THE OMNIMATE: A GUIDEWIRE-FREE AGV FOR HIGHLY FLEXIBLE AUTOMATION

摘要

This paper introduces a new Automated Guided Vehicle (AGV) for guidewire- and beacon-free industrial applications. The AGV, called OmniMate, has full omnidirectional motion capabilities, can correct odometry errors without external references, and offers a large 183×91 cm (72×36") loading deck. A patented, so-called compliant linkage avoids the excessive wheel slippage often found in other omnidirectional platforms. The OmniMate has a unique, patented odometry error correction system that makes the platform almost completely insensitive to even severe irregularities of the floor, such as bumps or cracks Deadreckoning is further enhanced by a fiber-optics gyroscope. Because of its unique dead-reckoning accuracy the OmniMate can travel over extended distances while following a pre-programmed path fully automatically. The paper describes an implemented "lead-through" teaching system, in which an operator guides the OmniMate along a desired path, while the OmniMate records the path to memory. Later, in path execution mode, the OmniMate reproduces the path accurately. With this system it is possible and feasible to program or modify a complete path within minutes.