Vehicle

A Linde E20 Li-Ion forkliſt truck of the 387 series was equipped for the transport task

Job creation

The AGV operates without a control system and creates transport orders based on the waiting pallets reported by the materials handling system. The processing takes place automatically without user interaction according to a definable priority list.

Navigation

The transport takes place between the pick-up and delivery points on predefined routes (leſt side).
Environmental navigation is realized by a laser scanner on the AGV (right side).

Alignment between target position (leſt) and actual position (right)

Load handling

To pick up and deliver the pallets in the exact position, the AGV “takes bearings” on bearing marks on the conveyor system with the safety laser scanners close to the ground (Figure 2). Monitoring for the exact position of the waiting pallet or checking for completeness of the load was not implemented in this project scope. The load transfer area is designated as a hazardous area.The main direction of travel when loaded is backwards so that the load is not thrown off in the event of emergency braking.

Load transfer sequence

Safety

A comprehensive safety concept, derived from risk and hazard analyses as well as current, applicable standards, guarantees an operation free of personal injury and material damage. The safety concept is based, among other things, on the standards listed further down.

Other functions

Other system functions round off the use of the AGV and guarantee high availability.

• Navigation tower with laser scanner for environmental navigation
• Sensor taps for safe speed and steering angle detection
• Safety laser scanner for person detection
• Laser scanner on the roof structure for machine protection
• Four emergency stop buttons
• Signal light on the roof structure for visual and acoustic signaloutput
• WLAN communication with existing material handling equipment
• Processing and provision of release and blocking signals to the conveyor equipment
• Spacers on the fork with reflex light scanners for pallet detection
• Sensors for monitoring fork height and inclination
• Automated charging of the vehicle battery in a charging station (modified roof structure)
• Control display in the driver’s cab
• Control panel on the outside of the AGV with illuminated buttons
• The possibility of manual operation is still given