controller 111 may use the various data to schedule tasks, select work units 127 to perform the tasks, and select AGVs 125 to transport each selected work unit 127. The AGV controller 111 may schedule tasks based on priority, availability of work units 127 and AGVs 125, and the status of the work units 127 and AGVs 125 (e.g., based on the charge of their batteries).

[0058] The AGV controller 111 may select work units 127 for a task based on the task to be performed by each work unit 127. For example, the AGV controller 111 may filter the work units 127 to work units that are capable of performing the task. The AGV controller 111 may also select work units 127 for a task based on the availability of work units that are capable of performing the task, the locations of available and capable work units, whether other work units or other obstacles block the path between the work units and the location where the task is to be performed, the charge of the batteries of the available work units, and / or other appropriate factors.

[0059] The AGV controller 111 may select an AGV to transport the selected work unit based on whether the AGV is capable of transporting the selected work unit, the availability of capable AGVs, the location of capable AGVs relative to the location of the selected work unit, the power of capable AGVs, and / or other appropriate factors.

[0060] The AGV controller 111 may select and schedule work units 127 and AGVs 125 to transport work units 127 based on various factors and various goals. One example goal is to complete the maximum number or the highest percentage of tasks that need to be performed. In this example, the AGV controller 111 may select and schedule work units 127 and AGVs 125 based on the number of work units 127 that can perform the tasks, the number of AGVs 125 that can transport the work units 127, and the battery levels of each work unit 127 and AGV 125. For example, the AGV controller 111 may optimize the schedule so that the most work (e.g., the maximum number of tasks) is completed per unit of charge of the batteries of the work units 127 and AGVs 125.

[0061] FIG. 2A to FIG. 2C FIG. 2 is a diagram showing an example lift AGV 200 for transporting various work units. Figure 2A An example lift AGV 200 is shown transporting a robot work cell 212; Figure 2B An example lift AGV 200 is shown transporting another robot work cell 222; and Figure 2C An example lift AGV 200 is shown transporting a part scanning or inspection work cell 232 .

[0062] The lift AGV 200 includes a lift platform 205 that can be raised and lowered to lift the work units 212, 222, and 232 off the ground and transport the work units 212, 222, and 232 around the facility. To lift the work unit, the lift AGV 200 can navigate under the work unit between the wheels of the work unit. The lift AGV 200 can then raise the lift platform 209 and lift the work unit off the ground. The lift AGV 200 can then transport the work unit to a destination, for example, a task location where the work unit will perform a task.

[0063] Lift AGV 200 also includes connector pads 207 on lift platform 205. Connector pads 207 can be located on lift platform 205 so that when lift platform 205 is raised, connector pads 207 contact corresponding connector pads of work units 212, 222, and 232. Connector pads 207 can connect with batteries of lift AGV 200 so that AGV 200 can charge the batteries of the work units (or be charged by the batteries of the work units) through connector pads 207 and corresponding connector pads of the work units. Example connector pads on Figure 3A and 3B and described below.

[0064] Lift AGV 200 can be configured to carry various work units with maximum sizes and maximum weights. Thus, if there are different types of work units that are larger or heavier than the capacity of lift AGV 200, other lift AGVs or other types of AGVs (e.g., tractor or forklift AGVs) can be used for those work units.

[0065] Each work unit 212, 222, and 232 is configured to be transported by a variety of different types of AGVs. For example, the work unit 212 includes a manipulator 213 and a base 214 on which the manipulator 213 is mounted and supports the manipulator 213. The base 214 includes a lifting area below and between its wheels for accommodating the lift AGV 200. In some embodiments, the base 214 may not include wheels. In such examples, the lifting area may be between other support members that hold the work unit 212 above the ground, such as legs, columns, or other types of support members. In either example, the supports define a lifting area between them and below the work unit 212 to enable the lift AGV to enter under the work unit 212 and lift the work unit 212. The base 214 also includes a hitch receiver 215 for accommodating a tow pin (or tow ball or hook) of a towing AGV, such as Figures 4A-4C The base 214 also includes fork receiving areas 218A and 218 for receiving the forks of a forklift AGV, such as Figure 6A-6B shown and described below.

