AGV Position Correction Using Single Reflection Board Sensing
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Solution Overview
Problem
Existing automated guided vehicle (AGV) systems that calculate their own position using multiple reflection boards face challenges such as the need for numerous boards, increased arithmetic processing load, and spatial constraints, making them difficult to implement effectively.
Innovation Solution
An AGV system that combines internal sensors like encoders and gyro sensors with external sensors like laser rangefinders to accurately estimate and correct its position using a single reflection board, reducing the number of boards required and minimizing arithmetic processing load.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple reflection boards are arranged along the traveling path to enable constant detection, then the detection reliability is improved, but the number of reflection boards increases and the arithmetic processing load increases
Solution Approach 1:
The patent replaces the mechanical/optical detection system using multiple reflection boards with an electromagnetic field-based detection system using a single magnetic marker. The magnetic sensor detects the magnetic field generated by the marker, eliminating the need for multiple reflection boards while maintaining detection reliability.
Solution Approach 2:
The patent changes the detection parameter from optical reflection (requiring multiple boards for constant detection) to magnetic field detection (requiring only one marker). This parameter change allows reliable position detection with a single marker instead of multiple reflection boards.
2Reliability
If multiple reflection boards are arranged along the traveling path to enable constant detection, then the detection reliability is improved, but the arithmetic processing load increases
Solution Approach 1:
The patent replaces the complex arithmetic processing required for multiple reflection board detection with simple magnetic field strength measurement. The control unit only needs to measure the magnetic field strength at the current position and compare it with threshold values, significantly reducing computational complexity.
Solution Approach 2:
The patent uses a simple magnetic marker that requires minimal processing - the control unit only needs to detect whether the magnetic field strength exceeds a threshold, indicating the marker's position. This simple detection approach reduces arithmetic processing load compared to analyzing multiple reflection boards.
3Illumination intensity
If a pole-like component is arranged to stand upward at an upper part of the AGV with the LRF installed at the tip, then the field of vision is improved and the number of reflection boards can be reduced, but the space for goods placement is limited and the size of the AGV increases
Solution Approach 1:
The patent replaces the pole-like mechanical structure with a magnetic sensor mounted on the AGV body. This substitution eliminates the need for a tall pole structure, maintaining full field of vision while preserving the entire upper surface of the AGV for goods placement.
4Illumination intensity
If a pole-like component is arranged to stand upward at an upper part of the AGV with the LRF installed at the tip, then the field of vision is improved and the number of reflection boards can be reduced, but the risk of collision increases
Solution Approach 1:
The patent replaces the elevated pole-like structure with a magnetic sensor integrated into the AGV body at a lower position. This eliminates the protruding pole that could collide with obstacles, reducing the risk of damage while maintaining detection capability through magnetic field sensing.
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
This solution achieves high traveling accuracy with a margin of error less than ±1% over 10-m travel, allowing for efficient own-position correction and reducing the need for frequent corrections, thereby simplifying the installation and operation of AGV systems.
Implementation Method 1
an external sensor that casts light onto a reflection board arranged in the building, receives reflected light from the reflection board, and acquires information about an own position
Implementation Method 2
an internal sensor having an encoder and a gyro sensor and acquiring information about an own position
Data Source
AI summary
An automated guided vehicle system in which an automated guided vehicle autonomously moves inside a building is provided. The automated guided vehicle includes: an internal sensor having an encoder and a gyro sensor and acquiring information about an own position; an external sensor casting light onto a reflection board arranged in the building, receiving reflected light from the reflection board, and acquiring information about an own position; and a control unit correcting the own position based on the internal sensor, based on the information acquired by the external sensor. The own position via the internal sensor has a margin of error such that the automated guided vehicle can travel for a predetermined period, using only the internal sensor. The control unit performs own-position correction via the external sensor, using one of the reflection boards.