Autonomous mobile robot for manufacturing a vehicle

Abstract

A system for manufacturing one or more products includes an assembly line having a first end and a second end and one or more autonomous mobile robots (AMRs) each including a power storage and a communication device, the AMRs each communicatively coupled to one of the one or more products.

Description

[0001] Foreword

[0002] The information provided in this section is for the purpose of presenting the general context of this disclosure. The work of the currently named inventors, to the extent described in this section and in aspects of the description that may not otherwise be considered prior art at the time of filing, is neither expressly nor implicitly acknowledged as prior art to this disclosure. Technical Field

[0003] This disclosure generally relates to an autonomous mobile robot. Background Technology

[0004] Autonomous mobile robots (AMRs) are designed to move materials within manufacturing facilities and warehouses, playing a crucial role in modern logistics and supply chain management. Typically, AMRs navigate complex environments using simultaneous localization and mapping (SLAM) and obstacle avoidance. By autonomously planning routes and prioritizing tasks, AMRs improve the operational efficiency of warehouses and manufacturing plants. Their ability to adapt to dynamic environments and coordinate with other robots further optimizes workflows and reduces the need for human intervention.

[0005] AMRs (Automated Warehouse Management Systems) facilitate streamlined logistics by automating the movement of goods, thereby reducing labor costs and minimizing human error. They can be integrated with Internet of Things (IoT) networks, enabling seamless communication with other devices and systems, such as Warehouse Management Systems (WMS) and Manufacturing Execution Systems (MES). This connectivity allows for real-time data exchange and improved decision-making processes. Despite their many advantages, existing AMRs still face certain limitations and challenges that can be improved. The shortcomings of existing systems will be addressed through one or more aspects of this disclosure. Summary of the Invention

[0006] In one configuration, a system for manufacturing a vehicle is provided, comprising an assembly line extending between a first end and a second end, a communication conduit coupled to the assembly line and extending between the first and second ends of the assembly line, the communication conduit defining a mating surface between the first and second ends, line-side equipment disposed adjacent to or on the assembly line between the first and second ends and communicatively coupled to the communication conduit, and an autonomous mobile robot (AMR) configured to selectively engage with the assembly line and power the vehicle. The AMR includes a body, one or more wheels coupled to the body, a power storage device coupled to the body, and one or more contact points coupled to the body and communicatively coupled to the power storage device.

[0007] The system may include one or more of the following optional aspects. For example, one or more contact points may engage with the mating surface of a communication conduit.

[0008] According to one aspect, the line-side device may include one or more contact points configured to engage with the mating surface of the communication conduit.

[0009] On the other hand, an AMR may include a storage device connected to the host.

[0010] According to at least one example, an AMR may include one or more ports arranged on the body that are communicatively connected to an energy storage device.

[0011] In another configuration, a system for manufacturing a vehicle is provided, and the system includes an autonomous mobile robot (AMR) that includes communication equipment and an assembly line that communicatively connects the AMR and the vehicle, enabling data to be transmitted between the AMR and the vehicle.

[0012] The system may include one or more of the following optional aspects. For example, the assembly line may include a communication conduit extending between a first end and a second end of the assembly line. The AMR and the vehicle may each include contact points that engage with the communication conduit.

[0013] According to another approach, an AMR may include a power storage device communicatively connected to a communication device. An AMR may include one or more ports communicatively connected to both the power storage device and the communication device.

[0014] In another configuration, a system for manufacturing one or more products is provided, and the system includes an assembly line having a first end and a second end, and one or more autonomous mobile robots (AMRs), each including a power storage device and a communication device, each AMR being communicatively connected to one or more products.

[0015] The system may include one or more of the following optional aspects. For example, the AMR and one or more products can be connected together by a cable.

[0016] According to at least one aspect, the assembly line may include a communication conduit extending between a first end and a second end of the assembly line. Power can be transmitted via the communication conduit from one of the AMRs to at least one of the products. Data can be transmitted via the communication conduit between one of the AMRs and at least one of the products.

[0017] According to another embodiment, the system may also include a line-side device communicatively connected to a communication conduit between a first and a second end of the assembly line. The line-side device may be powered by the AMR via the communication conduit. Data may be transmitted between the line-side device and the AMR via the communication conduit.

[0018] According to at least one example, the communication conduit can be arranged below the product and AMR.