[0066] Work cell 222 also includes manipulator 223, which is a different type of manipulator and may have a different weight and the ability to perform different tasks than manipulator 213. For example, manipulator 213 may be able to lift and move heavier objects (e.g., objects up to 28 kg) than manipulator 223 (e.g., objects up to 10 kg). Work cell 222 also includes a base 224 having an area below it for receiving lift AGV 200, a hook receiver 225 for receiving a towing pin (or towing ball or hook) of a tractor AGV, and fork receiving areas 228A and 228B for receiving the forks of a forklift AGV. Similarly, work cell 232 includes a part scanning or inspection system 233, a base 234 having an area below it for receiving lift AGV 200, a hook receiver 235 for receiving a towing pin (or towing ball or hook), and fork receiving areas 238A and 238B for receiving the forks of a forklift AGV.

[0067] The flexibility of work units 212, 222 and 232 allows Figure 1The facility controller 111 can more flexibly select AGVs to transport various work units in the facility and better optimize scheduling and route planning. This also makes it possible for the facility to use fewer AGVs, thereby reducing costs and storage requirements.

[0068] Figure 3A is a diagram illustrating an example lift AGV 300 approaching a work cell 312 . Figure 3B 3 is a diagram showing that the lift AGV 300 lifts the work unit 312 and engages with the connector pad 319 of the work unit 312. The lift AGV 300 can be connected to Figure 2A -2C. Similarly, work cell 312 may be the same as or similar to work cell 212, 222, or 232 of 2A-2C.

[0069] The lift AGV 300 includes a connector pad 307 made of a conductive material and connected to a battery of the lift AGV 300. The connector pad 307 may include two pads, a positive pad and a negative pad. Similarly, the working unit 312 includes a connector pad 319, which may include a positive pad and a negative pad.

[0070] like Figure 3A As shown, connector pads 307 and 319 are arranged in the same area so that when lift AGV 300 lifts work cell 312, connector pads 307 and 319 contact each other. When AGV 300 approaches work cell 300 and enters under work cell 300, there is space between connector pads 307 and 319 to enable lift AGV 300 to navigate to the appropriate position under work cell 312. Figure 3B As shown, when lift AGV 300 has lifted work unit 312 , connector pads 307 come into contact with connector pads 319 , causing the battery of AGV 300 to charge the battery of work unit 312 and / or the battery of work unit 312 to charge the battery of AGV 300 .

[0071] Figures 4A-4C 4 is an example tractor AGV 400 showing transporting various work units. In particular, Figure 4A A tractor AGV 400 is shown transporting a manipulator work unit 412; Figure 4B A tractor AGV 400 is shown transporting another robotic work unit 422; and Figure 4C A tractor AGV is shown transporting a parts scanning or inspection work cell 432 .

[0072] The towing AGV 400 includes a towing pin 410 that is inserted into a hook receiver 415 of a work unit 412 (or a hook receiver 425 of a work unit 422 or a hook receiver 435 of a work unit 432). When the towing pin 410 is in the hook receiver, the AGV 400 can tow the work unit around the facility. Figure 5A and 5B As shown, the tow pin 410 and hitch receivers 415 , 425 , and 435 may include connector pads for charging the batteries of the work units 412 , 422 , and 432 and / or the battery of the tow vehicle AGV 400 .

[0073] Work units 412, 422, and 432 may be used with Figure 2A –2C work units 212, 222, and 232 are the same or similar. For example, work unit 412 includes a manipulator 413 and a base 414, wherein manipulator 413 is attached to and supported by base 414. Base 414 includes areas under and between its wheels for receiving a lift AGV. Base 414 also includes a hitch receiver 415 for receiving a tow pin (or tow ball or hook) of a tractor AGV 400. Base 414 also includes fork receiving areas 418A and 418B for receiving the forks of a forklift AGV, attached Figure 6A-6B shown and described below.

[0074] Work cell 422 also includes manipulator 423, which is a different type of manipulator and may have a different weight and the ability to perform different tasks than manipulator 413. Work cell 422 also includes base 424 having an area below it for receiving a lift, a hook receiver 425 for receiving a tow pin (or tow ball or hook) of a tractor AGV 400, and fork receiving areas 428A and 428B for receiving the forks of a forklift AGV. Similarly, work cell 432 includes a part scanning or inspection system 433, base 434 having an area below it for receiving a lift AGV, a hook receiver 435 for receiving a tow pin (or tow ball or hook) of a tractor AGV 400, and fork receiving areas 438A and 438B for receiving the forks of a forklift AGV.

