Framework Components

 

Transmitters:

AgWay transmitters are installed along the road or aisle where AGV is going to travel (Every 40m on both sides). They form a local-GPS and transmit radio signals to AGVs for navigation. They just need a power supply to work (5VDC 250mA max). The radio signals are safe, secure and interference-free to other radio devices (CE Directive 2014/53/EU). AgWay transmitters are compatible with harsh environments, including dust, fog, rain and snow.

 

Client Application:

Radio signals sent by the transmitters, are processed by Client application. The Client application is installed on an embedded computer on vehicle and provides accurate steering command for the vehicle.  Unlike normal positioning systems, our framework is based on predefined_path_navigation_algorithm. This is our PATENTED technology and is the core of our framework.

 

Path Following Optimizer:

This is an optional feature on Client application. It is a Minimum-Effort Controller for optimal steering actuation. The most significant role of the controller is safe navigation. The optimizer ensures either 1. Safe and smooth navigation with required accuracy or 2. Stopping AGV with and rising an alarm. Using the optimizer, AGV wouldn’t experience any inaccurate/dangerous navigation.

 

Server Application:

The Server application is installed on a computer in control room, and is capable to manage traffics between Wireless Navigated AGVs, other AGVs, human driven vehicles respecting traffic lights. In applications with the need for human supervision, the server can grant access to control room operator to manage AGV traffic manually. This is done by interactive operator screen with customized user interface. The data between AgWay Client and Server are transferred using secure SSL protocols.

 

GSE Programming Environment:

This is a RealTime Task Executor which is run on both Client and Server computers. It allows engineers to program AGVs under a programming language designed especially for navigation purposes. Complex calculation is done underneath by GSE; letting programmer to just concentrate on logistic levels of programming. It is possible to directly control all AGV actuators, or as an alternative, just share navigation data to vehicle controller and let the vehicle systems do the rest.

 

Task Targeting Service:

Using the targeting service, operator in control room can instantly define tasks to AGVs through wireless system. An AGV can also redirect tasks to another AGV at certain moments. Any authorized mobile phone or tablet also can define tasks using general text provider Apps.

 

Plugins:

Vehicle producers can write plugins for AgWay framework to add connection capability to specific vehicle components, industrial automation devices, warehouse databases etc. It requires basic knowledge of C#/C++ language. The framework compiles plugin function code with no need to third-party compiler.

 

Route Drawing Interface:

AgWay graphical user interface on both Client and Server computers, allows engineers to design/modify AGV virtual routes throughout the working area.

 

Industrial IO Handler (IoSync):

With Modbus-TCP protocol support, both Client and Server applications are able to be connected to the whole ranges of industrial automation devices.

 

Simulation Environment:

The whole framework can be run under a simulator environment. The simulator acts as a virtual AGV (Single or Dual steering wheel AGV with adjustable dynamics and kinematics). Hardware delays and lags are simulated according to settings. Vehicle producers can put the system under condition close to real installation condition to check navigation performance and functions before deployment

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