06.02.2020

Forklift Robot

Autonomous forklift robot with adaptive behavior technologies for efficient work for moving pallets in warehouses with heavy traffic of people and vehicles.

Forklift RoboCV Specification

Specifications:
  • Dimensions, m (L * W * H): 2.1 * 1.1 * 3
  • Weight, kg: 1200
  • Payload, kg: 1400
  • Maximum speed, m/s: 2
  • Lifting height, m: 7 *
  • Power Source: Li-Ion / Pb Battery
  • Battery Charge Method: Change (replace) / Recharge
  • Operating Mode: 24/7
  • Navigation accuracy, cm: 3
  • Minimum width of passage for a 180° turn, m: 2.9
  • Minimum road width for max. speed, m .: 1.9
  • Requirement for the position of the pallet for pick up: ± 20 cm, ± 15°
  • The minimum distance between pallets for pick up, cm: 10

*leaving and capture of pallets at a height of more than 1 meter is possible only in human-isolated zones.

The principle of operation of forklift robots

An autonomous forklift uses same roads as other warehouse vehicles. After receiving a task, a robot independently calculates the shortest route along the roads to the target without configurating routes manually. Speed of robot can reach up to 2 m/s. if necessary, maximum speed of the robots can be limited.

Obstacle avoidance.

Robot automatically calculates the optimal route and workarounds of obstacles in real-time. Robot needs a passage at least 1.6 m wide for successful obstacle avoidance. If the obstacle completely blocks the route for a long time, the robot will inform the server and display a message on its screen. The robot is able to bypass people, vehicles and other robots, pallets with cargo, debris on the floor, empty pallets and other obstacles.

Passage of the ascents and descents.

Robot is capable of climbing and descending small ramps.

Interaction with dynamic objects.

Robot is equipped with algorithms of intellectual interaction with other transport: maneuvering, speed reduction, stopping. When moving, it uses blinkers to indicate maneuvers.

All roads are assigned priorities. When entering a road with a higher priority, the robot gives way to transport moving on it, and only then passes by itself. Each road for robots can be configured individually: right-hand, left-hand, center and one-way roads are available.

The robot continuously monitors the direction and speed of the vehicles around it and reduces speed if trajectories are crossed. The robot reduces speed in front of blind spots. When encountering another vehicle in a narrow alley, the robot gets to the side of the road, giving way for passage.

Integration with WMS/ERP and task generation.

The RoboCV task-management server easily integrates with WMS/ERP system using API, exchanges bar code data on the cargo, generates reports.

Options to launch operations by robots:

  • task is automatically received from WMS;
  • task is created manually in web-interface;
  • cyclic operations (various settings are possible).

Options for completing operations by robots:

  • all pallets have been transported by robot (quantity determined initially);
  • all pallets detected by the robot in the specified area have been transported;
  • a cyclic task can be defined by time, number of pallets or other rules.
Collaboration and interaction of several robots.

To perform a task by multiple robots, the server assigns a pallet from the task to each robot in turn. To avoid mutual blocking of the robots when picking up/unloading pallets or passing through narrow areas, the server temporarily prohibits other robots to pass through the maneuver zone waiting for their turn

Drive through the automatic gate.

Robots can drive through automatic gates. No need for additional adjustment

Work with pallet loads.

Robots can detect pallets in buffer cells automatically while moving without wasting time on empty cells.

Robots can pick up and pallets of various sizes (EUR, FIN, as well as other standard and non-standard pallets) and materials: wooden, plastic, metal.

When picking up a pallet, the robot detects its position and builds a precise trajectory. It allows to pick up pallets that stand at a slight shift or angle.

In the event that the robot cannot get confirmation that there is an intact, correctly oriented pallet in front of it while detecting the pallet position, the robot will not capture it for human safety. Examples of situations in which the robot will not pick up the pallet:

  • the pallet’s side leg is missing;
  • a strong deviation in pallet dimensions from the specified;
  • a significant shift or wrong pallet angle;

Interaction with conveyors and racks.Robots can pick up and leave pallets on conveyors and different levels of racks. Pallet control on the move.When carrying a pallet, the robot continuously monitors its position on the forks using sensors.

Video of the forklift’s work: