Control augmentation apparatus and method for automated guided vehicles

Abstract

An augmentation module is described for an automated guided vehicle (AGV) deployed in a facility and including a control module for controlling a drive mechanism based on navigational data received from a navigation sensor. The module includes a inter-module communications interface connected to the control module; a memory; and a processor connected to the communications interface and the memory. The processor is configured to: obtain an operational command; generate control data to execute the operational command; convert the control data to simulated sensor data; and send the simulated sensor data to the control module.

1 .- 20 . (canceled) 
     
     
         21 . An augmentation system for an automated guided vehicle (AGV) deployed in a facility, the system comprising:
 a memory storing a map comprising a digital representation of the facility, wherein at least a portion of the map is generated based on first sensor data;   one or more sensors, wherein at least one sensor of the one or more sensors generates second sensor data, the at least one sensor being a different type than a first sensor that generated the first sensor data; and   a processor coupled to the memory and each of the one or more sensors, the processor configured for:
 obtaining an operational command for the AGV; and 
 operating the AGV to execute the operational command based on the map, wherein during execution of the operational command:
 determining, with reference to the map, a current location of the AGV within the facility; 
 receiving, from the one or more sensors, the second sensor data in respect of an area surrounding the current location; 
 analyzing the second sensor data to determine one or more features in the surrounding area; 
 comparing the one or more features to information included in the map in respect of the surrounding area; 
 based on the comparison, determining a discrepancy between the second sensor data and information included in the map; and 
 updating the map based on the second sensor data. 
 
   
     
     
         22 . The system of  claim 21 , wherein the map comprises an indication of a location of a guiding infrastructure element in the facility, and determining the current location comprises:
 detecting, using the one or more sensors, the guiding infrastructure element in proximity of the current location; and   localizing the AGV with reference to the position of the guiding infrastructure element in the map.   
     
     
         23 . The system of  claim 22 , wherein the guiding infrastructure element comprises at least one of magnetic tape, coloured tape, a radio-frequency identification (RFID) tags, or a reflective marker. 
     
     
         24 . The system of  claim 21 , wherein the one or more features correspond to an unmapped portion of the facility, and the map is updated to include the unmapped portion. 
     
     
         25 . The system of  claim 21 , wherein the one or more features correspond to a structure in the facility, and the discrepancy corresponds to a change in position of the structure, and wherein the map is updated to include the changed position of the structure. 
     
     
         26 . The system of  claim 21 , wherein the one or more sensors are selected from a group comprising: a camera, a magnetic field sensor, a radio-frequency identification (RFID) reader and a range-finding sensor. 
     
     
         27 . The system of  claim 21 , wherein the operational command comprises at least one of:
 a command for the AGV to travel to a target location identified within the map;   a command for the AGV to follow a predefined path; or   a command to execute an action.   
     
     
         28 . The system of  claim 21 , wherein the operational command is received from a pilot-operated computing device. 
     
     
         29 . The system of  claim 21 , wherein the processor is further configured for:
 generating control data defining one or more operations for the AGV to execute the operational command;   converting the control data to simulated sensor data, wherein the simulated sensor data corresponds to the second sensor data that would have been regenerated by the at least one sensor in the presence of guidance infrastructure; and   transmitting the simulated sensor data to a control module of the AGV, wherein the control module controls a drive mechanism of the AGV based on the simulated sensor data.   
     
     
         30 . The system of  claim 21 , wherein:
 the at least one sensor comprises a first navigation sensor and a second navigation sensor, the first navigation sensor being a same type as the first sensor, the second navigation sensor being a different type than the first sensor; and   the processor is further configured for:
 generating control data defining one or more operations for the AGV to execute the operational command, the control data being generated based on the portion of the map generated based on the first sensor data; 
 converting the control data to simulated sensor data, wherein the simulated sensor data corresponds to sensor data that would have been generated by the first navigation sensor in the presence of guidance infrastructure; and 
 transmitting the simulated sensor data to a control module of the AGV, wherein the control module controls a drive mechanism of the AGV based on the simulated sensor data. 
   
     
     
         31 . A method for navigating an automated guided vehicle (AGV) deployed in a facility, the AGV being coupled to an augmentation system including a processor coupled to one or more sensors and a memory, the method comprises:
 obtaining, using the processor, an operational command for the AGV; and   operating, using the processor, the AGV to execute the operational command, wherein during execution of the operational command:
 determining, with reference to a map of the facility, a current location of the AGV within the facility, wherein the map comprises a digital representation of the facility, and at least a portion of the map is generated based on first sensor data; 
 receiving, from the one or more sensors, second sensor data generated by at least one sensor of the one or more sensors, the second sensor data being in respect of an area surrounding the current location, the at least one sensor being a different type than a first sensor that generated the first sensor data; 
 analyzing the second sensor data to determine one or more features in the surrounding area; 
 comparing the one or more features to information included in the map in respect of the surrounding area; 
 based on the comparison, determining a discrepancy between the second sensor data and information included in the map; and 
 updating the map to based on the second sensor data. 
   
     
     
         32 . The method of  claim 31 , wherein the map comprises an indication of a location of a guiding infrastructure element in the facility, and determining the current location further comprises:
 detecting, using the one or more sensors, the guiding infrastructure element in proximity of the current location; and   localizing the AGV with reference to the position of the guiding infrastructure element in the map.   
     
     
         33 . The method of  claim 32 , wherein the guiding infrastructure element comprises at least one of magnetic tape, coloured tape, a radio-frequency identification (RFID) tags, or a reflective marker. 
     
     
         34 . The method of  claim 31 , wherein the one or more features correspond to an unmapped portion of the facility, and the map is updated to include the unmapped portion. 
     
     
         35 . The method of  claim 31 , wherein the one or more features correspond to a structure in the facility, and the discrepancy corresponds to a change in position of the structure, and wherein the map is updated to include the changed position of the structure. 
     
     
         36 . The method of  claim 31 , wherein the one or more sensors are selected from a group comprising: a camera, a magnetic field sensor, a radio-frequency identification (RFID) reader and a range-finding sensor. 
     
     
         37 . The method of  claim 31 , wherein the operational command comprises at least one of:
 a command for the AGV to travel to a target location identified within the map;   a command for the AGV to follow a predefined path; or   a command to execute an action.   
     
     
         38 . The method of  claim 31 , wherein the operational command is received from a pilot-operated computing device. 
     
     
         39 . The method of  claim 31 , further comprising:
 generating control data defining one or more operations for the AGV to execute the operational command;   converting the control data to simulated sensor data, wherein the simulated sensor data corresponds to the second sensor data that would have been regenerated by the at least one sensor in the presence of guidance infrastructure; and   transmitting the simulated sensor data to a control module of the AGV, wherein the control module controls a drive mechanism of the AGV based on the simulated sensor data.   
     
     
         40 . The method of  claim 31 , wherein the at least one sensor comprises a first navigation sensor and a second navigation sensor, the first navigation sensor being a same type as the first sensor, the second navigation sensor being a different type than the first sensor; and
 the method further comprises:
 generating control data defining one or more operations for the AGV to execute the operational command, the control data being generated based on the portion of the map generated based on the first sensor data; 
 converting the control data to simulated sensor data, wherein the simulated sensor data corresponds to sensor data that would have been generated by the first navigation sensor in the presence of guidance infrastructure; and 
 transmitting the simulated sensor data to a control module of the AGV, wherein the control module controls a drive mechanism of the AGV based on the simulated sensor data.