SELECTION AGV How would you go about this in real life? STERling DeMille

Key Situations: Subsystem interfacing: AS/RS Repetitive motion Distances over 150ft Reducing costs Improving Costs Subsystem interfacing: AS/RS Flexible Manufacturing Systems Process Control Equipment CNC Processes Selecting AGVs

Why want an agv? Basically they’re better than people. or, advantages of a AGV setup Reliability Cost Savings (Long Term, but not short term) Cool interfacing with other stuff (ex: AR/AS) ‘Unobstructed Movement’ (no conveyors in the way) Flexible (unlike a conveyor for example) Can work longer than people (up to 16hrs per battery charge) Basically they’re better than people. Selecting AGVs

Why want an agv? Selecting AGVs

HOW TO Select an AGVs Questions you need to ask initially: How much am I willing to spend? What exactly do I need my vehicle to do? How much does it need to carry? How many vehicles do I need? What level of sophistication do I need out of my system? Selecting AGVs

HOW TO Select an AGVs First some math: Rdv = 30 deliveries / hour 10.5 from the book: How many vehicles do I need? Can I do it with only one? If so how fast does it need to be, is that realistic? Rdv = 30 deliveries / hour Unload (24s) Vagv = 1m/s Tf = 0.9 A = 0.95 200m 150m Load (24s) Selecting AGVs

HOW TO Select an AGVs Rdv = 30 deliveries / hour = 1del / 2min For 1 vehicle, v = 5.3m/s Rdv = AT / Tc Is this possible? probably not. Typical speeds: 0.4m/s – 1.5m/s Outlier, biggest speed: 6m/s Tc = Tl + Ld / Vc + Tu + Le/Vo AT = 60 A Ft Ew Unload (24s) Vagv = 1m/s Tf = 0.9 A = 0.95 200m 150m Load (24s) Selecting AGVs

Manufacturer Says Nearly all AGV systems operate indoors. If using outdoors use concrete. Insure in-plant paths are in good condition (no broken concrete, large cracks, etc.) AGV paths need to be kept open. Limit the mixing of AGV traffic with manned vehicle traffic, dedicated space should be provided for AGV travel. AGVs need maintenance. Keep an area open for AGV maintenance. Save some budget for spare parts. Ramps knock the specs waaaaaaay down (no more than 5%, 4k lb -> 1.2k lb) AGVs from different manufacturers are typically not compatible with other Selecting AGVs

AGV Specs to consider Cost Capacity Speed How much do those speeds vary with load? Turning radius & Size, will it fit/work within your environment? Stopping time Accuracy How hard is it to maintain? How hard is it to train people to use it? Safety Selecting AGVs

Selecting AGVs

Control Systems Generally two types of control systems Centralized (smart central systems) Decentralized (smart vehicle systems) Computer controlled: Most expensive and most complex Remote dispatch controlled Instructions sent from operator at a booth Usually have automatic loading and unloading Manual control Info input directly on machine by operator at each loading, follows guide path by itself to next stop Least featured and leas complex, least expensive Selecting AGVs

Batteries They don’t run forever! (8 – 16hr) A couple options: Battery Swap Out Literally take out and replace a battery with a new one Can be automated Automatic Charging (Induction charging) Roll over to station and charge Expect 1:1 time ratio (operate : charge) Selecting AGVs

Laying a Path Safety: 18’’ clearance on sides Remember turning radius Drop off point should be at least one AGV width away from a curve end Where will a traffic blocked AGV wait (not in an intersection) Paint on the floor the paths with arrows so people know what’s up Selecting AGVs

Where To Buy JBT Savant Trilogiq Jervis B. Webb Egemin Selecting AGVs

TECH PAPER Benchmark Tools for Evaluating AGVs at Industrial Environments Addressing the problem of evaluating AGVs with different degrees of autonomy by defining a methodology to benchmark them. http://wwwlasmea.univ-bpclermont.fr/Control/workshopICRA10/material/posters/Yuste_paper.pdf Selecting AGVs

SOURCES Savant Implementation Guide: http://www.agvsystems.com/?page_id=66 http://wings.buffalo.edu/academic/department/eng/mae/courses/460-564/AGV.pdf http://www.jbtcorporation.com/en/JBT%20AGV/Solutions/Products/AGV%20System%20Software http://www.agvsystems.com/?page_id=59 http://www.egeminusa.com/pages/agv_education/education_roi.html http://www.agvsystems.com/?page_id=386 Selecting AGVs

FIN Selecting AGVs