A

Seminar Report
On

AUTOMATED GUIDED VEHICLE

Submitted in partial fulfillment of the
requirements for the award of the degree
of
BACHELOR Of MECHANICAL ENGINEERING
Submitted by

STUDENT NAME: Surya Pratap Singh

Roll No. - 201310102110024
ME61

FACULTY OF MECHANICAL ENGINEERING

INSTITUTE OF TECHNOLOGY
SHRI RAMSWAROOP MEMORIAL UNIVERSITY,
LUCKNOW-DEVA ROAD, U.P, INDIA
2016-2017

ABSTRACT
AGVs are available in a variety AGVs increase efficiency and reduce costs by helping to
automate a manufacturing facility or warehouse.
AGVs can carry loads or tow objects behind them in trailers. The trailers can be used to move
raw materials or finished product. The AGV can also store objects on a bed. Some AGVs use
fork lifts to lift objects for storage. AGVs are employed in nearly every industry, including,
paper, metals, newspaper and general manufacturing
An AGV can also be called a laser guided vehicle(LGV) or self-guided vehicle (SGV). In
Germany the technology is also called Fahrerlose Transport system (FTS) and in Sweden
Forarlosa trucker. of models and can be used to move products on an assembly line, transport
goods throughout a plant or warehouse

ACKNOWLEDGMENT
My Thanks goes to Nitesh Asthana Sir of Faculty of Mechanical Engineering for his patience
and diligence to answer my questions about automatic guided vehicle. Many problems were
solved and much time was saved thanks to his help.
And to ASST. PROF. Narayan sir for his guidance in getting the seminar and the report done
successfully.

TABLE OF CONTENTS
CHAPTER NO.

TITLE

PAGE NO.

ACKNOWLEDGMENT
ABSTRACT
1.
1.1.
1.2.

PRINCIPLE OF AGV..1
DEFINITION
PRINCIPLE

2.
2.1.
2.2.
2.3.

TYPES OF AGV..2
DRIVERLESS TRAIN
AGVS PALLET TRUCK
UNIT LOAD CARRIER

3.
4.
4.1.
4.2.
4.3
4.4
4.5
4.6
4.7

ii
iii

WHY CONSIDER AGVs..3

TYPICAL NAVIGATION SYSTEM FOR
AGVs.4
LASER TRIANGULATION
INERTIAL
MAGNETIC TAPE
MAGNETIC GRID
NATURAL FEATURE
WIRE
OPTICAL

5.
5.1
5.2
5.3
5.4
5.5

APPLICATIONS OF AGVs5
COMMON AGV APPLICATIONS
RAW MATERIAL HANDLING
WORK-IN-PROCESS MOVEMENT
PALLET HANDLING
FINISHED PRODUCT HANDLING

6.

CONCLUSION..6

7.

REFERENCES.7

CHAPTER 1

PRINCIPLE OF AGV
1.1.DEFINITION
A materials handling system that uses automated vehicles such as carts, pallets or trays
which are programmed to move between different manufacturing and warehouse stations
without a driver. These systems are used to increase efficiency, decrease damage to goods
and reduce overhead by limiting the number of employees required to complete the job.
An automated guided vehicle or automatic guided vehicle (AGV) is a mobile robot that
follows markers or wires in the floor, or uses vision, magnets, or lasers for navigation. They
are most often used in industrial applications to move materials around a manufacturing
facility
or
warehouse.
AGV is a material handling system that uses independently operated, self-propelled vehicles
guided along defined pathways.
1.2. PRINCIPLE
Automatic guided vehicle systems are fully automatic transport systems using unmanned
vehicles. AGVs safely transport all kinds of products without human intervention within
production, logistic, warehouse and distribution environments: the clear way to reduce costs
and to increase efficiency and profitability.
.

Egemins AGV systems consist of reliable off-the-shelf components. However, we always

tailor our AGVs to meet your requirements. Automatic guided vehicles lift, rotate and shift
your goods, fetch loads from racks, store products in deep lanes, transport product across
long distances,deliver them onto conveyors, etc..

