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US 11,892,824 B2Granted
Method of detecting sensor malfunction, control system, automated guided vehicle and mobile robot
AssigneeABB Schweiz AG
InventorsJonas Larsson, Aftab Ahmad, Pietro Falco
Life of this patent
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Abstract
A method of detecting sensor malfunction in an automated guided vehicle, AGV, including for at least two different pairs of wheel units in a motion state of the AGV, calculating a motion value for at least one motion variable of a body of the AGV based on sensor data from a wheel sensors and/or a steering sensors; for at least one motion variable, calculating a difference between the motion values for at least two different pairs; and determining that there is a malfunction in one or more of the wheel sensors and the steering sensors if one of the at least one difference exceeds a threshold value associated with the respective motion variable.
Claims20
A method of detecting sensor malfunction in an automated guided vehicle, AGV, the AGV comprising a body and at least three independently controllable wheel units connected to the body, wherein each wheel unit comprises:
- a traction wheel rotatable about a wheel axis and about a steering axis perpendicular to the wheel axis;
- a wheel sensor arranged to determine a rotational parameter of the traction wheel with respect to the wheel axis as sensor data;
- and
- a steering sensor arranged to determine a rotational parameter of the traction wheel with respect to the steering axis as sensor data;
- wherein the method includes:
- for at least two different pairs of wheel units in a motion state of the AGV, calculating a motion value for at least one motion variable of the body based on the sensor data from the wheel sensors and/or the steering sensors;
- for the at least one motion variable, calculating at least one difference between the motion values for the at least two different pairs;
- determining that there is a malfunction in one or more of the wheel sensors and the steering sensors if one of the at least one difference exceeds a threshold value associated with the respective motion variable;
- and
- executing a countermeasure upon determining that there is a malfunction in one or more of the wheel sensors and the steering sensors.
7 more elements
A control system for detecting sensor malfunction in an automated guided vehicle, AGV, wherein the AGV comprises a body and at least three independently controllable wheel units connected to the body, and wherein each wheel unit comprises:
- a traction wheel rotatable about a wheel axis and about a steering axis perpendicular to the wheel axis;
- a wheel sensor arranged to determine a rotational parameter of the traction wheel with respect to the wheel axis as sensor data;
- and
- a steering sensor arranged to determine a rotational parameter of the traction wheel with respect to the steering axis as sensor data;
- wherein the control system includes at least one data processing device and at least one memory having a computer program stored thereon, the at least one computer program including a program code which, when executed by the at least one data processing device, causes the at least one data processing device to perform, and/or command performance of, method steps including:
- for at least two different pairs of wheel units in a motion state of the AGV, calculating a motion value for at least one motion variable of the body based on the sensor data from the wheel sensors and/or the steering sensors;
- for the at least one motion variable, calculating at lease one difference between the motion values for the at least two different pairs;
- determining that there is a malfunction in one or more of the wheel sensors and the steering sensors if one of the at least one difference exceeds a threshold value associated with the respective motion variable;
- and
- executing a countermeasure upon determining that there is a malfunction in one or more of the wheel sensors and the steering sensors.
7 more elements
An automated guided vehicle, AGV, the AGV comprising:
- a control system, which includes at least one data processing device and at least one memory having a computer program stored thereon, the at least one computer program including a program code which, when executed by the at least one data processing device, causes the at least one data processing device to perform, and/or command performance of, the method steps including:
- for at least tow different pairs of wheel units in a motion state of the AGV, calculating a motion value for at least one motion variable of the body based on the sensor data from the wheel sensors and/or the steering sensors;
- for the at least one motion variable, calculating at least one difference between the motion values for the at least two different pairs,
- determining that there is a malfunction in one or more of the wheel sensors and the steering sensors if one of the at least one difference exceeds a threshold value associated with the respective motion variable;
- and
- executing a countermeasure upon determining that there is a malfunction in one or more of the wheel sensors and the steering sensors;
- a body and at least three independently controllable wheel units connected to the body, wherein each wheel unit includes:
- a traction wheel rotatable about a wheel axis and about a steering axis perpendicular to the wheel axis;
- a wheel sensor arranged to determine a rotational parameter of the traction wheel with respect to the wheel axis as sensor data;
- and
- a steering sensor arranged to determine a rotational parameter of the traction wheel with respect to the steering axis as sensor data.
8 more elements
A mobile robot comprising:
- an industrial robot carried by an automated guided vehicle, AGV, wherein the AGV includes:
- a control system, which includes at least one data processing device and at least one memory having a computer program stored thereon, the at least one computer program including a program code which, when executed by the at least one data processing device, causes the at least one data processing device to perform, and/or command performance of, method steps including:
- for at least two different pairs of wheel units in a motion state of the AGV, calculating a motion value for at least one motion variable of the body based on the sensor data from the wheel sensors and/or the steering sensors;
- for the at least one motion variable, calculating at least one difference between the motion values for the at least two different pairs;
- determining that there is a malfunction in one or more of the wheel sensors and the steering sensors if one of the at least one difference exceeds a threshold value associated with the respective motion variable;
- and
- executing a countermeasure upon determining that there is a malfunction in one or more of the wheel sensors and the steering sensors;
- a body and at least three independently controllable wheel units connected to the body, wherein each wheel unit includes:
- a traction wheel rotatable about a wheel axis and about a steering axis perpendicular to the wheel axis,
- a wheel sensor arranged to determine a rotational parameter of the traction wheel with respect to the wheel axis as sensor data;
- and
- a steering sensor arranged to determine a rotational parameter of the traction wheel with respect to the steering axis as sensor data.
9 more elements
Dependencies are inferred from the claim text.