Autonomous driving vehicle management system and method

Abstract

An autonomous vehicle management system and method configured to provide formal route and mission instructions to an automated guided vehicle (AGV). The system and method include providing any permanent or temporary changes to the route or mission instructions without having to take the AGV offline for reprogramming. The formal route and mission instructions and any permanent or temporary changes to the route or mission instructions may be provided by an operator and / or one or more markers such as bar codes.

Description

Background of the Invention Technical Field

[0002] Embodiments disclosed herein relate to autonomous vehicle management systems and methods. Background Art

[0004] Automated guided vehicles (AGVs) are autonomous self-driving vehicles used in a wide variety of environments. For example, AGVs are used within warehouses to assist in moving inventory from one area to another. However, one problem faced by operators is that whenever there is a change in the warehouse environment, such as a change in the layout or height of shelves and workbenches, the AGV must be taken offline and reprogrammed to account for such changes. Similar problems are encountered when there is a change in the tasks assigned to the AGV or when there are unintentional obstacles placed in front of the AGV. There is no way to quickly reprogram the AGV to adjust for such changes or obstacles. These problems often lead to reduced productivity and efficiency.

[0005] Therefore, there is a need for new and improved autonomous vehicle management systems and methods. Summary of the invention

[0006] In one embodiment, a method for operating an autonomous driving system includes: receiving formal routing and task instructions from a control system or a system administrator, wherein the formal routing and task instructions are received by an autonomous driving vehicle; detecting and retrieving routing and task instructions from one or more markers using a camera coupled to the autonomous driving vehicle, wherein the routing and task instructions from the markers are different from the formal routing and task instructions; and sending the routing and task instructions read from the markers to the control system or the system administrator to update the formal routing and task instructions.

[0007] In one embodiment, a method for operating an autonomous driving system includes: receiving formal route and mission instructions from a control system or system administrator, wherein the formal route and mission instructions are received by an autonomous driving vehicle; detecting and reading route and mission instructions from one or more markers using a camera coupled to the autonomous driving vehicle, wherein the route and mission instructions from the markers are different from the formal route and mission instructions; and following the route and mission instructions read from the markers using the autonomous driving vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1is a perspective view of an automated guided vehicle (AGV) according to one embodiment.

[0009] Figure 2 is a top view of an AGV according to another embodiment.

[0010] Figure 3 is a perspective view of an inventory rack positioned on an AGV according to one embodiment.

[0011] Figure 4 is a schematic view of an AGV moving into a workspace according to one embodiment.

[0012] Figure 5A is a schematic view of an AGV within a workspace according to one embodiment.

[0013] Figure 5B is a schematic view of an AGV within a workspace according to one embodiment.

[0014] Fig. 6A is a schematic view of an AGV rotating within a workspace according to one embodiment.

[0015] Figure 6B is a schematic illustration of an AGV moving out of a workspace according to one embodiment.

[0016] Figure 7 is a schematic view of an AGV retracting into a workspace according to one embodiment.

[0017] Figure 8 is a schematic illustration of an operational sequence of an AGV according to one embodiment.

[0018] Fig. 9 is a schematic illustration of an operational sequence of an AGV according to one embodiment.

[0019] Fig.10 is a flow chart of the operating sequence of an AGV according to one embodiment.

[0020] To facilitate understanding, identical reference numerals have been used, where possible, to designate identical elements that are common to the figures. It is contemplated that elements disclosed in one embodiment may be beneficially used with other embodiments without specific recitation. DETAILED DESCRIPTION

[0021] Embodiments of the present disclosure include an autonomous vehicle management system and method configured to provide formal route and mission instructions to an automated guided vehicle (AGV), and any permanent or temporary changes to the route or mission instructions without having to take the AGV offline for reprogramming. The formal route and mission instructions and any permanent or temporary changes to the route or mission instructions may be provided by an operator or one or more markers such as a barcode.

[0022] AGVs are autonomous vehicles and include, but are not limited to, mobile robots, such as autonomous navigation mobile robots, inertial navigation robots, remotely controlled mobile robots, and / or robots guided by laser targeting, vision systems, and / or road signs. Although embodiments of autonomous vehicle management systems and methods are described and illustrated herein with respect to AGVs moving inventory in a warehouse environment, the embodiments may be used in any type of environment with any type of autonomous driving system and method.

[0023] Figure 1 1 is a perspective view of an automated guided vehicle (AGV) 100. The AGV 100 includes a console 30 coupled to a mobile base 20 in a vertical position. The console 30 has a display 50 configured to display information and allow an operator to control the operation of the AGV 100. The mobile base 20 has a plurality of motorized wheels 40 configured to rotate and / or roll in any given direction to move the AGV 100. The mobile base 20 has an upper surface 25 that can be used to support inventory.

