The evolution of NASA's mobile robots, in the last five years, culminating in functional, first-generation machines, now presents the nation with new, real technological and economic opportunities. Robotics and automation have demonstrated increased productivity in manufacturing industries, and now, robotic technologies have progressed to the point that robotics can be mobile, self-navigating, and competent in the field.

This new technology creates next generation automated guided vehicles (AGV) using camera-based vision guidance for in-plant navigation instead of wire-in-the-floor, inertial, or laser guidance. The vehicles are derived from standard material handling powered equipment platforms (e.g. Tows, Forklifts & existing AGV chassis).

The result is the development of a low-cost, commercial-grade plug-in system that may be retrofitted to any of a number of commercially available materials transport units, including those that can be used in non-manufacturing environments (i.e. airport baggage handling, etc).

This product or portions thereof is manufactured under license from Carnegie Mellon University, U.S. Patent Number 5,999,866 and 09/311,683. Ford Motor Company has an exclusive, worldwide license to sublicense the above technology and copyrighted works to others to further commercialize this technology in both automotive and non-automotive applications.

Images

Linear Mosaic constructed by overlapping images
Peak in correlation surface determines camera position (5 shown)
Tow AGV Application
Fork AGV Application

 

Benefits Summary

• Lower cost and adaptability.
• Robotics has demonstrated increased productivity in manufacturing industries, and now, robotic technologies have progressed to the point that robotics can be mobile, self-navigating, and competent in the field.
• Technology has reached a stage of advancement where significant commercial space and commercial terrestrial applications are occurring
• Addresses "Flexible Manufacturing" with significant improvements in cost & performance for in-plant delivery systems. State of Art technology enables increased demand service for lean manufacturing.
• No-change to the facility (i.e. shop floor tear-up, marks, or reflective devices).
• No need to survey the plant - the technology is self-surveying
• Easy to change the AGV route and maintain maximum system flexibility

Features

• Vision guidance uses sequential camera images to map features/texture embedded in plant floor.
• Vehicle navigation (position-estimation & motion control) is calculated as a by-product of pixel-to-pixel realignment of camera images.
• Visual guidance uses the same matched filters of a GPS system - except it is applied to light instead of radio signals.
• Higher performance - 1 mm resolution and repeatability
• Software is used to resolve task planning, sequencing & execution control.
• The vision navigation technology will conform to existing AGV operating practices and safety standards for the operation of automated material handling equipment within manufacturing and assembly plants.

Advantages

• Infrastructure-free and free-ranging
• Quickly responds to plant layout change and/or material handling route change.
• Maintains the maximum flexibility of a manufacturing facility.
• Cost competitive advantage over conventional technologies (at least 20% savings).
• Easy to maintain.

Applications

• Automated guided vehicles, both tow and fork platforms.
• Other material handling equipment, such as baggage handling, cleaning, delivery, etc.
• All other pre-determined navigation travel needs.

Patent Information

Collaboration Options

Ford Motor Company has an exclusive, worldwide license to sublicense the above technology and copyrighted works to others to further commercialize this technology in both automotive and non-automotive applications.

Licensee Support

If necessary, technical assistance can be made available as part of the license agreement.