AGV Wheel Position Calibration Using Sensor Data
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Solution Overview
Problem
Automated guided vehicles (AGVs) face challenges in accurately calibrating wheel positions due to human errors and tolerances during assembly, requiring a simple, accurate, and cost-effective method for calibration, especially after component replacement or initial configuration.
Innovation Solution
A method involving the use of wheel and steering motor sensors to determine the relative positions of wheels by positioning one wheel tangentially on an imaginary circle and measuring distances and angles, allowing for automatic calibration without requiring complex measurements, using high-resolution rotary encoders for precise positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If wheel positions are gathered from CAD model, then configuration flexibility is improved, but position accuracy deteriorates
Solution Approach 1:
The patent applies preliminary action by performing calibration measurements before the AGV enters service. The calibration process pre-determines the actual wheel positions and stores them in memory, so that subsequent navigation uses accurate pre-measured data rather than relying solely on CAD model approximations.
Solution Approach 2:
The patent replaces mechanical measurement systems (physical measuring tools and manual measurement processes) with sensor-based electronic measurement. Wheel position sensors and steering angle sensors automatically capture position data, which is then processed by a controller to calculate actual wheel positions, eliminating manual measurement errors.
2Ease of operation
If calibration method is simple, then ease of operation is improved, but measurement precision deteriorates
Solution Approach 1:
The calibration system performs self-service by using the AGV's own existing sensors (wheel position sensors and steering angle sensors) to measure and calibrate its wheel positions. The controller automatically processes the sensor data and calculates the calibration parameters without requiring external measurement equipment or complex manual procedures.
Solution Approach 2:
The calibration measurements are performed preliminarily during setup or maintenance phases. The system collects sensor data through predetermined motion sequences, processes this data to determine actual wheel positions, and stores the calibration parameters for future use, ensuring accuracy without complicating operational procedures.
3Adaptability or versatility
If modular configuration is allowed, then adaptability is improved, but device complexity deteriorates
Solution Approach 1:
The patent applies universality by using a single calibration approach that works for both fixed configurations and modular configurations of the AGV. The same sensor-based measurement system and calibration algorithm can handle various wheel arrangements, drive unit positions, and vehicle layouts, making the system universally applicable without requiring different calibration procedures for each configuration.
Data Source
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AI summary
A method of calibrating positions of wheels (16; 16a-16d) in an AGV (10), the method comprising positioning a second wheel (16b) tangentially on an imaginary second circle (96b) centered with respect to a center position (94) in which a first wheel (16a) is fixed; driving the second wheel (16b) a second distance (104b) along the second circle (96b) such that the AGV (10) rotates about the center position (94); determining the second distance (104b) based on data from a second wheel sensor device (74) of the second wheel (16b); determining an angle of rotation (106a) about the center position (94) based on data from a first steering sensor device (46) of the first wheel (16a) during the rotation of the AGV (10); and determining relative positions between the first wheel (16a) and the second wheel (16b) based on the second distance (104b) and the angle of rotation (106a). An AGV (10) is also provided.