[0024] One or more cameras 10 are shown coupled to the upper end of the console 30 of the AGV 100. One camera 10 is located at the top center of the console 30, one camera 10 is located to the right of the console 30, and one camera 10 is located to the left of the console 30. Although only three cameras 10 are shown, any number or arrangement of cameras may be used.

[0025] Figure 2 FIG. 1 is a top view of an AGV 100 according to one embodiment. Figure 2As shown in , the camera 10 is located on the AGV 100 to provide an image capture range 15 including areas located in front and on both sides of the AGV 100. The image capture range 15 may include a 180-degree viewing area, a 270-degree viewing area, a 360-degree viewing area, or any viewing area between 180 and 360 degrees. The camera 10 is configured to scan and record visual images, and detect the presence of nearby objects. The camera 10 may include, but is not limited to, a monocular camera, a binocular camera, and / or a stereo camera.

[0026] Figure 3 is a perspective view of an inventory carrier 60 positioned on the upper surface 25 of the mobile base 20 of the AGV 100 according to one embodiment. The inventory can be positioned directly on the upper surface 25 of the mobile base 20. The inventory can be positioned directly on the inventory carrier 60. The AGV 100 can move the inventory and / or the inventory carrier 60 from one location to another. Although the inventory carrier 60 is shown as a cart with wheels, the inventory carrier 60 can be a basket, a box, or any other type of wheeled cart, or can be a container that can be used to hold, carry and / or transport items such as inventory.

[0027] Figure 4 is a schematic illustration of an AGV 100 moving into a workspace 80 of a warehouse according to one embodiment. The AGV 100 may be provided with formal routing and task instructions to follow a travel path 90 and bring inventory 65 and inventory racks 60 to the workspace 80 where a worker 200 is located. As indicated by reference arrows 71, 72, the AGV 100 detects and reads routing and task instructions from one or more markers 70, 75, such as bar codes, located within the image capture range of the camera 10.

[0028] Markers 70,75 can comprise the route and task instruction that are identical or different with formal route and task instruction.Markers 70,75 can be used to confirm formal route and task instruction, change formal route and task instruction and / or add formal route and task instruction.Staff 200 can place and remove any number of markers 70,75, to confirm, change and / or add formal route and task instruction.Markers 70,75 are shown as being positioned at the end of workbench 85, but can be positioned in workbench 80 or anywhere near.

[0029] Figure 5A and Figure 5Bis a schematic view of an AGV 100 in a workspace 80 according to one embodiment. The AGV 100 may read route and task instructions from the markers 70. The route and task instructions may include instructions and / or information about a path of travel to follow, actions to perform, and / or the workspace 80.

[0030] Instructions and / or information regarding the path of travel may include, but are not limited to, location and / or position information of the warehouse and / or items within the warehouse, such as horizontal and / or vertical coordinates of the workspace 80 and / or workbench 85.

[0031] Instructions and / or information regarding the actions to be performed may include, but are not limited to, backing up into the workspace 80, rotating 180 degrees within the workspace 80, staying, leaving, moving away, waiting a predetermined amount of time and then moving forward, returning, going to another location, and / or adjusting the height of the upper surface 25 of the mobile base 20 of the AGV 100.

[0032] Instructions and / or information about the workspace 80 may include, but are not limited to, whether the AGV 100 can pass through the workspace 80, the depth (reference arrow 87), width (reference arrow 86), size of the work area for the worker 200 (reference arrow 88), the height of the workbench 85 (reference arrow 89), and / or how close to the workbench 85 the AGV 100 is to dock.

[0033] Based on the route and task instructions, the AGV 100 is configured to determine whether there is a sufficient amount of space for the AGV 100 to move itself, any inventory, and / or inventory racks into the workspace 80 without colliding with the worker 200 and / or the workbench 85. If the AGV 100 determines that there is a sufficient amount of space, the AGV 100 is configured to continue the route and task instructions and move into the workspace 80. In addition, the AGV 100 is configured to adjust the height of the upper surface 25 of the mobile base 20 to an appropriate height relative to the workbench 80 to raise or lower the inventory rack 60 and inventory 65 to facilitate handling of the inventory 65. If the AGV 100 determines that there is not a sufficient amount of space, the AGV 100 is configured to stop the route and task instructions and send an error notification to the worker 200 and / or the system administrator.

[0034] Fig. 6A is a schematic view of an AGV 100 rotating 180 degrees within a workspace 80 according to one embodiment, Figure 6Bis a schematic illustration of an AGV 100 moving out of a workspace 80 according to one embodiment. Based on the route and task instructions about the workspace 80 read from the markers 70, such as the width (reference arrow 86) and / or the work area (reference arrow 88), the AGV 100 is configured to determine whether there is a sufficient amount of space to turn 180 degrees, lower the inventory rack 60 to the ground, and then move straight out of the workspace 80. If the AGV 100 determines that there is a sufficient amount of space, the AGV 100 is configured to turn 180 degrees as indicated by reference arrow 91, lower the inventory rack 60 with inventory 65 to the ground, and move straight out of the workspace 80 as indicated by reference arrow 92.

