AGV Routing and Rack Pickup on Uneven Factory Floors
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Solution Overview
Problem
Existing automated guided vehicles (AGVs) in factory halls are limited by their reliance on fixed guide tracks, unidirectional movement, and static collision avoidance, restricting their freedom of movement and efficiency, especially in environments with uneven ground and inclines.
Innovation Solution
A transport vehicle equipped with a laser scanner, light field sensor, and adjustable kinematics, including height-adjustable support plates and spring elements for drive wheels, allows for reliable navigation and lifting of load racks on uneven ground and inclines, using dynamic routing algorithms to optimize path planning and collision avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If fixed guide tracks are used for AGV navigation, then path following accuracy is improved, but freedom of movement is restricted
Solution Approach 1:
The patent replaces the mechanical guide track system with an optical/laser-based navigation system. The AGV uses a laser scanner to detect reflective markers placed at intersections, eliminating the need for physical tracks embedded in the floor. This substitution allows the AGV to move freely while maintaining accurate navigation through optical field-based position detection.
2Reliability
If static collision avoidance schemes are used, then collision prevention is achieved, but movement efficiency is reduced
Solution Approach 1:
The patent implements a dynamic collision avoidance system where the AGV continuously monitors its environment using sensors and adjusts its path in real-time. Instead of following predetermined static routes, the AGV can dynamically recalculate paths around obstacles and other vehicles, maintaining safety while improving movement efficiency through adaptive route optimization.
Solution Approach 2:
The system employs continuous feedback through sensors that detect the positions of other AGVs and obstacles. This real-time information feeds back to the control system, which adjusts the AGV's navigation and speed accordingly. The feedback mechanism enables the AGV to maintain safe distances and avoid collisions while optimizing its travel time and path selection.
3Reliability
If unidirectional movement along tracks is enforced, then collision avoidance is simplified, but system flexibility is limited
Solution Approach 1:
The patent enables bidirectional and multi-directional movement by replacing fixed track constraints with dynamic sensor-based navigation. The AGV can move in any direction on the warehouse floor, approach load racks from optimal positions, and navigate around obstacles flexibly. The system maintains collision avoidance through real-time sensor monitoring and dynamic path adjustment rather than enforced unidirectional movement.
4Measurement precision
If complex control systems are implemented for dynamic environments, then navigation accuracy is improved, but system complexity increases
Solution Approach 1:
The patent uses reflective markers as simplified copies or representations of navigation points. Instead of complex continuous navigation calculations, the AGV detects these marker copies using its laser scanner to determine position and orientation. This copying approach simplifies the control system by providing discrete, easily detectable reference points that reduce computational complexity while maintaining navigation accuracy.
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
Enables reliable and efficient transport of load racks on uneven surfaces and inclines without the need for complex control systems, improving the flexibility and safety of AGV operations in dynamic environments.
Implementation Method 1
A transport vehicle (9) equipped with a laser scanner (3)
Implementation Method 2
spring elements for drive wheels
Data Source
Figure 1
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AI summary
The invention relates to a method for operating a transport vehicle for the trouble-free transport of load racks in factory halls with partially autonomous driving operation, wherein a control center in a storage area receives the order to ensure that a specific load rack (1) with a transport item (2) located on it is transported to a specific destination, the control center determines which transport vehicle (9) is able to complete the required order most quickly based on its current location and its current order status, a specific transport vehicle (9) then receives the order from the control center to search for a specific load rack (1) in a specific area of a larger area of a storage area, to pick up this load rack (1) and to drive this load rack (1) with the transport item (2) located on it to a specific storage location.d) The transport vehicle (9) selected by the control center receives instructions from the control center, determined by means of a specific route algorithm, regarding the route to be traveled and the speed to be driven in each section of the route in order to reach the immediate target area within a specific time window. The transport vehicle (9) uses a 3D sensor to determine the load rack (1) to be picked up, selects a suitable starting position for picking up the load rack (1), drives underneath it and lifts it up for transport. The transport vehicle (9) awaits instructions from the control center and proceeds on its return journey in accordance with the instructions received.