AGV is a term used to describe automated vehicles. By definition, the AGV is guided by "markers" sensed by sensors. In some applications, more than one type of marker may be required for the AGV to navigate. Among these, the most popular navigation method is laser triangulation. With this method, the laser sensor in the AGV finds direction by scanning reflective targets. These targets are placed at specific locations in the business area (as seen in Figure 1). The tool then triangulates the signals from reflective targets and calculates its precise position and path with the algorithm. Other navigation methods used in this field can be listed as inertial navigation, grid navigation, magnetic band navigation, onboard wire navigation, map navigation and optical navigation. Navigation methods differ depending on the type of sensor or marker used.
AMR is the next step in AGV technology. By definition, it is not dependent on marker or reflective targets to navigate. It is developed for applications where the installation of reflective targets or magnetic markers is not possible. These newer and smarter AMR's are now equipped with more sophisticated cameras, sensors and algorithms that support 2D or 3D mapping systems. This way, they can decide for themselves. AMR's use lidar sensors to find direction, lidar sensors measure and map distances between objects and vehicles using wave lasers and highly sensitive detectors. With this technology, AMR's can map complex environments and continuously track their position on the map. With this advanced control system, AMR's can determine their own path to avoid obstacles (as seen in Figure 2).
AGV and AMR design can be divided into five main components: battery, controller, sensors, peripheral mechanisms and driving system.
It is the power source that provides the necessary energy to all electrical components in the vehicle. The types of batteries used include various battery types such as flooded lead acid, NiCad, lithium-ion, inductive power and fuel cell. The design of some AGV / AMR's gives a warning before the batteries run out during operation, allowing the user to replace the batteries. In the absence of this option, the vehicle must return to the programmable charging station to continue operating.
Various types of sensors provide a regular flow of data to the vehicle by scanning the surrounding so that the vehicle can find its direction. Obstacles can be detected in 2 ways: optical detection with laser sensors or mechanical detection with mechanical buffer sensors. As a safety standard, ANSI/ITSDF B56.5-2012 serves as a guide for the operational requirements of AGV/AMR. In addition, feedback devices, scales or field-effect sensors are used to calculate the distance traveled by the vehicle and to verify the vehicles speed.
All movements other than the transfer process are classified as peripheral mechanisms. An example of this is the lifting mechanisms used in most vehicles to lift the load. Apart from this, mechanisms controlled by motors or actuators such as tray feeders, swing doors or swing arms used for loading are also included in peripheral mechanisms.
It includes the drive shaft, wheels, electric motors and gearboxes. These components move and steer the vehicle. Vehicle direction is usually controlled by synchronized or independent rotation of the wheels.
Industrial transfer cars produced by Fada Engineering are basically divided into three main groups. These are rail transfer cars moving in a straight line on the rail, low maneuverability battery powered transfer cars by steering only the front wheels, and high maneuverable battery transfer cars that can move in any desired direction by steering all wheels. While the battery powered transfer cars can go in any direction, they have various mobility capabilities such as turning on the spot, crab movement, cross movement.
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