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

2. 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

3. 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

4. Why want an agv?
Selecting AGVs

5. 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

6. 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

7. 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

8. 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

9. 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

10. Selecting AGVs

11. 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

12. 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

13. 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

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

15. 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.
Selecting AGVs

16. SOURCES
Savant Implementation Guide:
Selecting AGVs

17. FIN
Selecting AGVs