AGV Cargo Repositioning by Inertial Sliding Control
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Solution Overview
Problem
Existing methods for positioning loads on automated guided vehicles require additional positioning elements or precise detection, making them time-consuming and inefficient, especially when exact positioning is not always necessary.
Innovation Solution
A method where a detection device connected to the vehicle controller detects the actual load position and generates a correction vector to guide the vehicle in accelerating against the direction of displacement, using the vehicle's omnidirectional travel drive to move the load into the target position by overcoming friction with inertia, potentially with reduced coefficient of friction adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If additional positioning elements or precise detection devices are used to position loads on the vehicle, then positioning precision is improved, but device complexity and cost increase
Solution Approach 1:
The transport vehicle uses its own travel drive to position the load, rather than requiring separate positioning elements. The vehicle accelerates in the opposite direction to the desired load movement direction, using inertial forces to slide the load to the target position. This self-service approach eliminates the need for additional positioning mechanisms while achieving adequate positioning precision.
Solution Approach 2:
The system changes the friction coefficient between the load and load holder by adjusting the surface properties of the load holder. During normal transport, higher friction keeps the load secure. During positioning, friction is reduced to allow the load to slide easily in response to inertial forces from vehicle acceleration, enabling precise positioning without additional elements.
2Adaptability or versatility
If the vehicle accelerates to reposition the load, then positioning flexibility is improved, but time loss and route deviation occur
Solution Approach 1:
The vehicle control system performs periodic detection of load position and executes acceleration cycles only when position correction is needed. The detection device continuously monitors load position, and the control system determines whether acceleration is necessary, avoiding unnecessary interruptions to the transport schedule and minimizing time loss.
3Ease of operation
If the friction coefficient is reduced to enable load sliding, then load repositioning ease is improved, but load security during normal transport deteriorates
Solution Approach 1:
The friction coefficient between the load and load holder is dynamically adjusted based on the operational phase. During normal transport, higher friction maintains load security. During positioning operations, friction is reduced to allow easy sliding. This dynamic adjustment resolves the contradiction between security and ease of repositioning.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables precise positioning of loads on automated guided vehicles without additional elements, allowing for accurate placement within a target area without the need for high measurement accuracy, reducing time and deviation from the vehicle's route.
Implementation Method 1
the vehicle control system controls the travel drive in such a way that the transport vehicle is accelerated essentially in the direction opposite to the load position correction vector so that the load reaches the target load position on the load holder
Implementation Method 2
the friction coefficient of the surface of the load support is changed before the transport vehicle accelerates in a direction substantially opposite to the load position correction vector
Data Source
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AI summary
The invention relates to a method for changing the position of cargo located on a cargo receptacle of a driverless transport vehicle, wherein the drive of the transport vehicle is controlled by a vehicle controller. According to the invention, the actual position of the cargo is detected by a detection device connected to the controller, and a cargo position correction vector to a cargo target position on the cargo receptacle is determined by the vehicle controller from the actual position of the cargo, and the vehicle controller controls the drive such that the transport vehicle is substantially accelerated in the opposite direction to the cargo position correction vector so that the cargo reaches the cargo target position on the cargo receptacle. To be published in this respect.