Autonomous Guided Vehicles AGV
innovative & customer specific
Anronaut GmbH
Industriestrasse 35
CH-8112 Otelfingen
Schweiz
contact@anronaut.ch
+41 44 575 8337
Our Location is in the vicinity of Zürich.
Anronaut GmbH (CH-020.4.025.094-0) was founded in 2002. The company specializes in autonomous guided vehicles since its foundation under the direction of Dr. Sjur Vestli.
On the 26th of March 2012 a more focused approach was undertaken with the new name Anronaut, to bring the well tested and highly reliable Technology to the market.
Anronaut is extending the technology, Service and range of Products continuously to offer a high customer value.
Philosophy:
High quality AGV solutions with good service, attractive prices and best customer satisfaction.
Sjur Jonas Vestli
PhD Robotics ETHZ
sjur.vestli@anronaut.ch
mobile +41 79 963 8741
Specialist for mobile Robotics:
Navigation, traffic management,
control techniques,
software
Thomas Michel
MSc Mash.-Eng. ETHZ
thomas.michel@anronaut.ch
mobile +41 79 703 7638
Generalist with manufacturing experience:
mechanical engineering, Construction, overall systems engineering
Gaby Zurbuchen
MSc + MAS
Contact
Location
History
Management
Many different mast and fork variations are possible, loads up to 2500 kg (load center at 600 mm)
Many types of special builds on request
Navigation using over head laser sensors or with the integrated safety laser sensor
integrated touch-screen control unit with cable
Counterbalance AGV based on Stoecklin ESDG modular system
Many different mast and fork variations are possible, loads up to 1200 kg (load center at 600 mm)
Many types of special builds on request
Navigation using over head laser sensors or with the integrated safety laser sensor
integrated touch-screen control unit with cable
www.stoecklin.com
VNA-AGV based on Yale MTC
Turret head (Picture) or Telescopic Fork; Man up
VNA-AGV based on Linde K
Turret Head (Picture) or Telescopic Fork; Man up
VNA-AGV based on Linde A
Turret Head (Picture) or Telescopic Fork; Man down
The manufacturers product data will apply if not stated by anronaut.
An armored laser sensor is placed on the driving side in the middle.
The sensors are for navigation and safety purpose. More details on request.
Reach AGV based on Yale MR
Mast and load types see current manufacturing data (1400, 2000, 2500 kg)
Reach AGV based on Hyster R
Mast and load types see current manufacturing data (1400, 2000, 2500 kg)
The manufacturers product data will apply if not stated by anronaut.
An armored laser sensor is placed on the driving side in the middle.
The sensors are for navigation and safety purpose. More details on request.
www.hyster-yale.com
Tugger AGV based on Yale MO50T
Tensile 5000 kg
Tugger AGV based on Hyster LO5.0T
Tensile 5000 kg
The manufacturers product data will apply if not stated by anronaut.
An armored laser sensor is placed on the driving side in the middle.
The sensors are for safety and optional for navigation purpose. Standard navigation laser sensor is overhead (2.3 m for example). More details on request.
www.hyster-yale.com
Sensors for additional collision avoidance
For this purpose a sensor with an angled laser plane is mounted so that objects can be detected that are not visible by the safety sensor (empty pallets, pallet rollies, forks of manual forklifts, etc.).
Pallet Trucks
Counterbalance
VNA Trucks
Reach Trucks
Tugger
Equipment
Full-value AGV system with overhead warehouse management system (WMS).
Transport-orders are communicated over an interface (WebServides).
The number of AGVs is not limited.
Full-value AGV system with integrated small warehouse management system (WMS) or directly with a web based interface.
Transport orders are generated within the WMS. SPS of conveyor system is providing the information to generate transport orders. Alternatively transport orders can be generated with a web based interface. The number of AGVs is not limited.
Reduced AGV system.
Transport orders are generated over the touch interface on the AGV. Simple point to point transport orders or tugger applications can be realized without a traffic management system on a server.
Traffic management system with integrated planning and simulation tools.
Simple to complex AGV systems can be planned, simulated and run fast and reliable with the same software environment.
Features:
Planning of sources, sinks and tracks in overlay building plan.
Envelope curves of the applied AGV trucks. Simulations are generated using statistical or time based performance and allow a versatile analysis.
Navigation with natural landmarks
If applicable and where artificial landmarks are not desired, natural landmarks such as walls an pillars can be used for navigation. Artificial and natural landmarks can be used together in the same system.
Navigation with natural landmarks
If applicable and where artificial landmarks are not desired, natural landmarks such as walls an pillars can be used for navigation. Artificial and natural landmarks can be used together in the same system.
Laser navigation with reflectors (artificial landmarks)
For localization a minimum of two reflectors must be visible - high precision and reliability, deterministic commissioning.
