US 12,066,837 B2
Systems and methods for flexible manufacturing using self-driving vehicles
Ryan Christopher Gariepy, Kitchener (CA); Andrew Dobson, Kitchener (CA); Nir Rikovitch, Kitchener (CA); William John Alexander Torrens, Kitchener (CA); and Roydyn Clayton, Seattle, WA (US)
Assigned to ROCKWELL AUTOMATION TECHNOLOGIES, INC., Mayfield Heights, OH (US)
Filed by CLEARPATH ROBOTICS INC., Kitchener (CA)
Filed on May 12, 2023, as Appl. No. 18/316,724.
Application 18/316,724 is a continuation of application No. 18/079,442, filed on Dec. 12, 2022, granted, now 11,687,096.
Application 18/079,442 is a continuation of application No. 17/153,133, filed on Jan. 20, 2021, granted, now 11,556,136, issued on Jan. 17, 2023.
Application 17/153,133 is a continuation of application No. 15/936,880, filed on Mar. 27, 2018, granted, now 10,928,835, issued on Feb. 23, 2021.
Claims priority of provisional application 62/477,108, filed on Mar. 27, 2017.
Prior Publication US 2023/0393587 A1, Dec. 7, 2023
Int. Cl. G05D 1/00 (2024.01); G05B 19/418 (2006.01); G05D 1/225 (2024.01); G05D 1/229 (2024.01)
CPC G05D 1/0291 (2013.01) [G05B 19/41895 (2013.01); G05D 1/0297 (2013.01); G05D 1/225 (2024.01); G05D 1/229 (2024.01); G05B 2219/50393 (2013.01); Y02P 90/02 (2015.11)] 14 Claims
OG exemplary drawing
 
1. A method for coordinating a plurality of self-driving vehicles for assembling workpieces, the method comprising:
operating a first self-driving vehicle of the plurality of self-driving vehicles to transport a first workpiece to a first workstation according to a first mission comprising a sequence of assembly operations related to the first workpiece, the first workstation being designated to perform at least one subset of the sequence of assembly operations related to the first workpiece;
operating a second self-driving vehicle of the plurality of self-driving vehicles to transport a second workpiece to a second workstation according to a second mission comprising a sequence of assembly operations related to the second workpiece, the second workstation being different from the first workstation and designated to perform at least one subset of the sequence of assembly operations related to the second workpiece;
continuously receiving a status update from each of the first self-driving vehicle and the second self-driving vehicle during operation;
determining from the status update from each of the first self-driving vehicle and the second self-driving vehicle whether an operational change to the operation of at least one of the first self-driving vehicle and the second self-driving vehicle is required to increase a throughput of assembling the first and second workpieces; and
in response to determining that the operational change to the operation of the at least one of the first self-driving vehicle and the second self-driving vehicle is required, evaluating the status update to determine the operational change required and adapting the operation of the at least one of the first self-driving vehicle and the second self-driving vehicle in accordance with the operational change required to increase the throughput of assembling the first and second workpieces.