AGV Docking Control via Turning Center Alignment
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Solution Overview
Problem
Existing automated guided vehicles (AGVs) face challenges in accurately docking with pallets due to errors in localization data, failure to recognize obstacles, and inefficiencies in navigating narrow corridors, leading to repeated attempts and increased warehouse footprint.
Innovation Solution
The AGV controls its movement using a predefined navigation method involving a turning center, object dimension information, and alignment position determination, allowing it to autonomously adjust its path to precisely dock with pallets without external sensor input, reducing the need for repositioning and minimizing corridor width.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the AGV uses baseline geometric representation and sensor data for positioning, then the control method can accommodate pallet variations, but the system becomes sensitive to localization errors and fails to recognize obstacles such as pallets pushed against walls or slipping drive wheels
Solution Approach 1:
The patent introduces a turning center as an intermediary reference point that mediates between the AGV's localization system and the pallet positioning. By calculating the turning center from wheel trajectories and using it as a stable reference for alignment, the system achieves reliable positioning without being sensitive to localization errors or obstacles. The turning center acts as a mediator that transforms unreliable sensor data into precise alignment information.
2Productivity
If the AGV navigates to the target position using conventional methods, then it can reach the pallet, but it requires multiple repeated attempts and increases the warehouse footprint
Solution Approach 1:
The patent applies preliminary action by pre-calculating the turning center position and determining the precise alignment trajectory before the AGV begins its docking maneuver. The system computes the required turning radius and alignment path in advance, allowing the AGV to execute a single precise docking attempt rather than requiring multiple retries. This preliminary calculation of the optimal path eliminates the need for repeated adjustments and reduces the space required for docking operations.
3Ease of operation
If the AGV uses a wide corridor for navigation, then it can accommodate positioning errors and obstacles, but it reduces the number of rows that can be accommodated on the warehouse floor
Solution Approach 1:
The patent changes the critical parameter from corridor width to turning center precision. By transforming the navigation problem into a turning-based alignment problem, the system achieves high positioning precision through mathematical calculation of the turning center rather than relying on wide corridors for error tolerance. This parameter change allows narrow corridors to be used effectively, maximizing warehouse capacity while maintaining ease of operation through precise alignment algorithms.
Data Source
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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.