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CONTENTS
Page
I.INTRODUCTION……………………………………………………… 3
1. Navigation methods…………………………………………………. 4
2. Working principle…………………………………………………… 4
2. Requirement of AGV………………………………………………... 7
LOAD AGV……………………………………………………………… 9
2. Requirement of AGV………………………………………………... 11
1.Sensor………………………………………………………………… 13
2.Control Devices………………………………………………………. 20
3.Actuators……………………………………………………………... 21
4.Mechanical Systems…………………………………………………. 22
5.Software……………………………………………………………… 28
I. INTRODUCTION:
- The AGV, called a laser guided vehicle (LGV). In Germany the technology is
also called Fahrerloses Transportsystem (FTS) and in Sweden förarlösa trucker,
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can have two objects behind them in trailers to which they can autonomously
attach. The trailers can be used to move raw materials or finished products. The
AGV can also store objects on a bed. The objects can be placed on a set of
motorized rollers (conveyor) and then pushed off by reversing them. AGVs are
employed in nearly every industry, including pulp, paper, metals, newspaper, and
general manufacturing. AGVs are available in a variety of models move products
on an assembly line, transport goods throughout a plant or warehouse, and deliver
loads…
Source: Wikipedia
1. Navigation methods:
- We will talk to laser navigation and magnetic tape navigation. The advantages
of laser navigation are no installation, high accuracy, high positioning, error is
only between positive and negative 1 mm, no other positioning facilities are
needed. But the disadvantage is that the cost of them is very expensive and;
besides, they are easy to be effected by surrounding light intensity.
Source: google
2. Working principle:
Documentation: google
- The working sequence of AGV trolley is as follows: after receiving the cargo
handling instructions, according to the pre-drawn operation map, the current
coordinates and the forward direction of AGV, the central controller carries out
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vector calculation and route analysis, chooses the best driving route,
automatically intelligently controls the AGV trolley's driving, turning and
steering on the road, arrives at the accurate parking position of loading cargo, and
loads the cargo. Then AGV starts to "run" to the target unloading point, stops
after arriving at the exact location and completes the unloading, and reports its
position and status to the control computer. Then AGV starts to run to the
standby area until it receives new instructions and then does the next task .
III. TECHNICAL PARAMETERS / REQUIREMENTS OF AGV:
1. Technical parameters of AGV:
- The technical parameters of AGV are very various, depending on the model,
manufactures, and application. The information below is common technical
parameters that is typically associated with AGVs:
Load Capacity:
+ The maximum weight that the AGV can carry, including the payload and
any additional equipment.
Speed:
+ The maximum travel speed of the AGV. Speed can vary based on the
application and safety requirements.
Dimensions:
+ Length, width, and height of the AGV. These dimensions are crucial for
navigating through facilities and ensuring compatibility with the
environment.
Battery Capacity:
+ The capacity of the onboard battery, typically measured in ampere-hours
(Ah) or kilowatt-hours (kWh). This parameter influences the AGV's
operating time between battery recharges.
Operating Time:
+ The duration the AGV can operate on a single battery charge. This
depends on factors such as load, speed, and the efficiency of the energy
management system.
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Charging System:
+ The type of charging system used, whether it's automatic charging at
designated stations or manual charging.
Navigation System:
+ The type of navigation technology employed, such as laser guidance,
magnetic tape guidance, vision-based systems, or a combination of these.
Safety Features:
+ AGVs are equipped with safety features such as sensors, emergency stop
buttons, and collision avoidance systems to ensure safe operation in
dynamic environments.
Communication System:
+ The communication protocols and systems used for interaction between
AGVs and other elements of the automated system, such as a central
control system.
Payload Handling:
+ Specifications related to the type of payload the AGV is designed to
handle, whether it's pallets, bins, or other materials.
Operating Environment:
+ The range of operating temperatures, humidity levels, and other
environmental conditions under which the AGV is designed to operate.
Control System:
+ Information about the AGV's control system, including the processing
power, onboard computing capabilities, and software features for
navigation and task execution.
Maintenance Requirements:
+ Information about routine maintenance tasks, service intervals, and any
specific maintenance needs.
It's important to note that these parameters can vary, and manufacturers often
provide detailed specifications for each model of AGV they produce. When
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selecting an AGV for a specific application, it's essential to consider these
technical parameters in relation to the requirements of the intended use.
2. Requirement of AGV:
- The requirements for an Automated Guided Vehicle (AGV) system depend on
the specific application and operational needs of the facility. Here are some
general requirements and considerations when implementing AGVs:
Application Analysis:
+ Determine the pathways or routes the AGV will follow. This could
involve magnetic tape, laser guidance, vision systems, or a combination of
these navigation technologies.
