Rail-Guided Vehicle Sensor Layout for Precise Grid Position Tracking
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Solution Overview
Problem
Existing automated storage and retrieval systems face challenges in precisely tracking and confirming the position of container handling vehicles on a grid, which can lead to inaccuracies in navigation and storage operations.
Innovation Solution
The system employs a remotely operated vehicle equipped with a sensor arrangement comprising at least three sensors directed downwardly towards the rails in the x- and y-directions, and a third sensor directed to the corner of the intersection between the rails. This setup allows for precise tracking and confirmation of the vehicle's position relative to the rail structure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a remotely operated vehicle uses a sensor arrangement with at least three sensors directed downwardly towards the rails to track position, then measurement precision of vehicle position is improved, but device complexity increases due to the additional sensors and their arrangement
Solution Approach 1:
The sensor arrangement is segmented into at least three separate sensors (first sensor for x-direction, second sensor for y-direction, third sensor for corner detection) that each perform a specific detection function. This segmentation allows the system to achieve precise position tracking by combining information from multiple specialized sensors rather than using a single complex sensor.
Solution Approach 2:
The sensors act as intermediaries between the vehicle and the rail structure, detecting the physical presence and position of the vehicle relative to the rails. The sensor arrangement mediates the interaction between the moving vehicle and the fixed rail system, converting physical position information into detectable signals for the control system.
2Reliability
If the vehicle uses multiple sensors directed at different rail features to confirm position, then reliability of position confirmation is improved, but the difficulty of detecting and measuring increases due to the complex sensor configuration
Solution Approach 1:
Each sensor in the arrangement is directed at a specific local feature of the rail structure with distinct functionality: the first sensor detects the rail in the x-direction, the second sensor detects the rail in the y-direction, and the third sensor detects the corner of the intersection. This local quality assignment ensures that each sensor has a dedicated detection target, improving reliability while simplifying the overall detection strategy.
Solution Approach 2:
The sensor arrangement employs asymmetric positioning and orientation of sensors relative to the vehicle body and rail structure. The sensors are not uniformly distributed but are strategically positioned at specific angles and locations to optimize detection of different rail features, which improves detection reliability while accounting for the asymmetric geometry of the rail intersection.
Data Source
AI summary
A remotely operated vehicle includes an arrangement to provide a pre-alert and tracking of a vehicle following a travelling route relative to tracks laid out on rails. The vehicles have first and second sets of wheels connected to drives. The arrangement includes at least one sensor module provided with at least four sensors. A first sensor is directed vertically downwards to detect the rails in the x-direction, a second sensor is directed vertically downwards to detect the rails in the y-direction, a third sensor is positioned on the sensor module to detect a corner of an intersection between the rails in the x-direction and y-direction, and a fourth sensor is configured to detect a remaining distance to the arrival of the vehicle at a set position.