Laser navigation with reflectors (artificial landmarks)
For localization a minimum of two reflectors must be visible - high precision and reliability, deterministic commissioning.
Laser-navigation using the safety sensor
With natural or artificial landmarks.
A safety sensor is usually mounted on the drive side of the truck. This sensor can also be used for navigation, provided the environment is suitable for this.
Laser-navigation using the safety sensor
With natural or artificial landmarks.
A safety sensor is usually mounted on the drive side of the truck. This sensor can also be used for navigation, provided the environment is suitable for this.
As simple as that:
1. Start "Teach-In" on touch interface
2. Place on "Station" and confirm, drive driveways manually
3. Terminate "Teach-In"
Stations (source/sink) and paths are recorded automatically. The recorded path can be adjusted in the planning tool of the traffic management system and can be integrated in the existing AGV system.
The learned stations and paths can of course be used by all AGVs in the AGV system.
Warehouse management systems (WMS) are superordinate to the AGV traffic management system. WMS send transport orders (TO) via interface to the AGV traffic management system. Anronaut is using WebServices for as a standard solution. If required a proprietary interface can be offered.
Anronaut offers suitable WMS systems which are added to the traffic management system. Related data is stored in a data base system that is maintained by the customer.
In simple cases (concatenation of conveyors, distribute, collect, etc.), where it is only about generating the correct transport order, a suitable software is added to the traffic management system or the AGV software.
PalletFinder system is placed in the middle at the base of the fork. In the image the laser scanner is retracted (protected).
PalletFinder system on turret head fork with extracted laser sensor. The laser sensor can be lowered under the load carrier to check the racking.
For a narrow aisle application using a telescopic fork, the PalletFinder system consists of a laser scanner that is mounted on the lifting table.
Collecting raw data with the PalletFinder
The PalletFinder is a technology to collect 3D information of the load carrier, as well as its environment. This way load carriers can be picked and deposited more accurately.
This technology was originally developed for highly reliable pick and deposit in high racking applications.
Block storage are dens storage areas that are managed by the AGV system as an entity.
Block storage can be filled and emptied automatically. Mixed block storage with manual pick and deposit is possible. If necessary block storage can be built multilayer for max. density.
Block storage is always handled using Anronaut PalletFinder technology.
Block Storage
Columns Storage
Advantages:
High density
Disadvantages:
Pick row by row
Advantages:
Flexible
Disadvantages:
lower density
If Load and load carriers are suitable, block storage can be multilayer. The stacked load carriers can not tilt to much relative to the horizontal plane, because it can not be corrected with the AGV.
For maximum speed we recommend the single layer storage.
AGV Concept
TMS
Navigation
Teach-In
MFC WMS
PalletFinder
Block Storage
1 AGV, Still MX-Q, telescopic fork
storage hight 10 m, pallets, packed meet, -28°C
NL-2382PA Zoeterwoude-Rijndijk
Commissioning 2008
1 AGV, Still MX-Q, telescopic fork
Storage hight 6 m, Pallets, fittings.
CH-8370 Sirnach
Commissioning 2007
1 AGV, Yale MTC 15, turret head fork, wide fork
Storage hight 9 m, pallets, steal load carriers for coils, 1000 kg
Jeonju, South Korea
Commissioning 2012
3 AGVs, storage hight 14 m, turret head fork, 1000 kg, powder paint,
NL-3165 AL Rotterdam
Commissioning 2008
3 AGVs, storage hight 14 m, turret head fork, 1000 kg powder paint,
NL-3165 AL Rotterdam
Commissioning 2008
6 AGVs, Man down, 7m, telescopic fork, 800 kg, Euro-/ UK-pallets, double stock,
DE-74564 Crailsheim
first Commissioning 2014
4 AGVs, Man Up, 9m, telescopic fork, 200-1000kg, Euro-/Euromass-pallets,
DE-73614 Schorndorf
first Commissioning 2015
1 AGV, A10-E15S, special fork
Storrage hight 1.5 m, KLT load carriers and trollies, small parts
DE-74321 Bietigheim-Bissingen
first Comissioning 2004
latest omissioning 2012
3 AGVs, storage hight 2.6 m, factory automation, plastic pallets, trollies sideways,
DE-17034 Neubrandenburg
Commissioning 2014
1 AGV, storage hight 2.6 m, factory automation, plastic pallets, trollies lengthways,
DE-35236 Breidenbach
First commissioning 2016
Cooperation with automation partner
Cable industry factory automation
3 Counter balance AGVs, modified standard trucks,
load max 900 kg, lifting height 4 m, EURO pallets and special wire mesh crates
Printing industry factory automation
2 walkie stacker type AGV [A12-E15], load 1200 kg, lifting height 1.5 m
EURO pallets
VNA
Pallet Trucks
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