[0035] Figure 7 is a schematic illustration of an AGV 100 backing up into a workspace 80 according to one embodiment. If the AGV 100 determines that there is not a sufficient amount of room to turn 180 degrees based on the route and task instructions for the workspace 80 read from the markers 70, the AGV 100 is configured to back up into the workspace 80 as indicated by reference arrows 93, 94. The AGV 100 is able to back up (e.g., move backward) into the workspace 80, lower the inventory rack 60 with inventory 65 to the ground, and then move straight out of the workspace 80.

[0036] Figure 8 is a schematic view of the operating sequence of the AGV 100 according to one embodiment. The AGV 100 may be provided with formal routing and task instructions to follow the travel path 95, read the inventory 65, and then follow the travel path 96 to the worker 200 waiting for the inventory 65 at the workstation 85. The formal routing and task instructions may indicate to the AGV 100 that there is sufficient space in the workspace 80 to rotate 180 degrees. However, the worker 200 has placed additional inventory items 66 within the workspace 80 that will prevent the AGV 100 from passing through the workspace 80 or rotating 180 degrees within the workspace 80. In order to communicate with the AGV 100, the worker 200 may place one or more markers 70 at the end of the workstation 85 to enable the AGV 100 to detect and read the routing and task instructions regarding the additional inventory items 66.

[0037] As the AGV 100 approaches the workstation 85, the camera 10 on the AGV 100 detects and reads the route and task instructions from the marker 70 as indicated by reference arrow 71. The route and task instructions read from the marker 70 provide information that is different from the formal route and task instructions of the AGV 100, specifically instructions to back up (e.g., move backward) into the workspace 80. In response, the AGV 100 follows the route and task instructions read from the marker 70 and backs up into the workspace 80 as indicated by reference arrows 97, 98.

[0038] Fig. 9 is a schematic view of an operational sequence of the AGV 100 according to one embodiment. Formal route and mission instructions may be provided to the AGV 100 from a control system 210 (such as a local server with pre-programmed instructions) and / or a system administrator 220 via wired or wireless communications, as indicated by reference arrow 77. The system administrator 220 may communicate with the AGV 100 through the control system 210 at a remote location and via wired or wireless communications, as indicated by arrow 76. The AGV 100 may include a controller, such as a central processing unit, configured to communicate with the camera 10, the motorized wheels 40, the control system 210, and / or the system administrator 220, and to control the operation of the AGV 100 based on the route and mission instructions received from the control system 210, the system administrator 220, and / or one or more markers 70.

[0039] Based on the official route and task instructions received from the control system 210 and / or the system administrator 220, the AGV 100 can be instructed to follow the path of travel 99 and drop off the inventory 65 at the workstation 85. In the event that the inventory 65 is no longer needed or there is no staff at the workstation, one or more markers 70 can be placed on the workstation 85 to instruct the AGV 100 to return the inventory 65 or take the inventory 65 to a different workstation 85. When the AGV 100 approaches the workstation 85, the camera 10 on the AGV 100 detects and reads the route and task instructions from the marker 70 as indicated by the reference arrow 71. The route and task instructions read from the marker 70 provide information to change the official route and task instructions of the AGV 100 to follow the path of travel 101, and then return the inventory 65 or take the inventory 65 to a different workstation 85. In response, the AGV is configured to follow the route and task instructions read from the marker 70.

[0040] Furthermore, the AGV 100 is configured to communicate the route and mission instructions read from the marker 70 to the control system 210 and / or the system administrator 220 as indicated by reference arrow 78. After confirmation, the system administrator 220 can then update the official route and mission instructions to match the route and mission instructions read from the marker 70 so that the marker 70 is no longer required.

[0041] Fig.10 1 is a flow chart of an operational sequence 300 of the AGV 100 according to one embodiment. At step 310, the AGV 100 receives formal route and mission instructions from the control system 210 and / or the system administrator 220. At step 320, the AGV 100 follows the formal route and mission instructions received from the control system 210 and / or the system administrator 220. At step 330, the AGV 100 detects one or more markers 70 and reads the route and mission instructions from the one or more markers 70.

[0042] At step 340, the AGV 100 follows the route and task instructions read from the one or more markers 70. At step 350, the AGV 100 sends the route and task instructions read from the one or more markers 70 to the control system 210 and / or the system administrator 220. At step 360, after confirmation by the control system 210 and / or the system administrator 220, the route and task instructions read from the one or more markers 70 by the AGV 100 are updated and become part of the official route and task instructions stored on the control system 210.

