AGV - Control sub-systems and

interfaces

Dan Shelley
10/27/2010
 Short history of AGVs
• Automated Guided Vehicle (AGV)

• The first AGV was brought to market in the 1950s, at the

time it was simply a tow truck that followed a wire in the
floor instead of a rail. Over the years the technology has
become more sophisticated and today automated vehicles
are mainly laser navigated. In an automated process, LGVs
are programmed to communicate with other robots to
ensure product is moved smoothly through the warehouse,
whether it is being stored for future use or sent directly to
shipping areas. Today, the LGV plays an important role in
the design of new factories and warehouses, safely moving
goods to their rightful destinations.
Industries
 Components of AGVS
• The Vehicle – No operator
• The guide path – The path for the AGV
• The control Unit – Monitors and Directs system operations including
feedback on moves, inventory, and vehicle status.
• The computer interface – Interfaces with other mainframe host computer,
the automated storage and retrieval system (AS/RS), and the flexible
manufacturing system.
How do AGV control systems differ?
1. centralized controller
• PC or other computer device to manage the movement of vehicles
along the path
• “smart central approach”
• central controller controls routing and traffic controls
• AGVs receive direction via communications link
2. decentralized vehicle control approach
• no central controller device for basic vehicle movement
• vehicles perform their own routing and traffic control functions
• “smart vehicle approach”
• AGVs use their onboard intelligence to select their route to a
destination
• avoid running into other AGVs by direct AGV-AGV communication
Tape Guided
 Imbedded Guide Wires
– Small channel cut into floor
(typically 3-12 mm wide by 13-
26 mm deep).
– After guide wire is installed, gap
is filled with cement to make
smooth driving surface.
– Frequency generator hooks up
to guide wire and emits a low-
voltage, low-current signal with
a frequency of 1-15kHz.
– Magnetic Field is induced along
pathway that can be followed
by sensors on board each
vehicle.
 Q-CAN™
(Savant Automation)

• “Quick Configurable Automation”.

• User configured, not vendor engineered
• Best of all, you don’t have to know any software
language or be CAD experienced in order to create
your own running Q-CAN system model.
• ROSIE System MSRP $140K
• SICK System MSRP $800K
Collision Avoidance
 Collision Avoidance
• Detection range up to 13.3 ft = 4m
• Up to 6 transducers for wide coverage
• Long and short range detection modes
• RS-232 Programming
• 10-30VDC operation
Collision Avoidance
 AGV Controls/Support Technology
Control Board 40 (CB-40)
Purpose designed advanced computer board for Automated Guided
Vehicles.
•Windows CE platform
•Pin compatible with CB-12 terminal board for easy upgrading of
existing CB-12 systems
•Vehicle interface: 14 digital inputs, 6 analogue inputs, 5 guide
antenna inputs, 8 bumper inputs, 2 encoder inputs, battery sense,
safety chain, CAN BUS, 12 digital outputs, 3 motor controlled
(chopper) connections, paralell bus for expansion boards.
•Download of program over Ethernet LAN, USB or serial
communication link

Control Board 12 (CB-12)

Purpose designed standard computer board for Automated Guided
Vehicles.
•LED indications of digital inputs and outputs
•Download of program over RS232 serial port
•In combination with interface boards is CB12 used for complex AGVs
 Modern AGVs
• computer-controlled vehicles with
onboard microprocessors
• position feedback system to correct
path
• communication between vehicles
via system controller
• RF communication
• Electric signals
• system management computers
• optimising the AGV utilisation
• tracking the material in transfer
and directing the AGV traffic.
 Target Laser Scanning
• A laser scanner mounted on top of the vehicle
• laser scanner strobes the plant, sensing easy to install
reflective targets mounted at intervals on the wall
• when two or more targets are located, the vehicle is able to
identify and update its exact location.
• vehicles continue in this manner updating their position
several times per second, providing smooth, steady
movement.
 Laser Types
• Pulsed
– Emits light at 14,400 Hz.
– maximum possible resolution of ~ 3.5 mrad (0.2°) at 8 scanner revolutions per
second
– readings must be interpolated based on the intensity of the reflected laser
light, to identify the center of the reflector
• Modulated
– greater range and accuracy over pulsed laser systems
– continuous fan of laser light
– uninterrupted reflection as soon as the scanner achieves line of sight with a
reflector
– reflection ceases at the trailing edge of the reflector which ensures an
accurate and consistent measurement from every reflector on every scan
– LS9 Scanner is manufactured by Guidance Navigation Ltd and, by using a
modulated laser; this system achieves an angular resolution of ~ 0.1 mrad
(0.006°) at 8 scanner revolutions per second
 Technical Paper

Vision Assisted Laser Scanner Navigation for Autonomous

Robots
• Jens Christian Andersen, Nils A. Andersen, Ole Ravn
• Automation Ørsted•DTU, Technical University of Denmark,
• DTU-build. 326, DK-2800 Kgs. Lyngby, Denmark.
• jca@oersted.dtu.dk naa@oersted.dtu.dk or@oersted.dtu.dk

• Road detection using both a laser scanner and a vision sensor

 Traversability
•Road detection based on laser scanner and vision sensor

•Classifies traversible segments and obstacles using laser scanner (area just in
front of the robot = 2.5m)

•Front looking camera classifies the road from 2.5 and beyond to estimate the
outline of the visible part of the road (seed area based from results of laser scan)
Traversability
 Class Application

• We’ve just discussed the technology of

terrain/environment mapping for AGVs.
• What are good environments for this application?
• What are some problems to overcome with this new
technology?
Problems
• Savant
Experts
• Amerden
• HK
• FMC Technologies
• JBT Coorporation
• Jervis B. Webb Company
• Automation Production Group (APG)
• Corecon
• FMC Technologies
• Trilogiq
• Egemin
• Elettric80
• Genesis Systems Group
• KMT Robotic Solutions
• Lantech
• Retrotech
• Mobile Robots, Inc.
• Westfalia
 References
• http://www.agvsystems.com/faqs/q5.htm
• http://www.amerden.com/AmerdenWeb/agvinformation.html
• “A Guide to Robotic Logistics – LGVs (AGVs)”. Elettric 80 S.p.A. 26 April 2008
• "The Appropriate Application of Automated Guided Vehicles ". HK Systems, Inc. 01 October
2007
• http://www.hksystems.com/agv/index.cfm
• Automation Ørsted•DTU, Technical University of Denmark, DTU-build. 326, DK-2800 Kgs.
Lyngby, Denmark.
• jca@oersted.dtu.dk naa@oersted.dtu.dk or@oersted.dtu.dk
• http://www.sick.com/us/en-us/home/about_sick/partners/Pages/meet_our_partners.aspx
• http://www.icart-agv.com/iCart-intelligence.html
• http://www.cs.cmu.edu/~chuck/robotpg/robofaq/8.html
• http://www.allbusiness.com/professional-scientific/scientific-research-development/107793-
1.html
 General Summary
• AGV (Automated Guided Vehicle)
• Components
• “Smart Central” vs “Smart Vehicle” Approach
• Control Methods
– Tape
– Imbedded Wire
– Laser Guided
– Collision Avoidance
• Evolving Technology
– Traversibility
• Laser/Visual System