AGV Towing Path Reservation Based on Wagon Position
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Solution Overview
Problem
Existing automated guided vehicle (AGV) systems face challenges in creating accurate traffic rules for towing vehicles pulling wagons, especially on curved paths, leading to unnecessary path reservations and increased manual labor, as the shape of the train varies along different path portions.
Innovation Solution
A method that uses historical positions of the towing vehicle to calculate the current position of the wagon, allowing for more accurate traffic rule creation by assigning reserved states to path portions and prohibiting other AGVs from entering these areas, thereby preventing collisions and reducing manual labor.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a large static symbol covering both the AGV and wagon(s) is used to create traffic rules, then collision avoidance is improved, but unnecessary path portions are reserved and blocked from other AGVs
Solution Approach 1:
The patent applies dynamics by transitioning from static path reservations to dynamic reservations that update in real-time based on the actual position of the towing vehicle and wagons. The system continuously tracks the towing vehicle's position and calculates the wagon's position based on the stored distance, reserving path portions only when actually needed. This dynamic approach maintains collision avoidance while reducing unnecessary reservations that block other AGVs.
2Reliability
If a large triangular symbol based on maximum train length and minimum curve radius is used, then every necessary path portion is reserved, but a lot of unnecessary reservations are created leading to very restricting traffic rules
Solution Approach 1:
The patent applies local quality by reserving path portions selectively based on the actual local situation rather than using a uniform large symbol. The system calculates the wagon's position based on the towing vehicle's position and stored distance data, then reserves only the specific path portions that the wagon actually occupies or needs. This localized reservation approach maintains safety while allowing other AGVs to use paths that are not actually occupied, thereby reducing unnecessary restrictions.
3Measurement precision
If manual calculation of blocking rules for curved path portions is performed, then accurate traffic rules are created, but a lot of labour is required and restrictions in traffic increase
Solution Approach 1:
The patent applies self-service by implementing an automated system that calculates and updates path reservations without manual intervention. The control unit automatically tracks the towing vehicle's position, calculates the wagon's position based on stored distance data, and dynamically reserves or releases path portions as needed. This automated self-service approach maintains high measurement precision for curved path portions while eliminating the need for manual calculation and reducing traffic restrictions.
4Measurement precision
If the shape of the train is considered variable when moving along curved portions, then accurate path reservation is possible, but the complexity of creating traffic rules increases
Solution Approach 1:
The patent introduces an intermediary approach by using the towing vehicle's position as a reference point and storing the distance to the wagon. The control unit acts as an intermediary that continuously calculates the wagon's position based on the towing vehicle's position and the stored distance, rather than dealing directly with the complex variable shape of the train. This intermediary calculation method maintains path reservation accuracy for curved portions while simplifying the overall system complexity.
Data Source
AI summary
A method and a system for controlling the travel path of automated guided vehicles in a system where at least one automated guided vehicle is in the form of a towing vehicle pulling at least a first wagon. A path for the towing vehicle to travel along is determined, as well as a first position of the towing vehicle. Data identifying the first position is stored in a data storage unit and a reserved state is assigned to a path portion based on the stored data. A second vehicle is prohibited from entering the path portion while in the reserved state, to prevent collision. The towing vehicle is moved from the first position, along the path, to a second position, and the reserved state of the path portion is cancelled once the first wagon has passed the path portion.