Master-Slave AGV Coordination for Tight-Space Pallet Transport
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Solution Overview
Problem
Existing driverless transport systems, such as automated guided vehicles (AGVs), face limitations in maneuverability and flexibility due to their design, which restricts their ability to operate efficiently in confined spaces and requires extensive setup with reference markers, leading to operational inefficiencies and safety concerns.
Innovation Solution
A driverless transport system comprising multiple AGVs with independently driven wheels, a master-slave configuration, and advanced sensor units, enabling enhanced maneuverability, network stability, and operational safety through coordinated movement and environment detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If conveyor skids with significant longitudinal extent are used to transport pallets, then lifting and transport capability is achieved, but maneuverability is limited due to insufficient space for alignment
Solution Approach 1:
The transport system is divided into multiple independent AGV units, each with its own drive unit and wheel assembly. This segmentation allows individual units to maneuver independently without requiring large alignment spaces, resolving the contradiction between transport capability and maneuverability.
Solution Approach 2:
The mechanical conveyor skid system is replaced with an automated guided vehicle system that uses sensors, communication devices, and controlled wheel rotation to achieve transport. This substitution eliminates the need for long alignment spaces required by mechanical conveyor skids.
2Adaptability or versatility
If reference markers are laid out to define AGV paths, then navigation guidance is provided, but flexibility is limited and considerable setup effort is required
Solution Approach 1:
The physical reference marker system is replaced with an optical/electronic navigation system using sensors and communication devices. This allows the AGVs to navigate flexibly without physical markers, eliminating setup effort and increasing adaptability to changing environments.
Solution Approach 2:
The navigation system is made dynamic and adaptable through the master-slave control architecture, where the master AGV can dynamically determine paths and communicate them to slave AGVs, allowing real-time adjustments without reconfiguring physical markers.
3Productivity
If multiple AGVs operate in a swarm configuration, then transport capacity is increased, but coordination complexity and safety risks increase
Solution Approach 1:
Multiple slave AGVs are merged into a coordinated swarm under a single master AGV's control. This merging allows increased transport capacity while maintaining safety through centralized coordination, as the master AGV manages interactions and prevents collisions between slave units.
Solution Approach 2:
The communication device enables continuous feedback exchange between the master and slave AGVs, allowing real-time monitoring and coordination. This feedback mechanism ensures operational safety by allowing the master to adjust slave AGV positions and paths dynamically to prevent collisions and manage swarm behavior safely.
Data Source
Figure 1A~1B
Figure 2~3C
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AI summary
The present invention relates to a driverless transport system (81) comprising a plurality of driverless transport devices (10) having a support structure (12) with an outer contour (14), a chassis (16) attached to the support structure (12) with at least a first wheel (18) and a second wheel (20), wherein the first wheel (18) is rotatably mounted in the chassis (16) about a first axis of rotation (D1) and the second wheel (20) about a second axis of rotation (D1), a drive unit (22) with which the first wheel (18) and the second wheel (20) can be driven independently of each other, a control unit (94) for controlling or regulating the driverless transport devices (10), and a communication device (76) with which information can be exchanged between the control unit (94) and the driverless transport devices (10).wherein one of the driverless transport devices (10) is configured as a master (86) and the other driverless transport devices (10) are configured as slaves (88).