[0075] Figure 5A is a diagram showing an example tractor AGV 500 approaching a work cell 512 . Figure 5B is a diagram showing a tractor AGV 500 connected to a work unit 512 and engaged with a connector pad of the work unit 512. The tractor AGV 500 may be connected to a work unit 512. Figures 4A-4C Similarly, the working unit 512 can be similar to or identical to the tractor AGV 400 of FIG. Figures 4A-4CThe working units 412, 422 or 432 are the same or similar.

[0076] The tractor AGV 500 includes a connector pad 511 on a tow pin 510 that is inserted into a connector pad 518 of a hitch receiver 517 of a work unit 512. The electrical connection between the AGV 500 and the tow pin 510 to enable charging can be made using conductive pads, for example, the connector pad 511 can include a pair of conductive pads of opposite polarity (one near the top and one near the bottom), and the connector pad 518 can include a pair of conductive pads of opposite polarity that align with the connector pad 511 when the AGV 500 is connected to the work unit 512. In another example, when they are aligned, for example, when the AGV 500 is connected to the work unit 512, power can be wirelessly transferred between the tow pin 510 and the hitch receiver 517 using an inductive interface. In another example, an alignment connector can be used for the electrical connection.

[0077] When approaching the work unit 512 (or before), the tractor AGV 500 can lower the tow pin 510. When the tow pin 510 is directly below the hole of the hitch receiver 517, the tractor AGV 500 can raise the tow pin 510 until the tow pin 510 passes through the hole of the hitch receiver 517 and the connector pads 511 and 518 are in contact. This enables the tractor AGV 500 to pull the work unit 512 during transportation and charge the battery of the work unit 512. This also enables the battery of the work unit 512 to charge the battery of the tractor AGV 500.

[0078] Figures 6A-6C is a diagram showing an example forklift AGV 600 transporting various work units. In particular, Fig. 6A A forklift AGV 600 is shown transporting a manipulator work unit 612; Figure 6B A forklift AGV 600 is shown transporting another robotic work cell 622; and Figure 6C A forklift AGV 600 is shown transporting a parts scanning or inspection work cell 632 .

[0079] The forklift AGV 600 includes a pair of forks 610 that are configured to enter the fork receiving areas 618A and 618B of the work unit 612 (or the fork receiving areas 628A and 628B of the work unit 622 or the fork receiving areas 638A and 638B of the work unit 632) and lift the work unit 612. Each work unit 612, 622, and 632 includes two pairs of fork receiving areas, one pair on each side of the work unit 612, 622, and 632. This provides better stability when the forklift AGV 600 lifts the work unit. Fig. 7A and7B As shown, fork 610 may include connector pads that contact corresponding connector pads of a fork receiving area on one side of a work unit 612, 622, or 632 to enable the forklift AGV 600 to charge the work units 612, 622, and 632 and / or the work units to charge the forklift AGV 600.

[0080] Working units 612, 622 and 632 can be respectively Figures 2A-2C The work units 212, 222, and 232 are the same or similar. For example, the work unit 612 includes a manipulator 613 and a base 614 to which the manipulator 613 is connected and supported by the base 614. The base 614 includes an area below it and between its wheels for receiving a lift AGV. The base 614 also includes a hook receiver 615 for receiving a towing pin (or towing ball or hook) of a tractor AGV. The base 614 also includes fork receiving areas 618A and 618B for receiving the forks of the forklift AGV 600.

[0081] Work cell 622 also includes manipulator 623, which is a different type of manipulator and may have a different weight and the ability to perform different tasks than manipulator 613. Work cell 622 also includes base 624 having an area below it for accommodating a lift, a hitch receiver 625 for accommodating a tow pin (or tow ball or hook) of a tractor AGV, and fork receiving areas 628A and 628B for accommodating the forks of forklift AGV 600. Similarly, work cell 632 includes part scanning or inspection system 633, base 634 having an area below it for accommodating a lift AGV, a hitch receiver 635 for accommodating a tow pin (or tow ball or hook) of a tractor AGV, and fork receiving areas 638A and 638B for accommodating the forks of forklift AGV 600.

