AGV-Based Warehouse Localization Using Mobile Anchor Nodes
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing localization systems for moving targets in warehouses require numerous fixed antennas, leading to high installation costs and complex communication handling, which complicates the detection and avoidance of collisions between automatic guided vehicles and moving targets like persons or forklift trucks.
Innovation Solution
The localization system integrates localization means on automatic guided vehicles, using a reduced number of antennas positioned only where needed, with active markers on moving targets and virtual anchor nodes on vehicles for efficient signal processing and position estimation through trilateration or multilateration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a plurality of fixed antennas (anchors) are installed in the warehouse area, then the localization accuracy of moving targets is improved, but the installation cost and device complexity increase significantly
Solution Approach 1:
The patent transforms the traditional static anchor nodes into dynamic anchor nodes that are mobile along predefined paths. These dynamic anchors move to different positions within the warehouse area, providing localization coverage without requiring a dense network of fixed antennas. The mobile nature of the anchors reduces the total number of antennas needed while maintaining localization accuracy through temporal sampling of different spatial positions.
Solution Approach 2:
The automatic guided vehicles (AGVs) serve dual functions: they are both the autonomous vehicles performing material handling tasks and the mobile anchor nodes performing localization functions. By integrating localization capabilities into the AGVs themselves, the system eliminates the need for separate fixed infrastructure, reducing device complexity while maintaining measurement precision through the AGVs' movement along predefined paths.
2Measurement precision
If numerous fixed antennas are deployed for localization, then the position estimation accuracy is improved, but the communication handling complexity and installation cost increase
Solution Approach 1:
The system uses dynamic anchor nodes that move along predefined paths instead of static fixed antennas. This dynamic approach allows a smaller number of antennas to achieve the same localization accuracy by exploiting temporal variations in their positions. The reduced number of anchors simplifies communication handling while maintaining position estimation accuracy through the anchors' movement patterns.
Solution Approach 2:
The patent uses virtual anchor nodes that are computationally generated based on the positions and measurements of physical mobile anchors. These virtual anchors extend the effective localization network without requiring additional physical infrastructure, simplifying communication handling while enhancing position estimation capabilities through algorithmic expansion of the anchor network.
3Device complexity
If a reduced number of antennas are used, then the installation cost and device complexity are reduced, but the localization speed and accuracy may be compromised
Solution Approach 1:
The mobile anchor nodes move along predefined paths at controlled speeds, dynamically sampling different spatial positions. This dynamic sampling approach enables a reduced number of antennas to achieve the same localization coverage as a larger static network, improving installation efficiency while maintaining localization speed through optimized movement patterns and real-time position updates.
Solution Approach 2:
The system pre-defines optimal paths and schedules for the mobile anchor nodes before operation begins. This preliminary planning ensures that the mobile anchors visit critical measurement positions at appropriate intervals, maintaining localization speed and accuracy without requiring a dense network of fixed antennas, thus reducing installation complexity while preserving productivity.
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 approach simplifies installation, reduces costs, and enhances the accuracy and speed of target detection, allowing for effective collision avoidance while maintaining efficient vehicle navigation in dynamic warehouse environments.
Implementation Method 1
measuring a time for a signal to go from the first emitting/receiving nodes to the second node and return
Implementation Method 2
the first emitting/receiving nodes and the second node calculate, through a trilateration or multilateration, the position of the moving target
Data Source
Figure 1~2
AI summary
The present invention relates a localisation (1), or position estimation, group for a moving target, such as a person or a manual guided vehicle, in a warehouse or in an area to be monitored with at least one automatic guided vehicle (3), equipped with a unit for controlling the movement of the automatic guided vehicle (3) itself, and at least one moving target (2).