Patent ID: 11892824
Assignee: ABB SCHWEIZ AG
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 18:
19. A mobile robot comprising:
an industrial robot carried by an automated guided vehicle, AGV, wherein the AGV includes:
a control system, which includes at least one data processing device and at least one memory having a computer program stored thereon, the at least one computer program including a program code which, when executed by the at least one data processing device, causes the at least one data processing device to perform, and/or command performance of, method steps 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 the body based on the sensor data from the wheel sensors and/or the steering sensors;
for the at least one motion variable, calculating at least one difference between the motion values for the at least two different pairs;
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; and
executing a countermeasure upon determining that there is a malfunction in one or more of the wheel sensors and the steering sensors;

a body and at least three independently controllable wheel units connected to the body, wherein each wheel unit includes:
a traction wheel rotatable about a wheel axis and about a steering axis perpendicular to the wheel axis,
a wheel sensor arranged to determine a rotational parameter of the traction wheel with respect to the wheel axis as sensor data; and
a steering sensor arranged to determine a rotational parameter of the traction wheel with respect to the steering axis as sensor data.