公开(公告)号：US11892824B2

公开(公告)日：2024-02-06

申请号：US18251023

申请日：2020-11-05

Applicant: ABB Schweiz AG

Inventor： Jonas Larsson ,  Aftab Ahmad ,  Pietro Falco

IPC: G05B19/418 ,  G05D1/02

CPC classification number: G05B19/41895 ,  G05D1/0214 ,  G05D1/0223 ,  G05D2201/0216

Abstract: A method of detecting sensor malfunction in an automated guided vehicle, AGV, including for at least two different pairs of wheel units in a motion state of the AGV, calculating a motion value for at least one motion variable of a body of the AGV based on sensor data from a wheel sensors and/or a steering sensors; for at least one motion variable, calculating a difference between the motion values for at least two different pairs; and determining that there is a malfunction in one or more of the wheel sensors and the steering sensors if one of the at least one difference exceeds a threshold value associated with the respective motion variable.

公开(公告)号：US20230305546A1

公开(公告)日：2023-09-28

申请号：US18251023

申请日：2020-11-05

Applicant: ABB Schweiz AG

Inventor： Jonas Larsson ,  Aftab Ahmad ,  Pietro Falco

IPC: G05B19/418 ,  G05D1/02

CPC classification number: G05B19/41895 ,  G05D1/0214 ,  G05D1/0223 ,  G05D2201/0216

Abstract: A method of detecting sensor malfunction in an automated guided vehicle, AGV, including for at least two different pairs of wheel units in a motion state of the AGV, calculating a motion value for at least one motion variable of a body of the AGV based on sensor data from a wheel sensors and/or a steering sensors; for at least one motion variable, calculating a difference between the motion values for at least two different pairs; and determining that there is a malfunction in one or more of the wheel sensors and the steering sensors if one of the at least one difference exceeds a threshold value associated with the respective motion variable.