Fig1.Automatic machine

CHAPTER 2

TYPES OF AGV
2.1 DRIVERLESS TRAIN
It consists of a towing vehicle that pulls one or more trailers to form a train.
This type is applicable in moving heavy pay loads over large distance in
warehouses or factories with or without intermediate pickup and drop off points
along the route.
It consists of 5-10 trailers and is an efficient transport system.
The towing capacity is up to 60,000 pounds

. fig.2Driverless Train
2.2.AGVS PALLET TRUCKS
Pallet trucks are used to move palletized loads along predetermined routes.
The capacity of an AGV pallet truck ranges up to several thousand kilograms and
some are capable of handling two pallets.
It is achieved for vertical movement to reach loads on racks and shelves.

Fig3.AGVS Pallet Truck

2.3. UNIT LOAD CARRIER
These are used to move unit loads from one station to another.
It is also used for automatic loading and unloading of pallets by means of rollers.
Load capacity ranges up to 250 kg or less .Especially these vehicles are used to move
small loads.

Fig4.Unit load carrier

CHAPTER 3

WHY CONSIDER AGVs

AGVs have a strong history as a flexible and redundant horizontal transportation solution.
With recent enhancements, AGVs provide a strategic solution for automating warehousing
versus conventional fork trucks.
Strengths
Space - Provide reliable horizontal transportation without impeding other traffic
Economical - Long distance delivery without fixed assets such as conveyor
Agile - Intelligently completes complex multi-point moves
Flexible - Capable of interfacing to a variety of stands, automation, manufacturing
operations
Dynamic - Easy path modifications in changing environments
Redundancy - Natural redundancy built in due to multiple AGVs on same guide path
Benefits

Labour - 100% Labour reduction, overtime and turnover cost eliminated

Damage - Elimination of facility and equipment damage by conventional fork trucks
Shipping Accuracy - Reduction in miss-shipments and product loss
Energy - Potential savings associated with lights out operations
Safety - Elimination of fork truck related accidents

Flex Series of Automated Guided Vehicles

Dematic provides complete integrated automated guided vehicle solutions which may include
Warehouse Management Systems, AGV Control Systems, Picking Systems, Charging
Systems and other automated material handling applications.
All of our vehicles are manufactured in our Salt Lake City factory in accordance with ISO
standards and incorporate the latest compliant safety devices. Our equipment management
software is designed, developed and supported by Dematic. The software orchestrates,
optimises and tracks material movement, storage, personnel, and equipment with real-time
performance diagnostics in automated warehouse, manufacturing or distribution
environments. The software is designed to be scalable and requires no custom software for
path and traffic management, which minimises risk and enhances customer service and ability
to upgrade.

CHAPTER 4
TYPICAL NAVIGATION SYSTEM FOR AGVs

4.1. LASER TRIANGULATION

Most popular method of AGV navigation .

Reflective targets are mounted throughout the facility at known positions
.
A laser scanner is mounted on top of the vehicle .
The laser scanner strobes for reflective targets.
The vehicle control algorithms calculate the exact vehicle position via
triangulation .

Fig5.Laser Triangulation
4.2. . INERTIAL

Reference points (often magnets) are embedded in the floor at certain x,y coordinates in a
map of the system .
Reference points are detected by a sensor on the vehicle as it passes over the reference point.
A gyroscope on the vehicle measures/maintains vehicles heading.
A wheel encoder on the vehicle calculates the distance traveled.
Vehicle uses feedback from all three devices to determine location.
4.3.. MAGNETIC TAPE
Magnetic tape is adhered on the surface of the floor.
A sensor on underside of vehicle detects the magnetic tape.
Can operate off tape path via dead reckoning .
Similar to wire guidance (described on future slide).

Fig6.Magnetic Tape

4.4.. MAGNETIC GRID

Reference points (often magnets) are embedded in the floor in a grid pattern in the
operating area .
Reference points are given x,y coordinates which are stored in the vehicles memory .
The reference points are detected by an on-board sensing device.
A gyroscope on the vehicle measures/maintains heading .
A wheel encoder on the vehicle calculates the distance traveled.
Vehicle uses all three devices to determine location .