[0019] According to another example, communication conduits can be placed above the product and AMR. Attached Figure Description

[0020] The accompanying drawings described herein are for illustrative purposes only for the selected configurations and are not intended to limit the scope of this disclosure.

[0021] Figure 1 This is a front perspective view of a system including a vehicle and an autonomous mobile robot (AMR) based on the principles of this disclosure;

[0022] Figure 2 It is a side view of the vehicle and AMR connected via communication pipes arranged in the assembly line;

[0023] Figure 3 It is based on the principles of this disclosure. Figure 1 Rear perspective view of the AMR;

[0024] Figure 4 It is along line 4-4 Figure 2 A cross-sectional view of the AMR and a portion of the assembly line;

[0025] Figure 5 This is another configuration of the system based on the principles of this disclosure; and

[0026] Figure 6 It is another configuration of the system based on the principles of this disclosure.

[0027] Throughout the accompanying drawings, corresponding reference numerals indicate the corresponding parts. Detailed Implementation

[0028] The exemplary configuration will now be described more fully with reference to the accompanying drawings. Exemplary configurations are provided so that this disclosure will be thorough and will fully communicate the scope of this disclosure to those skilled in the art. Specific details, such as examples of specific components, apparatus, and methods, are set forth to provide a thorough understanding of the configurations of this disclosure. It will be apparent to those skilled in the art that specific details are not required, that the exemplary configurations may be implemented in many different forms, and that the specific details and exemplary configurations should not be construed as limiting the scope of this disclosure.

[0029] The terminology used herein is for the purpose of describing particular exemplary configurations only and is not intended to be restrictive. As used herein, the singular articles “a,” “an,” and “the” may be intended to include plural forms as well, unless the context clearly indicates otherwise. The terms “comprises,” “comprising,” “including,” and “having” are inclusive and therefore specify the presence of features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof. Unless specifically identified as an order of execution, the method steps, processes, and operations described herein should not be construed as requiring them to be performed in the specific order discussed or shown. Additional or alternative steps may be employed.

[0030] When an element or layer is referred to as being “on,” “joined to,” “connected to,” “attached to,” or “linked to” another element or layer, it may be directly on, joined to, connected to, attached to, or linked to the other element or layer, or there may be intermediate elements or layers present. Conversely, when an element is referred to as being “directly on,” “directly joined to,” “directly connected to,” “directly attached to,” or “directly linked to” another element or layer, there may be no intermediate elements or layers present. Other terms used to describe relationships between elements should be interpreted in a similar manner (e.g., “between” vs. “directly between,” “adjacent” vs. “directly adjacent,” etc.). As used herein, the term “and / or” includes any and all combinations of one or more of the associated listed items.

[0031] The terms “first,” “second,” “third,” etc., may be used herein to describe various elements, components, regions, layers, and / or sections. These elements, components, regions, layers, and / or sections should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or section from another. Unless the context clearly indicates otherwise, terms such as “first,” “second,” and other numerical terms do not imply order or sequence. Therefore, without departing from the teachings of the example configuration, the first element, component, region, layer, or section discussed below may be referred to as the second element, component, region, layer, or section.

[0032] In this application, including the following definitions, the term "module" may be replaced by the term "circuit". The term "module" may refer to, be a part of, or include: application-specific integrated circuits (ASICs); digital, analog, or mixed-signal analog / digital discrete circuits; digital, analog, or mixed-signal analog / digital integrated circuits; combinational logic circuits; field-programmable gate arrays (FPGAs); processors (shared, dedicated, or grouped) that execute code; memories (shared, dedicated, or grouped) that store code executed by the processor; other suitable hardware components that provide the described functionality; or combinations of some or all of the foregoing, such as in a system-on-a-chip.

[0033] The term "code" as used above can include software, firmware, and / or microcode, and can refer to programs, routines, functions, classes, and / or objects. The term "shared processor" covers a single processor that executes some or all of the code from multiple modules. The term "group processor" covers a processor that, in combination with additional processors, executes some or all of the code from one or more modules. The term "shared memory" covers a single memory that stores some or all of the code from multiple modules. The term "group memory" covers memory that, in combination with additional memory, stores some or all of the code from one or more modules. The term "memory" can be a subset of the term "computer-readable medium." The term "computer-readable medium" does not include transient electrical and electromagnetic signals propagating through the medium, and therefore can be considered tangible and non-transitory memory. Non-limiting examples of non-transitory memory include tangible computer-readable media, which include non-volatile memory, magnetic memory, and optical memory.

