EP0367527A2
Expired / Lapsed
EP
⏱️ 0.0 years remaining
A method for controlling movements of a mobile robot in a multiple node factory
Assignee: Texas Instruments Inc
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Filing: 1989-10-30
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Granted: —
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Expires: 2009-10-30
Abstract
Abstract The invention provides a method for communicating the need to move a mobile robot, such as an AGV¹, from one location (node) (2,4,6-10) to another, on a node-by-node basis, incrementally, among the nodes established in a physical environment such as a factory. The invention also provides the means to generate the commands necessary to accomplish this motion, by providing specific steering and drive information such as angle and speed to the mobile robot or AGV¹. The invention accomplishes these tasks in response to direct commands from a stationary controller as well as in response to continuous node-by-node position updates provided by an external navigation system, such as a visual navigation system, or an internal dead-reckoning navigation system, or both.
Inventors
- 👤 David F. Summerville
- 👤 Martin A. Wand
- 👤 Haradon J. Rice
- 👤 John P. Williston
- 👤 Thomas J. Doty
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-05 23:21
CPC Classifications
G; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0276; G05D1/028; G05D1/0282; G05D1/0231; G05D1/0246; G05D1/0287; G05D1/0289; G05D1/0268; G05D1/0272
Claims Analysis
Total Claims: 12
Claim 1
Independent Claim
106 words
A method of routing an AGV, comprising: (a) providing a plurality of paths, each of which comprises a beginning node and an ending node with a plurality of nodes in-between; (b) selecting one of said paths; (c) scheduling the travel of said AGV along said selected path by scheduling the times said AGV will occupy the nodes of said selected path; (d) allocating said scheduled nodes to said AGV; (e) determining contested nodes of said selected path which are allocated to another AGV; (f) directing said AGV to travel from node-to-node along said selected path, stopping at the node just prior to any encountered contested node.
Claim 2
Independent Claim
106 words
A method of routing an AGV, comprising: (a) providing a plurality of paths, each of which comprises a beginning node and an ending node with a plurality of nodes in-between; (b) selecting one of said paths; (c) scheduling the travel of said AGV along said selected path by scheduling the times said AGV will occupy the nodes of said selected path; (d) allocating said scheduled nodes to said AGV; (e) determining contested nodes of said selected path which are allocated to another AGV; (f) directing said AGV to travel from node-to-node along said selected path, stopping at the node just prior to any encountered contested node.
Claim 3
Dependent Claim
32 words
The method of Claim 1, further comprising: (g) holding said AGV at said prior node until it is determined that said encountered contested node is no longer allocated to said other AGV.
Claim 4
Dependent Claim
22 words
The method of Claim 1, further comprising: after nodes have been passed by said AGV, de-allocating said passed nodes to said AGV.
Claim 5
Dependent Claim
19 words
The method of Claim 2, further comprising: repeating steps (f) through (g) until said AGV reaches said ending node.
Claim 6
Dependent Claim
14 words
The method of Claim 4, further comprising: carrying out said steps on a computer.
Claim 7
Independent Claim
107 words
A system for routing AGVs, comprising: a plurality of paths, each of which comprises a beginning node and an ending node with a plurality of nodes in-between; a computer program for selecting one of said paths; a computer program for scheduling the times said AGV will occupy the nodes of said selected path; a computer program for allocating said scheduled nodes to said AGV; a computer program for determining contested nodes of said selected path which are allocated to another AGV; a computer program for directing said AGV to travel from node-to-node along said selected path, stopping at the node just prior to any encountered contested node.
Claim 8
Independent Claim
107 words
A system for routing AGVs, comprising: a plurality of paths, each of which comprises a beginning node and an ending node with a plurality of nodes in-between; a computer program for selecting one of said paths; a computer program for scheduling the times said AGV will occupy the nodes of said selected path; a computer program for allocating said scheduled nodes to said AGV; a computer program for determining contested nodes of said selected path which are allocated to another AGV; a computer program for directing said AGV to travel from node-to-node along said selected path, stopping at the node just prior to any encountered contested node.
Claim 9
Dependent Claim
35 words
The system of Claim 6, further comprising: a computer program for holding said AGVs at said prior node until it is determined that said encountered contested node is no longer allocated to said other AGV.
Claim 10
Dependent Claim
27 words
The system of Claim 6, further comprising: a computer program for de-allocating passed nodes to said AGV after said passed nodes have been passed by said AGV.
Claim 11
Dependent Claim
15 words
The system of Claim 6, further comprising: a system controller computer for running said programs.
Claim 12
Dependent Claim
22 words
The system of Claim 9, further comprising: a vehicle controller computer on-board each AGV for receiving commands from said system controller computer.
References Cited (Backward Citations)
No citation records indexed.
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