[0082] Fig. 7A is a diagram showing an example of a forklift AGV 700 approaching a work cell 712 . Figure 7B is a diagram showing a forklift AGV 700 lifting a work unit 712 and engaging with a connector pad of the work unit 712. The forklift AGV 700 may be similar to Figure 6A-6C Similarly, the work unit 712 can be connected to the forklift AGV 600 or the same as the forklift AGV 600. Figures 6A-6C The working units 612, 622 or 632 are the same or similar.

[0083] The forklift AGV 700 includes a pair of forks 710A and 710B, which include connector pads 711A and 711B, respectively. The connector pads 711A and 711B are made of a conductive material and are attached to a battery of the forklift AGV 700. The connector pads 711A and 711B are attached to the top sides of the forks 710A and 710B so that the connector pads 711A and 711B can contact the corresponding connector pads 715A and 715B of the work unit 712. The connector pads 715A and 715B of the work unit 712 are made of a conductive material and are attached to the bottom sides of the fork receiving areas 718A and 718B on one side of the work unit 712. The connector pads 715A and 715B are connected to the battery of the work unit 712.

[0084] Forklift AGV 700 may navigate forks 710A and 710B into fork receiving areas 718A and 718B until connector pads 711A and 711B are directly above connector pads 715A and 715B, respectively. For example, the conductive pads may include proximity sensors that alert forklift AGV 700 when connector pads 711A and 711B are directly above connector pads 715A and 715B. Forklift AGV 700 may then lift forks 710A and 710B to lift work unit 712 and transport work unit 712. Figure 7B As shown, when the work unit 712 is lifted, the connector pad 711A contacts the connector pad 715A, and the connector pad 711B contacts the connector pad 715B. In this way, the forklift AGV 700 can charge the work unit 712 and / or the work unit 712 can charge the forklift AGV 700.

[0085] Figure 8 8 is a flow chart showing an example process 800 for controlling an AGV to transport a work unit to a task location. The process 800 may be performed, for example, by Figure 1 The operations of process 800 may also be implemented as instructions stored on a non-transitory computer-readable medium, and execution of the instructions by one or more data processing devices may cause the one or more data processing devices to perform the operations of process 800.

[0086] A task to be performed by a work unit is identified (802). A task may be one that requires multiple different types of work units that can perform different tasks. For example, some tasks may require a robot work unit, while other tasks may require a product inspection or product labeling work unit.

[0087] Each work unit may be adapted to be transported by a plurality of different types of AGVs in a fleet of AGVs. For example, each work unit may include a base including a plurality of attachment mechanisms or lifting mechanisms for attaching to or being lifted by an AGV. In a particular example, each work unit may include a fork receiving area for receiving the forks of a forklift AGV, a hitch receiver for receiving a towing pin (or towing ball or hook) of a tractor AGV, and / or a lifting area below the work unit for receiving a lift AGV.

[0088] Each AGV in the fleet may be adapted to transport a variety of different types of work units. For example, each AGV may include an electromechanical interface that is connected to an attachment mechanism or a lifting mechanism of each work unit. The electromechanical interface may include a connector pad (or other conductive contact) arranged to contact a corresponding connector pad of the attachment mechanism or lifting mechanism of the work unit. The connector pad of the AGV may be electrically connected to the battery of the AGV, and the connector pad of the work unit may be electrically connected to the battery of the work unit. This enables the AGV to charge the work unit and / or the work unit to charge the AGV.

[0089] For each task, a work unit is selected to perform the task (804). The work units may be selected based on the task that each work unit performs. The work units may also be selected based on the availability of work units that can perform the task, the location of the available work units, whether other work units or other obstacles obstruct a path between the available work units and the location of the task to be performed, the charge level of the batteries of the available work units, and / or other suitable factors.

[0090] For each task, an AGV is selected that will transport the selected work unit to the location of the task to be performed (806). The AGV may be selected based on whether the AGV is capable of transporting the selected work unit, the availability of capable AGVs, the location of the capable AGV relative to the location of the selected work unit, the power of the capable AGV, and / or other appropriate factors.