Safety Requirements:
Operating Environment:
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+ Consider the environmental conditions where AGVs will operate,
including temperature ranges, humidity levels, and any specific challenges
posed by the facility layout.
Communication Systems:
Regulatory Compliance:
+ Ensure that the AGV system complies with local regulations and safety
standards. This may include safety certifications and adherence to industry-
specific guidelines.
Load Capacity:
+ The maximum weight that the AGV can carry. This parameter is crucial
for determining the AGV's suitability for specific tasks.
Navigation System:
+ The type of navigation system used by the AGV, such as laser guidance,
magnetic tape, vision systems, or a combination of these. The accuracy and
reliability of the navigation system are critical.
Path Planning:
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+ Techniques used for determining the most efficient route for the AGV to
reach its destination. This may involve algorithms that consider factors like
distance, obstacles, and traffic.
+ Parameters related to the AGV's ability to detect obstacles in its path and
take appropriate actions to avoid collisions. This could involve sensors,
cameras, or other technologies.
Battery Management:
Communication System:
+ The communication protocols and methods used for interaction with the
central control system, other AGVs, and peripheral equipment. This is
important for coordination in a multi-AGV environment.
Safety Features:
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+ Parameters related to the AGV's self-diagnostic capabilities, maintenance
requirements, and predictive maintenance features to minimize downtime.
2. Requirement of AGV:
Load Characteristics:
+ Define the types of loads the AGVs will handle. Specify the weight,
dimensions, and any special characteristics of the unit loads.
+ Determine the required throughput, which is the number of unit loads the
AGVs should handle within a specific time frame. Assess the workload
patterns, such as peak times and average demand.
+ Understand the layout of the facility where AGVs will operate. Consider
the need for infrastructure modifications, such as installing charging
stations, creating AGV lanes, and integrating with existing conveyor
systems.
Navigation Requirements:
+ Identify the preferred navigation method based on the facility layout and
requirements. Common navigation methods include laser guidance,
magnetic tape, vision systems, or a combination of these.
Scalability:
Operational Environment:
Cost Considerations:
Performance Metrics:
b. Radar Sensor:
Application:
Advantages:
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o Suitable for self-propelled vehicles with relative speeds.
Disadvantages:
c. Ultrasonic sensors:
Source: vcc-tradind.vn
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Operating principle: Using high frequency sound waves to
measure distance.
Application:
Advantages:
o Low cost.
Disadvantages:
d. LiDAR Sensor:
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Definition: LiDAR works by emitting a laser beam and then
measuring the reflected signal back with very high accuracy.
LIDAR is often applied to scan terrain into 3D maps.
Source: tinhte.vn
Application:
Advantages:
Disadvantages:
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Image: Vision Camera – Optic Sensor
Source: vcc-trading.vn
Application:
Advantages:
Disadvantages:
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o Consumes a lot of processing power because it needs to
process large amounts of data.
Definition:
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Image: IMU Sensor
Source: processonline.com.au
Application:
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o The IMU navigates safely in a short time when a
problem with GNSS or other sensors is detected.
Advantages:
Disadvantages:
h. GNSS:
Advantages:
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Disadvantages:
2. Control Devices:
a. Definition:
b. Some devices:
3. Actuators:
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responsible for controlling the wheels, lifting mechanism, and
other moving parts. This subsection reviews the types of
actuators used in AGVs and their specific applications in
different situations.
Image: Engine
Source: vcc-trading.vn
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Image: Transmission system
Source: tci.vn
Cargo lifting part: Is the part that helps the vehicle lift and
lower goods. The part that lifts and lowers goods on an AGV
is usually a mechanical arm or a crane.
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Image: Cargo lifting part
Source: ssi-schaefer.com
4. Mechanical Systems:
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Chassis: The chassis is an important part of the AGV vehicle,
responsible for the vehicle's stability, movement and cargo
transportation. AGV chassis are usually made of steel or
aluminum materials, have a sturdy structure, and can withstand
large loads..
Source: vi.made-in-china.com
Wheel:
Is the part that helps the car
move, usually made of
rubber or plastic.
Source: fasolutions.vn
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Source: autodetailing.vn
Wheel configuration:
o Ingredients:
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wheel, helping to protect the internal components
from damage. Wheel covers are usually made of hard,
durable materials such as ABS plastic, steel, or
aluminum.
Source: fastech.vn
Source: thietbiagv.com
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helping the AGV move. AGV wheel motors are
usually DC electric motors or AC motors.
Source: saoviet-ltd.com
Suspension system:
o Ingredients:
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Source: news.oto-hui.com
Source: oto.saodo.edu.vn
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together, helping the car to be more stable when
moving in a straight line.
Source: hondaotomydinh.vn
5. Software:
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Operating environment: If the operating environment is
complex and changes frequently, it is necessary to use more
advanced navigation and control algorithms.
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