AGV Docking Control for Narrow-Corridor Forklift Alignment
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Solution Overview
Problem
Existing automated guided vehicle (AGV) control systems are prone to errors in localization data and fail to recognize situations where a pallet is pushed against a wall or when a drive wheel slips, leading to inaccurate docking and increased warehouse space requirements.
Innovation Solution
The AGV navigates along a predefined path with autonomous alignment and docking, using predetermined navigation steps based on turning center, object dimensions, and real-time sensor input to ensure precise alignment without relying on continuous sensor feedback, allowing for reduced corridor width and efficient load handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the AGV uses continuous sensor feedback for navigation and docking, then the positioning accuracy may improve, but the system becomes more sensitive to localization errors and requires wider corridors for multiple adjustment maneuvers
Solution Approach 1:
The system performs preliminary alignment in the first corridor segment using sensor feedback to establish the correct orientation and position. The alignment position is calculated in advance based on the target position and AGV dimensions, allowing the AGV to make precise docking adjustments before entering the second segment where continuous sensor feedback is discontinued, thereby improving productivity while maintaining docking precision.
Solution Approach 2:
The navigation path is divided into distinct segments: a first segment from start position to alignment position where sensor feedback is used for alignment, and a second segment from alignment position to target position where predetermined navigation steps are executed without continuous sensor feedback. This segmentation allows the system to combine preliminary precise alignment with efficient high-speed docking execution.
2Measurement precision
If the AGV makes multiple adjustment maneuvers to achieve precise docking, then the docking accuracy improves, but the time required for pick-up and drop-off increases
Solution Approach 1:
The alignment position is calculated in advance using the target position and AGV diagonal size, and the orientation is pre-aligned in the first corridor segment. This preliminary action ensures that when the AGV enters the second segment, it is already correctly positioned and oriented, eliminating the need for multiple adjustment maneuvers during the actual docking process, thereby reducing docking time while maintaining high accuracy.
3Area of stationary object
If the corridor width is reduced to the AGV's diagonal size, then the warehouse space efficiency improves, but the AGV requires more precise alignment and navigation control
Solution Approach 1:
The system calculates the alignment position in advance based on the target position and AGV diagonal size, ensuring that the AGV is correctly positioned before entering the narrow corridor. The first corridor segment is dedicated to preliminary alignment using sensor feedback, which compensates for any positioning errors, thereby enabling precise navigation in the reduced-width corridor without requiring excessive clearance.
Solution Approach 2:
The system uses sensor feedback during the first corridor segment to detect the actual position and orientation of the AGV, compare it with the desired alignment, and make real-time adjustments. This feedback mechanism ensures high alignment precision even in the constrained space of a narrow corridor, enabling the AGV to operate accurately in the reduced corridor width.
Data Source
AI summary
The invention relates to a method of controlling an automated guided vehicle on a path between a start position and an object handle position. The control includes navigating the automated guided vehicle in a predefined corridor along a first part of said path, towards an alignment position. The control further includes navigating the automated guided vehicle, along a second part of said path, towards a docking start position, based on at least one predetermined navigation step. The control includes navigating said automated guided vehicle at least partly based on input from said primary sensor along a third part of said path and stopping movement of said automated guided vehicle when said automated guided vehicle is aligned with said object handle position.