AGV Fork Alignment via Sensors and Cameras
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Solution Overview
Problem
Automatic guided vehicles face challenges in achieving high precision and adaptability when handling shuttles and loading units in automatic warehouses due to the complexity of coupling with tall racks and varying tunnel geometries, which existing technologies struggle to address effectively.
Innovation Solution
The automatic guided vehicle employs a telescopic upright with a fork holder plate and actuators for precise movement and alignment, combined with sensors and a 3D camera for accurate positioning and alignment correction, enabling reliable and repeatable handling of shuttles and loading units across different tunnel configurations and heights.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If manually-guided vehicles are used to make progressive adjustments for high precision coupling, then coupling precision is improved, but automation level deteriorates
Solution Approach 1:
The patent replaces manual mechanical adjustment with an automated optical measurement and control system. Sensors and cameras detect the actual positions of forks and lateral guides, then the control system automatically calculates and executes correction movements, eliminating the need for manual guidance while achieving high precision coupling.
Solution Approach 2:
The system implements a feedback loop where sensors continuously monitor the positions of forks and lateral guides, compare them with target positions, and automatically adjust the vehicle's movements to correct any deviations. This closed-loop control enables automated high-precision coupling without manual intervention.
2Extent of automation
If automatic guided vehicles are used to achieve high precision coupling, then automation level is improved, but coupling precision deteriorates
Solution Approach 1:
The patent replaces simple automated positioning with an automated optical measurement and control system. Sensors and cameras detect the actual positions of forks and lateral guides, then the control system automatically calculates and executes correction movements, eliminating the need for manual guidance while achieving high precision coupling.
Solution Approach 2:
The system implements a feedback loop where sensors continuously monitor the positions of forks and lateral guides, compare them with target positions, and automatically adjust the vehicle's movements to correct any deviations. This closed-loop control enables automated high-precision coupling without manual intervention.
3Device complexity
If fixed geometry fork holder plate is used, then device complexity is reduced, but adaptability to different tunnels deteriorates
Solution Approach 1:
The patent transforms the fixed geometry fork holder plate into a dynamic, adjustable structure. The device can modify its geometry through movement along the X-axis and rotation around the Y-axis, allowing it to adapt to different tunnel configurations while maintaining relatively simple device architecture.
Solution Approach 2:
The system changes the geometric parameters of the fork holder plate dynamically. By adjusting the position along the X-axis and the rotation angle around the Y-axis, the device adapts its geometry to match different tunnel configurations, enabling versatility without complex mechanical structures.
4Manufacturing precision
If mechanical corrections are made for alignment errors at heights, then coupling precision is improved, but device complexity increases
Solution Approach 1:
The patent replaces complex mechanical correction mechanisms with an automated optical measurement and control system. Sensors and cameras detect alignment errors, and the control system automatically calculates and executes the necessary corrections through actuated movements, achieving high precision without adding mechanical complexity.
Solution Approach 2:
The system implements feedback control where sensors monitor alignment positions and the control system automatically adjusts the fork holder plate's position and orientation to correct misalignments, achieving high precision alignment without complex mechanical correction devices.
Data Source
AI summary
An automatic guided vehicle for the handling of shuttles and/or loading units in automatic warehouses. A telescopic upright integral with a vehicle frame bears a fork holder plate provided with a pair of forks and connected to the telescopic upright with an equipment. The equipment includes actuators and sensors for controlling and commanding the movements of the forks. An actuator controls the global lateral translation of the fork holder plate. A pair of actuators moves the forks closer to and away from each other. A pair of actuators rotates the fork holder plate with respect to a central axis of the equipment. The equipment also includes a pair of fork side sensors, to check the alignment of the fork holder plate to the front side of a rack and fork alignment sensors to check the alignment of the forks with respect to the lateral guides of the tunnel.