AGV Operator-Following Control for Safe Path Tracking
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Solution Overview
Problem
Automatic guided vehicles (AGVs) lack the ability to be stopped or controlled by operators without manual intervention, posing a risk of collision with workers in warehouse environments, as they are not configured to follow operators along a path dynamically.
Innovation Solution
An automatic following system for autonomous vehicles that includes a central processor, a tracing unit, and a distance measuring unit, allowing the vehicle to maintain a predetermined distance from a preceding object and adjust speed accordingly, while also navigating turns by detecting deviations from a predetermined path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If AGV follows predetermined path using automatic tracing methods, then navigation reliability is improved, but ability to stop on demand by operators deteriorates
Solution Approach 1:
The system dynamically switches between automatic tracing mode (for reliable navigation) and operator following mode (for operational flexibility). The AGV continuously monitors operator presence and distance, automatically adjusting its control mode without manual intervention, thus resolving the contradiction between navigation reliability and operator control capability
Solution Approach 2:
The distance measuring unit continuously provides feedback about operator proximity to the central processor. When the operator approaches within a predetermined distance, the system receives feedback signals and automatically stops, enabling operator control while maintaining reliable automatic navigation during normal operation
2Productivity
If AGV operates at constant speed along predetermined path, then productivity is improved, but safety risk of collision with operators deteriorates
Solution Approach 1:
The system takes preliminary anti-action by continuously monitoring operator presence before collision can occur. The distance measuring unit detects operator approach in advance, triggering automatic speed reduction and stopping before the AGV can collide with the operator, thus eliminating collision risk while maintaining productivity during normal operation
Solution Approach 2:
The AGV dynamically adjusts its speed based on real-time operator proximity detection. It operates at full speed when no operator is nearby (maintaining productivity) and automatically reduces speed/stops when operators approach (eliminating collision risk), resolving the contradiction between productivity and safety
3Stability of the object's composition
If AGV maintains fixed distance from preceding object, then following stability is improved, but adaptability to path changes deteriorates
Solution Approach 1:
The system dynamically adjusts the target distance based on the preceding object's movements. When the operator accelerates or changes direction, the central processor detects these changes and adjusts the AGV's speed and positioning accordingly, maintaining both following stability and adaptability to path changes
Solution Approach 2:
The system uses continuous feedback from the distance measuring unit and tracing unit to monitor both the distance to the operator and the AGV's position on the predetermined path. This dual feedback mechanism enables the system to maintain stable following while adapting to path changes by adjusting speed and position in real-time
Data Source
AI summary
A method for automatically following a preceding object by an autonomous vehicle is provided and includes the following steps: providing a first predetermined path, locating the preceding object and the autonomous vehicle on the first predetermined path, measuring the distance between the autonomous vehicle and the preceding object by a distance measuring unit disposed on the autonomous vehicle, determining a predetermined distance to be maintained between the autonomous vehicle and the preceding object through a central processor, and when the preceding object moves along the first predetermined path, the central processor drives the autonomous vehicle to be following the preceding object along the first predetermined path with the predetermined distance and a moving velocity.