[0034] The apparatus and methods described in this application can be implemented, in part or in whole, by one or more computer programs executed by one or more processors. The computer program includes processor-executable instructions stored on at least one non-transitory tangible computer-readable medium. The computer program may also include and / or depend on stored data.

[0035] A software application (i.e., a software resource) can refer to computer software that enables a computing device to perform tasks. In some examples, a software application may be referred to as an "application," "app," or "program." Example applications include, but are not limited to, system diagnostic applications, system management applications, system maintenance applications, word processing applications, spreadsheet applications, messaging applications, media streaming applications, social networking applications, and game applications.

[0036] Non-transitory memory can be a physical device used to temporarily or permanently store programs (e.g., instruction sequences) or data (e.g., program state information) for use by a computing device. Non-transitory memory can be volatile and / or non-volatile addressable semiconductor memory. Examples of non-volatile memory include, but are not limited to, flash memory and read-only memory (ROM) / programmable read-only memory (PROM) / erasable programmable read-only memory (EPROM) / electrically erasable programmable read-only memory (EEPROM) (e.g., commonly used in firmware, such as bootloaders). Examples of volatile memory include, but are not limited to, random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), phase-change memory (PCM), and magnetic disks or magnetic tapes.

[0037] These computer programs (also referred to as programs, software, software applications, or code) include machine instructions for a programmable processor and can be implemented using high-level procedural and / or object-oriented programming languages ​​and / or assembly / machine languages. As used herein, the terms “machine-readable medium” and “computer-readable medium” refer to any computer program product, non-transitory computer-readable medium, apparatus, and / or device (e.g., disk, optical disk, memory, programmable logic device (PLD)) used to provide machine instructions and / or data to a programmable processor, including machine-readable media that receive machine instructions as machine-readable signals. The term “machine-readable signal” refers to any signal used to provide machine instructions and / or data to a programmable processor.

[0038] Various implementations of the systems and techniques described herein can be implemented in digital electronic and / or optical circuits, integrated circuits, specially designed ASICs (Application-Specific Integrated Circuits), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementations in one or more computer programs executable and / or interpretable on a programmable system, which includes at least one programmable processor, which may be dedicated or general-purpose, coupled to receive data and instructions from a storage system, at least one input device, and at least one output device, and to transmit data and instructions to the storage system, at least one input device, and at least one output device.

[0039] The processes and logic described in this specification can be executed by one or more programmable processors (also known as data processing hardware) that execute one or more computer programs to perform functions by manipulating input data and generating output. The processes and logic can also be executed by special-purpose logic circuitry, such as FPGAs (Field-Programmable Gate Arrays) or ASICs (Application-Specific Integrated Circuits). Processors suitable for executing computer programs include, for example, both general-purpose microprocessors and special-purpose microprocessors, as well as any one or more processors of any kind of digital computer. Typically, the processor receives instructions and data from read-only memory or random access memory, or both. The basic elements of a computer are a processor for executing instructions and one or more memory devices for storing instructions and data. Typically, a computer will also include one or more mass storage devices (e.g., magnetic disks, magneto-optical disks, or optical disks) for storing data, or operatively coupled to receive data from or transfer data to one or more mass storage devices, or both. However, a computer does not need to have such devices. Computer-readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media, and memory 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. Processors and memory may be supplemented by or incorporated into dedicated logic circuitry.

[0040] To provide interaction with a user, one or more aspects of this disclosure can be implemented on a computer having a display device for displaying information to the user, such as a CRT (cathode ray tube), LCD (liquid crystal display) monitor, or touchscreen, and optionally a keyboard and pointing device, such as a mouse or trackball, through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback, such as visual feedback, auditory feedback, or tactile feedback; and input from the user can be received in any form, including acoustic, voice, or tactile input. Furthermore, the computer can interact with the user by sending documents to and receiving documents from the device used by the user; for example, by sending a web page to a web browser on the user's client device in response to a request received from a web browser.

