automated guided

7/30/2019 Automated Guided

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An automated guided vehicle or automatic guidedvehicle (AGV) is a mobile robot that follows markers orwires in the floor, or uses vision or lasers.

They are most often used in industrial applications tomove materials around a manufacturing facility or awarehouse.

In short its an independently operated, self-propelledvehicles guided along defined pathways.

What is an AGV ?


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An AGV can also be called a laser guided vehicle (LGV)or self-guided vehicle (SGV).

The first AGV was brought to market in the 1950s, byBarrett Electronics of Northbrook, Illinois, and at thetime it was simply a tow truck that followed a wire inthe floor instead of a rail

In the late 20th century AGVs took on new roles as

ports began turning to this technology to move ISOshipping containers.

Over the years the technology has become moresophisticated and today automated vehicles are mainly

Laser navigated e.g. LGV (Laser Guided Vehicle)


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AGVs are used to transport an object frompoint A to point B.

AGVs navigate manufacturing areaswith sensors.

There are two main sensors AGVs use fornavigation, a wired and a wireless sensor.


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WIRED TYPE

GUIDE TAPE TYPE

LASER TARGET TYPE GYROSCOPIC TYPE

NATURAL FEATURES NAVIGATION


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The wired sensor is placed onthe bottom of the robot and isplaced facing the ground.

A slot is cut in the ground anda wire is placed approximately1 inch below the ground.

The sensor detects the radiofrequency being transmittedfrom the wire and follows it


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Many light duty AGVs use tape for the

guide path.

The tapes can be one of two styles:magnetic or colored. The AGC is fittedwith the appropriate guide sensor tofollow the path of the tape.

One major advantage of tape over wiredguidance is that it can be easily removedand relocated if the course needs tochange.

It also does not involve the expense of

cutting the factory or warehouse floor forthe entire travel route..

A flexible magnetic bar can also beembedded in the floor like wire but worksunder the same provision as magnetic tape


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The wireless navigation is done by

mounting retro-reflective tape onwalls, poles or machines.

The AGV carrys a laser transmitterand receiver on a rotating turret.The laser is sent off then receivedagain the angle and (sometimes)

distance are automaticallycalculated and stored into theAGVs memory.

The AGV has reflector map storedin memory and can correct itsposition based on errors between

the expected and receivedmeasurements.

It can then navigate to a destinationtarget using the constantlyupdating position.
http://en.wikipedia.org/wiki/File:Unitload.jpg


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Navigation without retrofitting of theworkspace is called Natural FeaturesNavigation.

One method uses one or more range-finding sensors, such as a laserrange-finder, as well as gyroscopesand/or inertial measurement unitswith localization techniques tounderstand where it is as itdynamically plans the shortestpermitted path to its goal.

The advantage of such systems is

that they are highly flexible for on-demand delivery to any location.

They also are quick to install, withless down-time for the factory.[7]
http://en.wikipedia.org/wiki/Automated_guided_vehiclehttp://en.wikipedia.org/wiki/File:SmCSIADAM.jpghttp://en.wikipedia.org/wiki/Automated_guided_vehicle


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AGVs have to make decisions on pathselection.

This is done through differentmethods: frequency select mode (wirednavigation only), and path select mode(wireless navigation only) or via a magnetictape on the floor not only to guide the AGVbut also to issue steering commands andspeed commands


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Frequency select mode

Magnetic Tape mode

Path select mode


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Frequency select mode bases its decision on thefrequencies being emitted from the floor.

When an AGV approaches a point on the wire whichsplits the AGV detects the two frequencies andthrough a table stored in its memory decides on thebest path.

The different frequencies are required only at thedecision point for the AGV. The frequencies canchange back to one set signal after this point


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An AGV using the path select mode chooses a path basedon preprogrammed paths. It uses the measurements takenfrom the sensors and compares them to values given tothem by programmers.

When an AGV approaches a decision point it only has todecide whether to follow path 1, 2, 3, etc. This decision israther simple since it already knows its path from itsprogramming.

This method can increase the cost of an AGV because it isrequired to have a team of programmers to program theAGV with the correct paths and change the paths whennecessary.

This method is easy to change and set up.


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The magnetic tape is laid on the surface of the flooror buried in a 10 mm channel,

it provides the path for the AGV to follow

also short strips of the tape in different combos ofthe strip tell the AGV to change lane

also speed up slow down and stop with north andsouth magnetic combos


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When there are more than one AGVs it maybe required to have traffic control so theAGVs will not run into one another.

Zone control

Forward sensing control

Combination control


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Industries with AGVs need to have some sort of control over the AGVs. Thereare three main ways to control the AGV: locator panel, CRT color graphicsdisplay, and central logging and report.

o A locator panel is a simple panel used to see which area the AGV is in. If theAGV is in one area for too long, it could mean it is stuck or broken down.

CRT color graphics display shows real time where each vehicle is. It also gives astatus of the AGV, its battery voltage, unique identifier, and can show blockedspots.

Central logging used to keep track of the history of all the AGVs in the system.Central logging stores all the data and history from these vehicles which can beprinted out for technical support or logged to check for up time.


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AGVS Towing Vehicles were the first type introduced and are still a very popular

type today. Towing vehicles can pull a multitude of trailer types and havecapacities ranging from 8,000 pounds to 60,000 pounds.

AGVS Unit Load Vehicles equipped with decks, which permit unit loadtransportation and often automatic load transfer.

AGVS Pallet Trucks are designed to transport palletized loads to and from floorlevel; eliminating the need for fixed load stands.

AGVS Fork Truck has the ability to service loads both at floor level and onstands. In some cases these vehicles can also stack loads in rack.

Light Load AGVSare vehicles which have capacities in the neighborhood of 500

pounds or less and are used to transport small parts, baskets, or other light loadsthough a light manufacturing environment. They are designed to operate in areaswith limited space.

AGVS Assembly Line Vehicles are an adaptation of the light load AGVS forapplications involving serial assembly processes.
http://en.wikipedia.org/wiki/File:Transbotics_Laser_Guided_Vehicle.jpg


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Outdoor laser-

guided AGV to

carry pallets or

skids

Laser-guided

AGV totransport unit

loads or skids.

Heavy-duty AGVInertial-guided automatictrailer loading vehicle

SOME AGVS
http://en.wikipedia.org/wiki/File:Inertial_guidance_AGV.jpghttp://en.wikipedia.org/wiki/File:Heavy-duty_AGV_10-23-07.jpghttp://en.wikipedia.org/wiki/File:Transbotics_Outdoor_Laser_Guided_Vehicle.jpghttp://en.wikipedia.org/wiki/File:Transbotics_Laser_Guided_Vehicle.jpg


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Some applications include Pallet Handling

Work-in-Process Movement

Raw Material Handling

Finished Product Handling

Roll Handling

Trailer Loading


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ADVANTAGES DISADVANTAGES


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automated guided

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