Automated guided vehicle and method of operating

US10635113B2 · kind B2 · utility

Assignee

• KUKA Deutschland GmbH · DE

Inventors

• Patrick Pfaff · Augsburg, DE
• Bjoern Klein · Friedberg, DE

Key dates

• Filing date: Jul 23, 2015
• Grant date: Apr 28, 2020
• Expiry date: Dec 12, 2035

Classification

• Technology area (CPC G): Physics
• CPC primary: G05D1/024
• WIPO field: Control
• WIPO sector: Instruments

Abstract

A method of moving an automated guided vehicle (AGV) to a target position relative to an object having two characteristic features, wherein the target position lies on a connecting line between the two characteristic features or is located at a distance from the connecting line. The method includes moving the AGV to a position where distances to the characteristic features can be determined; determining a first distance between the current position and the first characteristic feature, and a second distance between the current position and the second characteristic feature; automatically moving the AGV in translation with a superposed first rotation, wherein the direction of the first rotation depends on the first and second distances; and automatically moving the AGV in translation with a superposed second rotation, wherein the second rotation is opposite in direction to the first rotation. The steps are repeated until a termination condition is satisfied.