Free ranging automated guided vehicle and operational system

A method of propelling an automated guided vehicle (AGV) over a ground surface, said method comprising:

• having a base frame that includes a plurality of support wheels attached at peripheral portions of the base frame to movably support the base frame away from the ground surface;
• rotating a pair of drive wheels that are disposed between at least two of the plurality of support wheels and for engaging the ground surface to propel the AGV;
• and
• biasing the drive wheels against the ground surface with a suspension system that has intersecting swing arms pivotally mount at the base frame and independently supporting each of the drive wheels, wherein a biasing downward force of the suspension system maintains friction of the drive wheels against the ground surface.

A drive wheel suspension assembly for an automated guided vehicle (AGV) that has a base frame supported by a plurality of support wheels, said drive wheel suspension assembly comprising:

• first and second drive wheels spaced apart and configured to be disposed between at least two of the plurality of support wheels for propelling the AGV over a ground surface;
• first and second swing arms that intersect and attach at the drive wheel assemblies;
• and
• wherein the first and second swing arms are configured pivotally mount at the base frame to bias the first and second drive wheels against the ground surface to maintain friction.

An automated guided vehicle (AGV) comprising:

• a base frame having an upper portion configured to support a material handling apparatus;
• a propulsion system adapted to propel the base frame;
• first and second directional sensors disposed at opposing ends of the base frame and each operable to emit a sensor field within at least one slot disposed between the upper portion and a lower portion of the base frame, wherein the base frame includes a plurality of support members extending between the upper and lower portions of the base frame, and wherein the at least one slot is disposed in the plurality of support members;
• and
• wherein the sensor fields of the first and second directional sensors each comprise horizontal coverage of at least 180 degrees and are arranged to provide a combined sensor field surrounding the AGV.

A method of operating an automated guided vehicle (AGV), said method comprising:

• providing a base frame having an upper portion supporting a material handling apparatus and a lower portion supported by a plurality of wheel assemblies configured to support the base frame away from a ground surface;
• moving the base frame over the ground surface to a desired location with a propulsion system comprising at least one of the plurality of wheel assemblies;
• and
• monitoring a perimeter sensory field surrounding the base frame with two directional sensors that are disposed at opposing ends of the base frame, wherein the two directional sensors are each operable to emit a sensor field within at least one slot disposed at support members extending between the upper and lower portions of the base frame.

An automatic guided vehicle (AGV) comprising:

• a base frame having a propulsion system;
• an AGV control comprising a navigation and guidance system;
• a robotic picking arm mounted to the base frame and a robotic control controlling movement of the robotic picking arm;
• and
• wherein the AGV control and the robotic control are autonomous and wherein the navigation and guidance system is operable to cause said propulsion system to follow a human.