[0041] To date, autonomous mobile robots (AMRs) have primarily been designed for moving materials (e.g., parts, boxes, crates, etc.) throughout manufacturing facilities and warehouses. Existing AMRs can communicate with surrounding infrastructure but not directly with products manufactured on assembly lines or otherwise. As will be discussed in more detail below, aspects of this disclosure describe AMRs that can be communicatively coupled to one or more products (e.g., vehicles), enabling the transfer of power and / or data between the AMR and the product during manufacturing. Communicating with the product in this manner can increase manufacturing capabilities along the assembly line, including, for example, powering one or more products, powering in-line side equipment, uploading software to one or more products, testing electrical connections on one or more products, providing live connections to one or more products, etc. These capabilities can streamline production by reducing individual manufacturing events and can reduce the footprint of manufacturing facilities by shortening assembly lines.

[0042] refer to Figure 1 An operating environment 10 is provided, and the operating environment 10 includes a system 100 configured for manufacturing one or more products 102 (e.g., vehicles). System 100 includes an assembly line 104 extending between a first end 106 and a second end 108. Assembly line 104 includes a communication conduit 110, which can be configured to transmit data and / or power (e.g., alternating current (AC) or direct current (DC)). Communication conduit 110 can be a temporary or permanent path integrally formed within assembly line 104. In this example, reference... Figure 2 At least a portion of the communication conduit 110 defines a mating surface 112 to which the product 102 can engage between the first end 106 and the second end 108 of the assembly line 104.

[0043] Infrastructure (e.g., permanent or temporary) located within and throughout operating environment 10 can be communicatively connected to communication conduit 110. (See reference) Figure 1 and Figure 2 System 100 may include line-side equipment 114 arranged adjacent to assembly line 104. Line-side equipment 114 may be configured to be communicatively connected to communication conduit 110. For example, line-side equipment 114 may include various robots, tooling stations, quality control equipment, material handling equipment, safety equipment, and / or storage solutions.

[0044] Continue to refer to Figure 1 and Figure 2The system 100 also includes at least one autonomous mobile robot (AMR) 116 configured to autonomously travel to and from the assembly line 104, and between a first end 106 and a second end 108 of the assembly line 104. In this illustrative configuration, the AMR 116 is positioned in front of the product 102 or between the product 102 and the second end 108 of the assembly line 104; however, in other configurations, the AMR 116 may be positioned adjacent to the product 102 (i.e., on the right or left side), behind the product 102 (i.e., between the product 102 and the first end 106 of the assembly line 104), or below the product 102 (i.e., underneath).

[0045] The AMR 116 includes a body 118, one or more wheels 120 coupled to the body 118, and optionally, a storage device 122 coupled to the body 118 and configured to store parts, components, etc., and / or provide access to parts, components, etc., for use in manufacturing product 102. The one or more wheels 120 may include two, three, four, or n wheels. In other configurations, the one or more wheels 120 may include tracks, such as omnidirectional tracks. The body 118 may also include one or more ports 124 (e.g., charging ports, data ports, etc.) configured to allow the AMR 116 to easily mate with a docking station (not shown) for, for example, charging and data transfer.

[0046] refer to Figure 3 The AMR 116 includes a communication device (e.g., a computer with memory and processing hardware) 126 and a power storage device (e.g., a battery pack) 128. The communication device 126 can be configured to send and receive data 130 with one or more products 102 and / or line-side devices 114. The power storage device 128 can provide power 132 to one or more products 102 and / or line-side devices 114. Powering one or more products 102 and line-side devices 114 via the AMR 116 enables a series of manufacturing and assembly line advancements. For example, live electrical connection tests can be performed at any point along the assembly line 104. Additionally, powering product 102 in this manner allows one or more aspects of product 102 to move during production and reduces the need for layered assembly methods. Communicatively connecting product 102 to the AMR 116 enables real-time and autonomous data upload and download between product 102 and the AMR 116. Therefore, the AMR 116 can autonomously perform software-based tasks, which reduces the need for quality inspection stations and allows for real-time software updates throughout the manufacturing process. For example, powering the line-side equipment 114 can enable different build plans for product 102 without having to reassemble a portion of assembly line 104.

[0047] refer to Figure 2One or more products 102, line-side devices 114, and AMR 116 each include contact points 134a, 134b, and 134c. Each contact point 134a, 134b, and 134c can be configured to engage and maintain continuous contact with a communication conduit 110 between a first end 106 and a second end 108 of assembly line 104. More specifically, refer to... Figure 4 At least a portion of contact point 134c contacts or otherwise engages the engagement surface 112 of communication conduit 110. According to one aspect, contact points 134a, 134b, 134c can be configured to receive power and / or data from communication conduit 110 and transmit power and / or data to communication conduit 110.

