Automated Guided Vehicle System (AGVS) – AGVS Application – Vehicle Guidance technology – Vehicle

Management & Safety.

Automated Guided Vehicle System (AGVS)

Introduction:

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1.

2.

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3.

i)

ii)

iii)

4.

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AGVs Applications

1. Driverless train operations - movement of large quantities of material over long distances

2. Storage and distribution - movement of pallet loads between shipping/receiving docks and storage racks

3. Assembly line operations - movement of car bodies and major subassemblies (motors) through the
assembly stations

4. Flexible manufacturing systems - movement of workparts between machine tools

5. Miscellaneous - mail delivery and hospital supplies

Vehicle Guidance Technology

1.Wired
A slot is cut in to the floor and a wire is placed approximately 1 inch below the surface. This slot is cut along
the path the AGV is to follow. This wire is used to transmit a radio signal. A sensor is installed on the bottom of
the AGV close to the ground. The sensor detects the relative position of the radio signal being transmitted from
the wire. This information is used to regulate the steering circuit, making the AGV follow the wire.

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2.Guided tape
AGVs (some known as automated guided carts or AGCs) use tape for the guide path. The tapes can be one of
two styles: magnetic or colored. The AGC is fitted with the appropriate guide sensor to follow the path of the
tape. One major advantage of tape over wired guidance is that it can be easily removed and relocated if the
course needs to change. Colored tape is initially less expensive, but lacks the advantage of being embedded in
high traffic areas where the tape may become damaged or dirty. A flexible magnetic bar can also be embedded
in the floor like wire but works under the same provision as magnetic tape and so remains unpowered or
passive. Another advantage of magnetic guide tape is the dual polarity. small pieces of magnetic tape may be
placed to change states of the AGC based on polarity and sequence of the tags.

3.Laser target navigation

The navigation is done by mounting reflective tape on walls, poles or fixed machines. The AGV carries
a laser transmitter and receiver on a rotating turret. The laser is transmitted and received by the same sensor.
The angle and (sometimes) distance to any reflectors that in line of sight and in range are automatically
calculated. This information is compared to the map of the reflector layout stored in the AGV's memory. This
allows the navigation system to triangulate the current position of the AGV. The current position is compared to
the path programmed in to the reflector layout map. The steering is adjusted accordingly to keep the AGV on
track. It can then navigate to a desired target using the constantly updating position.

 Modulated Lasers The use of modulated laser light gives greater range and accuracy over pulsed laser
systems. By emitting a continuous fan of modulated laser light a system can obtain an uninterrupted
reflection as soon as the scanner achieves line of sight with a reflector. The reflection ceases at the trailing
edge of the reflector which ensures an accurate and consistent measurement from every reflector on every
scan. By using a modulated laser a system can achieve an angular resolution of ~ 0.1 mrad (0.006°) at 8
scanner revolutions per second.
 Pulsed Lasers A typical pulsed laser scanner emits pulsed laser light at a rate of 14,400 Hz which gives a
maximum possible resolution of ~ 3.5 mrad (0.2°) at 8 scanner revolutions per second. To achieve a
workable navigation, the readings must be interpolated based on the intensity of the reflected laser light, to
identify the centre of the reflector.
4.Inertial (Gyroscopic) navigation

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Another form of an AGV guidance is inertial navigation. With inertial guidance, a computer control system
directs and assigns tasks to the vehicles. Transponders are embedded in the floor of the work place. The AGV
uses these transponders to verify that the vehicle is on course. A gyroscope is able to detect the slightest change
in the direction of the vehicle and corrects it in order to keep the AGV on its path. The margin of error for the
inertial method is ±1 inch
Inertial can operate in nearly any environment including tight aisles or extreme temperatures. Inertial navigation
can include use of magnets embedded in the floor of the facility that the vehicle can read and follow.
5.Natural features (natural targeting) navigation
Navigation without retrofitting of the workspace is called Natural Features or Natural Targeting Navigation.
One method uses one or more range-finding sensors, such as a laser range-finder, as well as gyroscopes or
inertial measurement units with Monte-Carlo/Markov localization techniques to understand where it is as it
dynamically plans the shortest permitted path to its goal. The advantage of such systems is that they are highly
flexible for on-demand delivery to any location. They can handle failure without bringing down the entire
manufacturing operation, since AGVs can plan paths around the failed device. They also are quick to install,
with less down-time for the factory.
6.Vision guidance
Vision-Guided AGVs can be installed with no modifications to the environment or infrastructure. They operate
by using cameras to record features along the route, allowing the AGV to replay the route by using the recorded
features to navigate. Vision-Guided AGVs use Evidence Grid technology, an application of probabilistic
volumetric sensing, and was invented and initially developed by Dr. Moravec at Carnegie Mellon University.
The Evidence Grid technology uses probabilities of occupancy for each point in space to compensate for the
uncertainty in the performance of sensors and in the environment. The primary navigation sensors are specially
designed stereo cameras. The vision-guided AGV uses 360-degree images and build a 3D map, which allows
the vision-guided AGVs to follow a trained route without human assistance or the addition of special features,
landmarks or positioning systems.
7.Geoguidance
A geoguided AGV recognizes its environment to establish its location. Without any infrastructure, the forklift
equipped with geoguidance technology detects and identifies columns, racks and walls within the warehouse.
Using these fixed references, it can position itself, in real time and determine its route. There are no limitations
on distances to cover or number of pick-up or drop-off locations. Routes are infinitely modifiable.

Vehicle Management

Two aspects of vehicle management:

 Traffic control - to minimize interference between vehicles and prevent collisions
1. Forward (on-board vehicle) sensing
2. Zone control

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  Vehicle dispatching
1. On-board control panel
2. Remote call stations
3. Central computer control
Zone Control

Zone control is used to implement blocking system. Zones A, B, and D are blocked. Zone C is free. Vehicle 2 is
blocked from entering Zone A by vehicle 1. Vehicle 3 is free to enter Zone C.

Vehicle Safety
 Travel velocity of AGV is slower than typical walking speed of human worker
 Automatic stopping of vehicle if it strays from guide path
 Acquisition distance
 Obstacle detection system in forward direction
 Use of ultrasonic sensors common
 Emergency bumper - brakes vehicle when contact is made with forward object
 Warning lights (blinking or rotating red lights)
 Warning sounds of approaching vehicles

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