[0043] Figure 8-Figure 10 Some operating sequences of the AGV 100 using the autonomous vehicle management system and method as disclosed herein are illustrated, but the AGV 100 is capable of following any number of routes and task instructions, to follow any number of travel paths, to perform any number of actions, and to move into and out of any number of workspaces without colliding with any workers or workstations.

[0044] While the foregoing is directed to embodiments of the present disclosure, other and further embodiments of the disclosure may be devised thereby without departing from the basic scope thereof, and the scope of the disclosure is determined by the claims which follow.

Claims

1. A method of operating an automated driving system, comprising: receiving formal route and mission instructions from a control system or a system administrator, wherein the formal route and mission instructions are received by the autonomous vehicle; detecting and reading route and mission instructions from one or more markers positioned within a workspace using a camera coupled to the autonomous vehicle, wherein the route and mission instructions from the markers are different from the formal route and mission instructions; The autonomous vehicle determines, based on the route and task instructions read, whether there is a sufficient amount of space for the autonomous vehicle to move itself, any inventory, and / or inventory carriers into the workspace without colliding with a worker and / or a workstation; as well as If it is determined that there is a sufficient amount of space, sending the route and mission instructions read from the marker to the control system or the system administrator to update the official route and mission instructions to match the route and mission instructions read from the one or more markers, wherein the route and task instructions read from the markers include instructions and / or information about a path of travel to be followed, instructions and / or information about actions to be performed and instructions and / or information about a workspace, The instructions and / or information about the workspace include: the depth, width, size of the work area, the height of the workbench, or how close the autonomous driving vehicle is parked near the workbench.

2. The method of claim 1, wherein the marker is positioned within a workspace such that the marker can be removed from the workspace and additional markers can be positioned within the workspace. The method according to claim 1 , wherein the marker is a barcode.

4. The method of claim 1 , wherein the route and mission instructions read from the marker include instructions for transporting inventory to different locations using the autonomous vehicle.

5. A method according to any one of claims 1-4, wherein the instructions and / or information about the travel path to be followed include location and position information of a warehouse or items within the warehouse.

6. A method according to any one of claims 1-4, wherein the instructions and / or information regarding the actions to be performed include backing up into a workspace, rotating 180 degrees within the workspace, staying, leaving, moving away, waiting a predetermined amount of time and then moving forward, returning, going to another location, or adjusting the height of the autonomous vehicle.

7. The method of claim 1, wherein the autonomous vehicle is configured to transport an inventory pallet having inventory from one location to another location.

8. The method of claim 7, wherein the autonomous vehicle includes a console coupled to a mobile base in a vertical position, the mobile base having motorized wheels to move the autonomous vehicle.

9. The method of claim 8, wherein the mobile base includes an upper surface configured to raise and lower the inventory rack having the inventory.

10. The method of claim 9, wherein the cameras include at least three cameras coupled to the console.

11. A method of operating an automated driving system, comprising: receiving formal route and mission instructions from a control system or a system administrator, wherein the formal route and mission instructions are received by the autonomous vehicle; detecting and reading route and mission instructions from one or more markers positioned within a workspace using a camera coupled to the autonomous vehicle, wherein the route and mission instructions from the markers are different from the formal route and mission instructions; The autonomous vehicle determines, based on the route and task instructions read, whether there is a sufficient amount of space for the autonomous vehicle to move itself, any inventory, and / or inventory carriers into the workspace without colliding with a worker and / or a workstation; as well as If it is determined that there is a sufficient amount of space, using the autonomous vehicle to send the route and mission instructions read from the marker to the control system or the system administrator to update the official route and mission instructions to match the route and mission instructions read from the marker, wherein the route and task instructions read from the markers include instructions and / or information about a path of travel to be followed, instructions and / or information about actions to be performed and instructions and / or information about a workspace, The instructions and / or information about the workspace include: the depth, width, size of the work area, the height of the workbench, or how close the autonomous driving vehicle is parked near the workbench.

12. The method of claim 11, wherein the route and mission instructions read from the marker include instructions for transporting inventory to different locations using the autonomous vehicle.

13. The method of claim 11, wherein the instructions and / or information about the path of travel to be followed include location and position information of a warehouse or items within the warehouse.

14. The method of claim 11, wherein the instructions and / or information regarding the action to be performed include backing into a workspace, rotating 180 degrees within the workspace, staying, exiting, moving away, waiting a predetermined amount of time and then moving forward, returning, going to another location, or adjusting the height of the autonomous vehicle.

15. The method of claim 11, wherein the marker is a barcode that is positioned within the workspace such that the marker can be removed from the workspace and additional markers can be positioned within the workspace.

Images