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AGV - Control sub-systems and

interfaces

Dan Shelley10/27/2010

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Short history of AGVs

Automated Guided Vehicle (AGV)

The first AGV was brought to market in the 1950s, at thetime it was simply a tow truck that followed a wire in the

floor instead of a rail. Over the years the technology hasbecome more sophisticated and today automated vehiclesare mainly laser navigated. In an automated process, LGVsare programmed to communicate with other robots toensure product is moved smoothly through the warehouse,

whether it is being stored for future use or sent directly toshipping areas. Today, the LGV plays an important role inthe design of new factories and warehouses, safely movinggoods to their rightful destinations.

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Industries

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Components of AGVS

The Vehicle No operator

The guide path The path for the AGV

The control Unit Monitors and Directs system operations includingfeedback on moves, inventory, and vehicle status.

The computer interface Interfaces with other mainframe host computer,

the automated storage and retrieval system (AS/RS), and the flexiblemanufacturing system.

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How do AGV control systems differ?

1. centralized controller

PC or other computer device to manage the movement of vehicles

along the path

smart central approach

central controller controls routing and traffic controls

AGVs receive direction via communications link2. decentralized vehicle control approach

no central controller device for basic vehicle movement

vehicles perform their own routing and traffic control functions

smart vehicle approach

AGVs use their onboard intelligence to select their route to a

destination avoid running into other AGVs by direct AGV-AGV communication

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Tape Guided

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Imbedded Guide Wires

Small channel cut into floor(typically 3-12 mm wide by 13-26 mm deep).

After guide wire is installed, gapis filled with cement to makesmooth driving surface.

Frequency generator hooks upto guide wire and emits a low-voltage, low-current signal witha frequency of 1-15kHz.

Magnetic Field is induced alongpathway that can be followedby sensors on board each

vehicle.

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Q-CAN(Savant Automation)

Quick Configurable Automation.

User configured, not vendor engineered

Best of all, you dont have to know any softwarelanguage or be CAD experienced in order to create

your own running Q-CAN system model.

ROSIE System MSRP $140K

SICK System MSRP $800K

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Collision Avoidance

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Collision Avoidance

Detection range up to 13.3 ft = 4m

Up to 6 transducers for wide coverage

Long and short range detection modes

RS-232 Programming

10-30VDC operation

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Collision Avoidance

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AGV Controls/Support Technology

Control Board 40 (CB-40)Purpose designed advanced computer board for Automated Guided

Vehicles.

Windows CE platform

Pin compatible with CB-12 terminal board for easy upgrading of

existing CB-12 systemsVehicle interface: 14 digital inputs, 6 analogue inputs, 5 guide

antenna inputs, 8 bumper inputs, 2 encoder inputs, battery sense,

safety chain, CAN BUS, 12 digital outputs, 3 motor controlled

(chopper) connections, paralell bus for expansion boards.

Download of program over Ethernet LAN, USB or serial

communication link

Control Board 12 (CB-12)Purpose designed standard computer board for Automated Guided

Vehicles.

LED indications of digital inputs and outputs

Download of program over RS232 serial port

In combination with interface boards is CB12 used for complex AGVs

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Modern AGVs computer-controlled vehicles with

onboard microprocessors

position feedback system to correctpath

communication between vehicles

via system controller RF communication

Electric signals

system management computers

optimising the AGV utilisation

tracking the material in transferand directing the AGV traffic.

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Target Laser Scanning

A laser scanner mounted on top of the vehicle laser scanner strobes the plant, sensing easy to install

reflective targets mounted at intervals on the wall

when two or more targets are located, the vehicle is able toidentify and update its exact location.

vehicles continue in this manner updating their positionseveral times per second, providing smooth, steadymovement.

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Laser Types

Pulsed Emits light at 14,400 Hz.

maximum possible resolution of ~ 3.5 mrad (0.2) at 8 scanner revolutions persecond

readings must be interpolated based on the intensity of the reflected laser

light, to identify the center of the reflector Modulated

greater range and accuracy over pulsed laser systems

continuous fan of laser light

uninterrupted reflection as soon as the scanner achieves line of sight with areflector

reflection ceases at the trailing edge of the reflector which ensures anaccurate and consistent measurement from every reflector on every scan

LS9 Scanner is manufactured by Guidance Navigation Ltd and, by using amodulated laser; this system achieves an angular resolution of ~ 0.1 mrad(0.006) at 8 scanner revolutions per second

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Technical Paper

Vision Assisted Laser Scanner Navigation for Autonomous Robots

Jens Christian Andersen, Nils A. Andersen, Ole Ravn

Automation rstedDTU, Technical University of Denmark,

DTU-build. 326, DK-2800 Kgs. Lyngby, Denmark.

jca@oersted.dtu.dk naa@oersted.dtu.dk or@oersted.dtu.dk

Road detection using both a laser scanner and a vision sensor

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TraversabilityRoad detection based on laser scanner and vision sensor

Classifies traversible segments and obstacles using laser scanner (area just in

front of the robot = 2.5m)

Front looking camera classifies the road from 2.5 and beyond to estimate the

outline of the visible part of the road (seed area based from results of laser scan)

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Class Application

Weve just discussed the technology of

terrain/environment mapping for AGVs.

What are good environments for this application? What are some problems to overcome with this new

technology?

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Problems

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Experts Savant

Amerden HK

FMC Technologies

JBT Coorporation

Jervis B. Webb Company

Automation Production Group (APG)

Corecon

FMC Technologies

Trilogiq

Egemin

Elettric80

Genesis Systems Group KMT Robotic Solutions

Lantech

Retrotech

Mobile Robots, Inc.

Westfalia

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References

http://www.agvsystems.com/faqs/q5.htm

http://www.amerden.com/AmerdenWeb/agvinformation.html

A Guide to Robotic Logistics LGVs (AGVs). Elettric 80 S.p.A. 26 April 2008

"The Appropriate Application of Automated Guided Vehicles ". HK Systems, Inc. 01 October

2007

http://www.hksystems.com/agv/index.cfm

Automation rstedDTU, Technical University of Denmark, DTU-build. 326, DK-2800 Kgs.

Lyngby, Denmark.

jca@oersted.dtu.dk naa@oersted.dtu.dk or@oersted.dtu.dk

http://www.sick.com/us/en-us/home/about_sick/partners/Pages/meet_our_partners.aspx

http://www.icart-agv.com/iCart-intelligence.html

http://www.cs.cmu.edu/~chuck/robotpg/robofaq/8.html

http://www.allbusiness.com/professional-scientific/scientific-research-development/107793-

1.html

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General Summary

AGV (Automated Guided Vehicle)

Components

Smart Central vs Smart Vehicle Approach

Control Methods Tape

Imbedded Wire

Laser Guided

Collision Avoidance

Evolving Technology Traversibility

Laser/Visual System