US 12,455,573 B2
Mobile robot platoon driving system and control method thereof
Yoon Soo Lee, Incheon (KR); Youngjin Jung, Cheonan-si (KR); and Kyung Dong Park, Hwaseong-si (KR)
Assigned to HYUNDAI MOTOR COMPANY, Seoul (KR); and KIA CORPORATION, Seoul (KR)
Filed by HYUNDAI MOTOR COMPANY, Seoul (KR); and KIA CORPORATION, Seoul (KR)
Filed on Nov. 8, 2023, as Appl. No. 18/504,776.
Application 18/504,776 is a division of application No. 17/323,774, filed on May 18, 2021, granted, now 11,846,952.
Claims priority of application No. 10-2020-0089569 (KR), filed on Jul. 20, 2020.
Prior Publication US 2024/0069569 A1, Feb. 29, 2024
Int. Cl. G05D 1/69 (2024.01); G05D 1/00 (2006.01); G07C 5/00 (2006.01); G07C 5/08 (2006.01)
CPC G05D 1/0291 (2013.01) [G05D 1/0022 (2013.01); G05D 1/0274 (2013.01); G07C 5/008 (2013.01); G07C 5/0816 (2013.01)] 4 Claims
OG exemplary drawing
 
1. A method for controlling mobile robot platooning by a central server, the method comprising:
receiving, by the central server, a work instruction to transfer an object to a work process facility;
when the work instruction is received, selecting, by the central server, a platoon form and a plurality of mobile robots based on the object to dispose the plurality of mobile robots at starting points forming the platoon form;
instructing, by the central server, when the object is loaded on the plurality of mobile robots, platooning of the mobile robots by sending a target coordinate of the work process facility and a moving path;
processing, by the central server, sensor data and encoder data collected from respective mobile robots in real-time, to obtain absolute positions of the respective mobile robots;
controlling, by the central server, platooning of the mobile robots by sending a control instruction corresponding to the positions of the respective mobile robots;
receiving, by the central server, a mobile robot home position signal measured by a sensor of the work process facility when each mobile robot arrives at the target coordinate; and
when a position deviation occurs based on comparison of the mobile robot home position signal and the target coordinate, correcting, by the central server, the position deviation by sending a position adjustment instruction.