Fig7.Magnetic Grid
4.5.. NATURAL FEATURE
Reference images of the operating area are recorded and stored in the
vehicles memory.
Uniquely identifiable, naturally occurring features are identified in the
operating area .
Vehicles actual position is calculated based on its relative position
compared to those natural features .
A camera or laser can be used to record features during setup and sense
features during navigation .
4.6..WIRE
Navigates using a continuous wire embedded in the floor .

Antennas located on the vehicle detect signal from the wire.

Uses encoders on wheels to calculate distance .
Typically used in retrofits, system replacements and expansions .
4.7..OPTICAL
Chemical or tape strip is fixed or painted to the floor .
Vehicle has an onboard sensor which allows it to detect the path .
Some systems use an ultraviolet (UV) light source under vehicle to illuminate the
strip which may not be visible with non-UV lighting .
Not typically used in plants or warehouses because floor line needs to be
cleaned or reapplied .

CHAPTER 5
6

APPLICATIONS OF AGVs

5.1.COMMON AGV APPLICATION

Automated Guided Vehicles can be used in a wide variety of applications to transport
many different types of material including pallets, rolls, racks, carts, and containers.
5.2.RAW MATERIAL HANDLING
AGVs are commonly used to transport raw materials such as paper,
steel, rubber, metal, and plastic. This includes transporting materials
from receiving to the warehouse, and delivering materials directly to
production lines.
5.3.WORK-IN-PROCESS MOVEMENT
Work-in-Process movement is one of the first applications where
automated guided vehicles were used, and includes the repetitive
movement of materials throughout the manufacturing process.
5.4.PALLET HANDLING
Pallet handling is an extremely popular application for AGVs as repetitive
movement of pallets is very common in manufacturing and distribution
facilities.
5.5.FINISHED PRODUCT HANDLING
Moving finished goods from manufacturing to storage or shipping is
the final movement of materials before they are delivered to customers.
These movements often require the gentlest material handling because
the products are complete and subject to damage from rough handling.

CHAPTER6
7
CONCLUSION
One of the remark-able features of the result is its reproducibility. It gives a
great tool in the hands of developer to modify the data with suitable calibration. Without
this feature no AGV systems can be brought into the existence.
The other achievement of this design is discrete control of the DC motor based
steering system. Chances of self-movement of steering because of road bumps are found
to be negligible. The perfonnance is compatible with the stepper motor. Because of
heavy speed reduction this unit also provides necessary holding torque during its
navigation from its current position. This system possesses the qualities of Stepper motor
at the same time it is cheap and can be easily interfaced with the PC.
The effectiveness of the Obstacle Avoidance system is also very high. This
system is different from the traditional IR operated system, because it works on the rays
reflected back from the obstacles. The coordination of Stepper motor along with the
detection system helps to locate the object and is helpful for the avoidance of the
obstacle. The integrated working of this whole system opens the doors of closed loop
working system.
The Digital operation of system makes the system suitable to be adapted as
Commercial vehicle. The effect of vehicle inertia needs a separate braking system at
higher speeds.
The greatest achievement with these features is the capability to generate the
electronic database of the path through which it is passing through. It not only generates
the electronic database but it is also capable to read it and reproduce results. This feature
alone opens immense research possibility in this field of Automated Guided Vehicle
Using Artificial Intelligence.
It is concluded that in AGV the use of AI is effective and promises to meet the
driverless movement of vehicle in future.

CHAPTER 7
REFERENCES
1. Automation,production systems,and computer-integrated manufacturing,3rd ed.
P. Groover
2. Automation,production systems,and computer-integrated manufacturing,3rd ed.
P. Groover
3. Automation,production systems,and computer-integrated manufacturing,3rd ed.
P. Groover
4. Automation,production systems,and computer-integrated manufacturing,3rd ed.
P. Groover
.

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