[0048] Figure 5 Another illustrative configuration of system 200 is shown. This configuration is similar in many respects to... Figure 1-4 The configuration. Therefore, the descriptions of the configurations are incorporated into each other, and it is generally not necessary to repeat descriptions of common topics in the configurations.

[0049] Some operating environments are not configured to accommodate communication channels beneath (i.e., below) the product being manufactured. (See reference) Figure 5 System 200 includes infrastructure disposed above product 202 between a first end 206 and a second end 208 of assembly line 104. As shown, a communication conduit 210 is disposed relative to the infrastructure, which is disposed above product 202 between the first end 206 and the second end 208 of assembly line 104. Similar to the configuration described above, contact point 234 is communicatively coupled to product 202 and autonomous mobile robot (AMR) 216, and engages with communication conduit 210 to transmit power and / or data along communication conduit 210.

[0050] Figure 6 Another illustrative configuration of system 300 is shown. This configuration is similar in many respects to... Figure 1-4 and Figure 5 The configuration. Therefore, the descriptions of the configurations are incorporated into each other, and it is generally not necessary to repeat descriptions of common topics in the configurations.

[0051] Some operating environments do not have the field infrastructure necessary for the permanent communication pipeline provided in the above configuration. (Reference) Figure 6System 300 includes an autonomous mobile robot (AMR) 316 tethered to one or more products 302 via cable 336. For example, AMR 316 and one or more products 302 may travel together between a first end 306 and a second end 308 of assembly line 304. Although not readily shown in the figure, AMR 316 may also be tethered to line-side equipment via cable 336. Powering one or more products 302 and / or line-side equipment reduces the need for line-side infrastructure and enables the testing of plant or manufacturing concepts and efficient repositioning (i.e., recommissioning) of work cells. In other words, communicating with products 302 and / or line-side equipment in this manner facilitates rapid setup and scaling of non-traditional manufacturing lines and reduces environmental footprint.

[0052] Many embodiments have been described. However, it should be understood that various modifications can be made without departing from the spirit and scope of this disclosure. Therefore, other embodiments are within the scope of the appended claims.

[0053] The foregoing description has been provided for purposes of illustration and description. It is not intended to be exhaustive or limiting of this disclosure. Elements or features of a particular configuration are generally not limited to that particular configuration, but are interchangeable where applicable and can be used in selected configurations, even if not specifically shown or described. They can also be varied in many ways. Such variations should not be considered as departing from this disclosure, and all such modifications are intended to be included within the scope of this disclosure.

Claims

1. A system for manufacturing a vehicle, comprising: An assembly line that extends between a first end and a second end; A communication conduit is connected to the assembly line and extends between a first end and a second end of the assembly line, the communication conduit defining a mating surface between the first end and the second end; A line-side device, which is arranged adjacent to or on the assembly line between a first end and a second end and is communicatively connected to the communication conduit. and An autonomous mobile robot (AMR) configured to selectively engage with the assembly line and supply power to the vehicle, the AMR comprising: main body, One or more wheels, which are connected to the body, A power storage device, the power storage device being connected to the main body, and One or more contact points are connected to the body and communicatively connected to the power storage device.

2. The system of claim 1, wherein one or more contact points engage with the mating surface of the communication conduit.

3. The system of claim 1, wherein the line-side device includes one or more contact points configured to engage with the mating surface of the communication conduit.

4. The system of claim 1, wherein the AMR includes a storage device coupled to the host.

5. The system of claim 1, wherein the AMR includes one or more ports disposed on the body, the one or more ports being communicatively connected to the power storage device.

6. A system for manufacturing a vehicle, comprising: Autonomous mobile robot (AMR), which includes communication equipment; and An assembly line that communicatively connects the AMR and the vehicle, enabling data transmission between the AMR and the vehicle.

7. The system of claim 6, wherein the assembly line includes a communication conduit extending between a first end and a second end of the assembly line.

8. The system of claim 7, wherein the AMR and the vehicle each include a contact point that engages with the communication conduit.

9. The system of claim 6, wherein the AMR includes a power storage device communicatively connected to the communication device.

10. The system of claim 9, wherein the AMR includes one or more ports communicatively connected to the power storage device and the communication device.

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