公开(公告)号：US20220306193A1

公开(公告)日：2022-09-29

申请号：US17596910

申请日：2019-06-26

Applicant: ABB Schweiz AG

Inventor： Jonatan Blom ,  Jonas Larsson

IPC: B62D7/15 ,  B62D9/00

Abstract: A method of braking an AGV, the AGV including a support structure and at least three drive units connected to the support structure, wherein each drive unit includes a wheel rotatable about a wheel axis and about a steering axis perpendicular to the wheel axis; an electric wheel motor arranged to drive the wheel about the wheel axis; a wheel sensor device arranged to determine a rotational position of the wheel about the wheel axis; an electric steering motor arranged to drive the wheel about the steering axis; and a steering sensor device arranged to determine a rotational position of the wheel about the steering axis; wherein the method includes positioning the wheels of the drive units in an invalid configuration; and position controlling each wheel about the respective steering axis in the invalid configuration.

公开(公告)号：US20220205872A1

公开(公告)日：2022-06-30

申请号：US17596788

申请日：2019-06-26

Applicant: ABB Schweiz AG

Inventor： Jonatan Blom

IPC: G01M17/013 ,  G01M17/06

Abstract: A method of calibrating positions of wheels in an AGV, the method including positioning a second wheel tangentially on an imaginary second circle centered with respect to a center position in which a first wheel is fixed; driving the second wheel a second distance along the second circle such that the AGV rotates about the center position; determining the second distance based on data from a second wheel sensor device of the second wheel; determining an angle of rotation about the center position based on data from a first steering sensor device of the first wheel during the rotation of the AGV; and determining relative positions between the first wheel and the second wheel based on the second distance and the angle of rotation. An AGV is also provided.