AGV Bogie Mode Control for Stable Cornering and Towing
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Solution Overview
Problem
Unmanned transport vehicles (AGVs) experience instability and wobbling when pulling bogies, particularly at corners or curves, due to varying bogie configurations and cargo loads, making it difficult to maintain a stable travel path.
Innovation Solution
A traveling control system that uses imaging units to acquire and determine the mode of the bogie and transport vehicle, allowing for precise control of the vehicle's movement based on the acquired data, including the use of characteristic units attached to both the vehicle and bogie, to stabilize the travel path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the AGV travels while pulling the bogie loading cargo, then the transport function is improved, but the traveling stability deteriorates due to wobbling
Solution Approach 1:
The control system dynamically adjusts the AGV's traveling speed based on the detected bogie mode (number of bogies, cargo state, bogie shape) to maintain stable traveling. The system changes operating parameters in real-time according to the loaded cargo configuration, transforming a static control approach into a dynamic adaptive one that prevents wobbling while maintaining transport capability.
Solution Approach 2:
The system changes the traveling speed parameter of the AGV according to the detected bogie mode. When unstable traveling is detected or predicted based on the number of bogies, cargo state, and bogie shape, the control unit adjusts the speed parameter to a more stable value, thereby preventing wobbling while maintaining transport function.
2Adaptability or versatility
If the AGV changes travel direction at a corner or curve, then the route flexibility is improved, but the traveling stability deteriorates due to wobbling and deviation
Solution Approach 1:
The control system dynamically adjusts traveling parameters during direction changes based on the detected bogie mode. When the AGV approaches corners or curves, the system modifies the traveling speed and trajectory in real-time according to the number of bogies and cargo configuration, enabling flexible routing while maintaining stability during directional transitions.
Solution Approach 2:
The imaging unit continuously detects the bogie mode and provides feedback to the control unit. This feedback mechanism allows the system to monitor the actual traveling state and adjust control parameters during direction changes, preventing wobbling and route deviation while maintaining the ability to navigate corners and curves.
3Stability of the object's composition
If a mechanism for preventing AGV swinging is provided, then the AGV stability is improved, but the bogie wobbling cannot be prevented
Solution Approach 1:
The imaging unit and control unit act as intermediaries between the AGV and the bogie. By detecting the bogie mode (number of bogies, cargo state, bogie shape) and using this information to adjust the AGV's traveling parameters, the system creates a control bridge that allows the AGV to influence bogie stability indirectly, preventing wobbling that cannot be achieved by mechanical constraints alone.
Solution Approach 2:
The system uses the imaging unit to continuously monitor the bogie configuration and provides feedback to the control unit, which adjusts the AGV's traveling parameters accordingly. This feedback loop enables the system to respond to different bogie modes and prevent wobbling by adapting the AGV's motion to the specific cargo configuration, rather than relying solely on mechanical anti-swing mechanisms.
4Stability of the object's composition
If the traveling control is adjusted for different bogie modes, then the traveling stability is improved, but the control complexity increases
Solution Approach 1:
The imaging unit automatically detects and identifies the bogie mode (number of bogies, cargo state, bogie shape) without requiring manual input or complex configuration. The control unit then automatically selects appropriate traveling parameters based on the detected mode, enabling the system to self-adjust to different cargo configurations without increasing operational complexity or requiring manual intervention.
Solution Approach 2:
The system manages control complexity by organizing parameters into discrete bogie modes. Rather than handling continuous variations, the imaging unit categorizes the cargo configuration into specific modes, and the control unit selects from predefined parameter sets corresponding to each mode. This discretization approach maintains traveling stability while keeping the control system manageable.
Data Source
AI summary
Provided are a traveling control system for a transport vehicle and a traveling control method for a transport vehicle capable of preventing unstable traveling when the transport vehicle travels while pulling a bogie. The traveling control system for a transport vehicle includes an imaging unit (3) provided corresponding to an operation region of a bogie (2) that travels together with a transport vehicle (1), a mode acquisition unit (14) configured to acquire a mode of the bogie based on an image including the bogie imaged by the imaging unit, and a mode determination unit (14) configured to determine a mode of the bogie based on the mode of the bogie acquired by the mode acquisition unit. Traveling of the transport vehicle is controlled based on a determination of the mode determination unit.