[0091] The selected AGV is instructed to transport the selected work unit to a location for the task to be performed (808). For example, instructions may be sent to the selected AGV that specify the selected work unit, the current location of the selected work unit, and / or the destination location of the selected work unit. The AGV may then navigate to the selected work unit, attach to or lift the selected work unit depending on the type of AGV selected, and transport the work unit from the current location to the destination location. In some embodiments, the instructions may also specify a route that the AGV will take from the current location to the destination location, for example to avoid obstacles such as other work units or other AGVs.

[0092] During transport of the work unit, the AGV may charge the work unit's battery, or the work unit may charge the AGV's battery. The charging direction may be selected based on various factors (e.g., the charge of the AGV's battery as described above, the charge of the work unit's battery, whether the work unit will receive power from another power source at the destination location, the estimated duration required for the work unit to perform its task, and / or other appropriate factors).

[0093] The embodiments of the subject matter and operations described in this specification may be implemented in digital electronic circuits, or in computer software, firmware or hardware, including the structures disclosed in this specification and their equivalents, or in one or more combinations. The embodiments of the subject matter described in this specification may be implemented as one or more computer programs, i.e., one or more modules of computer program instructions, encoded on a computer storage medium to be executed by a data processing device or to control a data processing device. Alternatively or additionally, the program instructions may be encoded on an artificially generated propagation signal, such as a machine-generated electrical, optical or electromagnetic signal, which is generated to encode information for transport to a suitable receiver device to be executed by data processing. Instrument. The computer storage medium may be or be included in a computer-readable storage device, a computer-readable storage substrate, a random or serial access memory array or device, or a combination of one or more of them. In addition, although the computer storage medium is not a propagation signal, the computer storage medium may be a source or destination of computer program instructions encoded in an artificially generated propagation signal. The computer storage medium may also be one or more separate physical components or media (e.g., multiple CDs, disks or other storage devices) or contained therein.

[0094] The operations described in this specification may be implemented as operations performed by a data processing device on data stored on one or more computer-readable storage devices or received from other sources.

[0095] The term "data processing apparatus" encompasses all types of apparatus, devices and machines for processing data, including, for example, a programmable processor, a computer, a system on a chip, or a plurality, or a combination of the foregoing. The apparatus may include dedicated logic circuits, such as an FPGA (field programmable gate array) or an ASIC (application-specific integrated circuit). In addition to hardware, the apparatus may also include code that creates an execution environment for the computer program in question, for example, code constituting processor firmware, a protocol stack, a database management system, an operating system, a cross-platform operating environment, a virtual machine, or a combination of one or more thereof. The apparatus and execution environment may implement a variety of different computing model infrastructures, such as network services, distributed computing, and grid computing infrastructures.

[0096] A computer program (also referred to as a program, software, software application, script, or code) may be written in any form of programming language (including compiled or interpreted languages, declarative or procedural languages) and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine, object, or other unit suitable for a computing environment. A computer program may, but need not, correspond to a file in a file system. A program may be stored in a portion of a file that holds other programs or data (e.g., one or more scripts stored in a markup language document), in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files storing one or more modules, subroutines, or portions of code). A computer program may be deployed to be executed on one computer or on multiple computers located at one site or distributed across multiple sites and interconnected by a communications network.

[0097] The processes and logic flows described in this specification can be performed by one or more programmable processors executing one or more computer programs to perform actions by operating on input data and generating output. The processes and logic flows can also be performed by special purpose logic circuits, and the apparatus can also be implemented as special purpose logic circuits, such as FPGAs (field programmable gate arrays) or ASICs (application specific integrated circuits).

[0098] For example, processors suitable for executing computer programs include general and special purpose microprocessors, and any one or more processors of any type of digital computer. Typically, the processor will receive instructions and data from a read-only memory or a random access memory or both. The basic elements of a computer are a processor for performing actions according to instructions and one or more storage devices for storing instructions and data. Typically, a computer will also include or be operably coupled to receive data from one or more mass storage devices (e.g., magnetic, magneto-optical disks, or optical disks) for storing data or transport data to one or more mass storage devices or transport data to both. However, a computer does not have to have such a device. In addition, a computer can be embedded in another device, for example, a mobile phone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a global positioning system (GPS) receiver, or a portable storage device (e.g., a universal serial bus (USB) flash drive), to name a few. Devices suitable for storing computer program instructions and data include all forms of non-volatile memory, media and storage devices, including, for example, semiconductor memory devices such as EPROM, EEPROM and flash memory devices; magnetic disks, such as internal hard disks or removable disks; magneto-optical disks; and CD ROM and DVD-ROM disks. The processor and the memory may be supplemented by, or incorporated in, special purpose logic circuitry.

