Development AGV type pallet with trajectories registration system by repetitive movements with operating autonomy and energy sustainability by energy regeneration of sectorial clusters machines

• Grant number: 16/16667-2
• Support Opportunities: Research Grants - Innovative Research in Small Business - PIPE
• Start date: August 01, 2017
• End date: July 31, 2019
• Field of knowledge: Interdisciplinary Subjects
• Principal Investigator: Jeferson Preti
• Grantee: Jeferson Preti
• Company: Citi Industrial Systems Eireli - EPP
• City: Sorocaba
• Associated researchers: Carlos Alberto Canesin
• Associated research grant: 15/08458-1 - Development AGV type pallet with trajectories registration system by repetitive movements with operating autonomy and energy sustainability, AP.PIPE
• Associated scholarship(s): 18/12862-0 - Development of pallet truck AGV with trajectory registration system by repetition of movements with autonomy of operation and energy sustainability by means of regeneration of the energy of the clusters sectorial machines, BP.TT; 18/14016-0 - Development of pallet truck AGV with trajectory registration system by repetition of movements with autonomy of operation and energy sustainability by means of regeneration of the energy of the clusters sectorial machines, BP.TT; 17/17921-2 - Development AGV type pallet with trajectories registration system by repetitive movements with operating autonomy and energy sustainability by energy regeneration of sectorial clusters machines, BP.TT; 17/17381-8 - Development of AGV type pallet with trajectories registration system by repetitive movements with operating autonomy and energy sustainability by energy regeneration of sectorial clusters machines, BP.TT; 17/16131-8 - Development of pallet truck AGV with trajectory registration system by repetition of movements with operation autonomy and energy sustainability by means of energy regeneration of sector clusters, BP.PIPE

Abstract

Background. The equipments called AGV (Automated Guided Vehicle) are presents on industrial processes and logistical procedures. The use of pallet trucks in the manufacturing process can bring several advantages, such as elimination of mats pallet carriers, reduction of the physical space dedicated to the transport, cost reduction in the final organization of production line and among others. However, it depends on battery autonomy to carry out they operation and do not present a satisfactory level of energy efficiency. In Brazil, the AGVs have high acquisition prices since there are no companies with local production lines1, it is only possible to acquire a unit by making a special order or some of the imported options, increasing in use complexity. The technical feasibility of developing an electric AGV, pallet truck type with low cost, which does not require external navigation software and provides operating autonomy and energy sustainability (provided by a recharged battery from a kinetic energy regeneration system from other equipment by the manufacturing process obtained from converting braking in a electrical power), was evaluated in Phase I of this project. It was found that it is possible to develop the equipment cited with low cost and autonomy of operation, using odometry, increased reality markers and learning method through own mathematical equations, but with low accuracy of the system. Besides, there are difficulties in the electricity reuse arising from other machines in the manufacturing process to power the AGV proposed due to the need for customization of converters for each type of equipment, resulting in no benefits to the investment required. In this sense, the Phase II main objectives are: to increase the accuracy in the AGV system to follow the routes previously known and develop a kinematic and / or dynamic model associated with a control law to maintain continuous determination of its location. In addition, prepare a new Regeneration and Power Load Station (ERCE ) with low cost , easy installation and applicable to industrial sectors. The proposed innovation, points to three important scientific and technical challenges: the software develop with a control law to increase the efficiency and accuracy of the AGV displacement; the ERCE development as a product applied to industrial sectors, without customization to each customer; and the construction of a AGV and ERCE prototype allowing test both. The proposed methodologies are predictive control model, generalized predictive control, control law with stability verified in accordance Lyapunov method, followed by linearization and conventional PID application, among others, to increase the accuracy in the AGV system to follow known routes. Besides, develop an improve software implementing with control implementation considering not holonomic boundary conditions robot. To obtain the ERCE will be necessary a market research in industrial environments of industrial sectors, mapping the types of machines and clustering them, without customization service. The validation will be performed through experimental tests on full scale in the AGV and ERCE prototypes. The main results expected of the second Phase research will indicate the possibilities to obtain an AGV self guided, economically, effectively and accurately shift, as well as an ERCE low cost with easy installation and applicable to industrial sectors, compatible with a specific machinery, eliminating customization, obtained as prototype. (AU)