Smart Fixturing System for AGV Payload Imbalance Correction
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Solution Overview
Problem
Automated guided vehicles (AGVs) face challenges in efficiently and effectively moving payloads due to imbalances that can occur during transportation, which can lead to damage or instability, especially when operating in imperfect environments or with varied payload configurations.
Innovation Solution
The implementation of a smart fixturing system that includes a fixture plate coupled to the AGV via a joint, equipped with sensors and a controller to detect and correct imbalances by modifying the vehicle's operation, aligning with other fixture plates, and using pressure sensors to ensure correct loading, while also being able to adjust velocity based on pose errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a rigid fixed mounting system is used to carry payloads, then the payload is securely held, but imbalances and variations in the vehicle's operation are transmitted to the payload causing damage or instability
Solution Approach 1:
The patent applies dynamics by replacing rigid fixed mounting with a dynamic joint system that allows relative motion between the vehicle and fixture plate. The joint includes degrees of freedom that enable the fixture plate to move independently in response to vehicle imbalances, thereby absorbing disturbances while maintaining payload security.
Solution Approach 2:
The joint acts as an intermediary element between the vehicle and the fixture plate. It mediates the transmission of forces and motions, allowing selective coupling that blocks harmful imbalance transmissions while permitting necessary operational movements.
2Stability of the object's composition
If a dynamic joint system is used to isolate the payload from vehicle imbalances, then payload stability is improved, but the system complexity increases
Solution Approach 1:
The system is segmented into distinct functional components: the vehicle, the joint, and the fixture plate. This segmentation allows each component to be optimized independently, with the joint serving as a specialized interface that provides the necessary isolation without requiring complex integration throughout the entire system.
Solution Approach 2:
The joint is designed as a universal connection mechanism that handles multiple functions: mechanical coupling, degree of freedom provision, and imbalance isolation. This multi-functionality reduces the need for separate specialized components, thereby managing system complexity.
3Productivity
If sensors and controllers are added to detect and correct imbalances, then transportation effectiveness is improved, but the device complexity and cost increase
Solution Approach 1:
Sensors detect joint position, payload conditions, and vehicle status, providing feedback to the controller. The controller processes this information and adjusts vehicle operation or joint configuration to correct imbalances, creating a closed-loop control system that improves transportation effectiveness through real-time monitoring and adjustment.
Solution Approach 2:
The system employs self-service by using the joint's inherent mechanical properties and sensor feedback to automatically detect and correct imbalances without requiring external intervention. The controller autonomously adjusts vehicle operation based on sensor data, enabling the system to self-regulate.
Data Source
AI summary
Systems and methods are provided for determining and correcting autonomous transport imbalances. A transport vehicle operates over a route. A fixture plate is coupled to the transport vehicle by a joint to carry a payload. A sensor determines a position of the joint. A controller modifies the operation of the transport vehicle in response to a change in the position of the joint to correct imbalances.