[0099] Although this specification contains many specific implementation details, these should not be interpreted as limitations on any invention or the scope of protection that can be claimed, but rather as descriptions of features of specific embodiments of specific inventions. Certain features described in this specification in the context of separate embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented separately in multiple embodiments or in any suitable sub-combination. In addition, although the above-mentioned features may be described as working in certain combinations, and even initially claimed as such, in some cases, one or more features may be cut out from the claimed composition, and the claimed combination may be directed to a sub-combination or a variation of a sub-combination.

[0100] Likewise, although the operations are described in a particular order in the figures, this should not be construed as requiring that the operations be performed in the particular order shown or in sequence, or that all of the illustrated operations be performed, to obtain the desired result. In some cases, multitasking and parallel processing may be advantageous. In addition, the separation of various system components in the above-described embodiments should not be construed as requiring that such separation be performed in all embodiments, and it should be understood that the program components and systems may generally be integrated into a single software product or packaged into multiple software products.

[0101] Thus, specific embodiments of the subject matter have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions recited in the claims may be performed in a different order and still achieve the desired results. Additionally, the processes depicted in the accompanying drawings do not necessarily require the particular order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing may be advantageous.

Claims

1. A method for dispatching and controlling autonomous guided vehicles (AGVs) and work units, characterized in that: The method comprises: identifying a set of tasks to be performed by a set of work units, wherein each work unit is adapted to perform one or more specific tasks and at least one work unit performs a different task than each other work unit; For each task: selecting a work unit to perform the task based at least on the one or more specific tasks that each work unit is suitable for performing; selecting an autonomous guided vehicle (AGV) from a group of AGVs to transport the selected work unit to a location where the task is to be performed, wherein each AGV includes an electromechanical interface adapted to: (i) connect to or lift a plurality of different types of work units, and (ii) provide charging power to or receive charging power from the plurality of different types of work units; and causing the selected AGV to transport the selected work unit to the location where the task is to be performed and to provide charging power to or receive charging power from the selected work unit, Each work unit includes a base having a fork receiving area for receiving the forks of a forklift AGV, a towing hook for receiving the towing pin of a tractor AGV, and a lifting area for receiving a lift AGV below the work unit. Each work unit is configured to be transported by multiple different types of AGVs.

2. The method according to claim 1, characterized in that One or more fork receiving areas, the tow hook, and the lifting area each include one or more connector pads that are electrically connected to one or more batteries of the work unit, wherein each connector pad is configured to contact a corresponding connector pad of each AGV when the AGV transports the work unit.

3. The method according to claim 1, characterized in that Further comprising determining a schedule defining when each selected AGV will transport the selected work unit for each task based on (i) the location where each work unit will be placed and (ii) the physical constraints of navigating each AGV to the location to perform the task.

4. The method according to claim 1, characterized in that Also includes: For a particular AGV, a determination is made whether to provide charging power to or receive charging power from a particular work unit that the AGV is transporting based on one or more of: (i) the battery charge of the AGV, (ii) the battery charge of the particular work unit, or (iii) whether the particular work unit will receive power from another power source at a location where the particular AGV is leaving the work unit.

5. The method according to claim 1, characterized in that Also includes: For specific tasks: determining whether the selected work unit for the specific task can be left at the location where the specific task is to be performed; determining whether the selected work unit for the particular task has sufficient battery power to complete the task; as well as In response to determining that the selected work unit can remain at the location where the specific task is to be performed, but the selected work unit for the specific task does not have sufficient battery power to complete the task, the selected AGV for the specific task continues to charge the selected work unit for the specific task while the task is being performed.

6. The method according to claim 1, characterized in that Each AGV is configured to communicate with each work cell.

7. The method according to claim 6, characterized in that Each AGV is configured to provide safety information to the work cell transported by the AGV, wherein the safety information includes instructions that cause moving parts of the work cell transported by the AGV to remain stationary while the AGV moves.

8. The method according to claim 1, characterized in that The set of work units includes at least one of a manipulator, a robot, a conveyor or an inspection work unit.

