Fork Tine Sensor for AMR Payload Engagement Precision
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Solution Overview
Problem
Autonomous mobile robots (AMRs) face challenges in accurately determining the vertical position of drop surfaces for payload engagement/disengagement, leading to potential errors in positioning the forks, which can result in pushing or dragging payloads.
Innovation Solution
The implementation of a forks monitoring system with sensors integrated into the fork tines allows for real-time data acquisition and determination of partial engagement with payloads, enabling precise adjustment of fork positions to avoid payload contact with the forks during engagement/disengagement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If sensors are integrated into the fork tines for real-time engagement detection, then measurement precision of fork position is improved, but device complexity increases
Solution Approach 1:
The sensor is integrated within the fork tine structure, with the sensor housing nested inside the fork tine and the sensor element positioned to detect payload engagement directly from the fork tine interior. This nesting approach allows the sensing system to be incorporated without significantly increasing external dimensions or overall device complexity.
Solution Approach 2:
The sensor system automatically detects fork engagement status with payloads and provides real-time feedback to the control system without requiring external intervention or manual checking. The system self-monitors its own operational state, enabling autonomous decision-making for fork retraction or maintenance of position.
2Ease of operation
If the forks are positioned too low during payload engagement, then ease of operation is improved, but object-affected harmful factors increase due to payload pushing or dragging
Solution Approach 1:
The sensor provides real-time feedback on fork engagement status, and the control system uses this feedback to automatically adjust fork positioning. When engagement is detected, the system responds by retracting the forks to the appropriate position, creating a closed-loop control system that prevents payload damage while maintaining ease of operation.
Solution Approach 2:
The sensor system detects payload engagement before the forks can cause pushing or dragging effects. By identifying engagement status in advance, the control system can take preliminary action to retract or hold the forks at safe positions, preventing harmful effects before they occur.
Data Source
AI summary
In accordance with one aspect of the inventive concepts, provided is forks-engagement system and an autonomous mobile robot (AMR) comprising same. The AMR can comprise at least one processor in communication with at least one computer memory device, forks include fork tines configured to engage a payload, at least one forks-engaged sensor positioned on or in the fork tines, and a forks monitoring system. The forks monitoring system can comprise computer program code executable by the at least one processor to process an output from the forks-engaged sensor to determine if the fork tines are engaged or disengaged from the payload. When the forks, or fork tines, are engaged with the payload, the monitoring system can signal for an adjustment of the forks. When the forks are no longer in contact with a pallet, or disengaged, the monitoring system can signal for a retraction of the forks.