9. A system for dispatching and controlling autonomous guided vehicles (AGVs) and work units, characterized in that: include: a first fleet of AGVs, each AGV including an electromechanical interface adapted to: (i) connect to or lift a plurality of different types of work units, and (ii) provide charging power to or receive charging power from the plurality of different types of work units; a second team of a plurality of work units of different types, each work unit being adapted to perform one or more specific tasks, wherein at least one work unit in the second team performs a different task than each other work unit in the second team; and A control system, the control system being configured to: identifying a set of tasks to be performed by the second team of work units; For each task: selecting a work unit to perform the task based at least on the one or more specific tasks that each work unit is suitable for performing; selecting an AGV that transports the selected work unit to a location where the task is to be performed; and providing instructions to the selected AGV, the instructions causing the selected AGV to transport the selected work unit to the location where the task is to be performed and to provide charging power to or receive charging power from the selected work unit through the electromechanical interface, Each work unit includes a base having a fork receiving area for receiving the forks of a forklift AGV, a towing hook for receiving the towing pin of a tractor AGV, and a lifting area for receiving a lift AGV below the work unit. Each work unit is configured to be transported by multiple different types of AGVs.

10. The system according to claim 9, characterized in that One or more fork receiving areas, the tow hook, and the lifting area each include one or more connector pads that are electrically connected to one or more batteries of the work unit, wherein each connector pad is configured to contact a corresponding connector pad of each AGV when the AGV transports the work unit.

11. The system according to claim 9, characterized in that The control system is further configured to determine a schedule that defines when each selected AGV will transport the selected work unit for each task based on (i) the location where each work unit will be placed and (ii) the physical constraints of navigating each AGV to the location to perform the task.

12. The system according to claim 9, characterized in that The control system is also configured to determine, for a particular AGV, whether to provide charging power to or receive charging power from a particular work unit that the AGV is transporting based on one or more of: (i) the battery charge of the AGV, (ii) the battery charge of the particular work unit, or (iii) whether the particular work unit will receive power from another power source at a location where the particular AGV is leaving the work unit.

13. The system of claim 9, wherein: The control system is further configured to: For specific tasks: determining whether the selected work unit for the specific task can be left at the location where the specific task is to be performed; determining whether the selected work unit for the particular task has sufficient battery power to complete the task; as well as In response to determining that the selected work unit can remain at the location where the specific task is to be performed, but the selected work unit for the specific task does not have sufficient battery power to complete the task, the selected AGV for the specific task continues to charge the selected work unit for the specific task while the task is being performed.

14. The system of claim 9, wherein: Each AGV is configured to communicate with each work cell.

15. The system of claim 14, wherein: Each AGV is configured to provide safety information to the work cell transported by the AGV, wherein the safety information includes instructions that cause moving parts of the work cell transported by the AGV to remain stationary while the AGV moves.

16. The system of claim 9, wherein: The second team of work units includes at least one of a manipulator, a robot, a conveyor or an inspection work unit.

17. A system for dispatching and controlling autonomous guided vehicles (AGVs) and work units, characterized in that: include: Data processing equipment; as well as a memory storage device in data communication with the data processing device, the memory storage device storing instructions executable by the data processing device, and when the instructions are executed, the instructions cause the data processing device to perform operations, the operations comprising: identifying a set of tasks to be performed by a set of work units, wherein each work unit is adapted to perform one or more specific tasks and at least one work unit performs a different task than the other work units; For each task: selecting a work unit to perform the task based at least on the one or more specific tasks that each work unit is suitable for performing; selecting an autonomous guided vehicle (AGV) from a group of AGVs to transport the selected work unit to a location where the task is to be performed, wherein each AGV includes an electromechanical interface adapted to: (i) connect to or lift a plurality of different types of work units, and (ii) provide charging power to or receive charging power from the plurality of different types of work units; and causing the selected AGV to transport the selected work unit to the location where the task is to be performed and to provide charging power to or receive charging power from the selected work unit, Each work unit includes a base having a fork receiving area for receiving the forks of a forklift AGV, a towing hook for receiving the towing pin of a tractor AGV, and a lifting area for receiving a lift AGV below the work unit. Each work unit is configured to be transported by multiple different types of AGVs.

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