AGV AND AUTOMATION. FCC workshop Potential collaboration projects with FIML. JM Chevalley, EN-HE-HM, November
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1 AGV AND AUTOMATION FCC workshop Potential collaboration projects with FIML 11/22/2016 JM Chevalley, EN-HE-HM, November
2 AUTOMATIC GUIDED VEHICLES AGV equipment at CERN Only semi-automatic mode, automatic guidance system supervised by an operator (speed control, normal stop) ROCLA in surface building SM18 MAFI Convoys in LHC tunnel Multi-directional STILL in CERN warehouse 11/22/2016 JM Chevalley, EN-HE-HM, November
3 Automation Programmable logic controller Equipment ROCLA PLC Siemens SIMATIC S7-300 for the lifting control PLC ACC70 system for the steering and driving control NDC Operator panel NDC Frequency amplifier for AGV system 11/22/2016 JM Chevalley, EN-HE-HM, November
4 Automation Programmable logic controller Equipment MAFI IPC/PLC B&R AUTOMATION SICK Anti collision safety laser SIEMENS LS40 guidance line sensor LS40 Sensor SICK PLC B&R / Force mode 11/22/2016 JM Chevalley, EN-HE-HM, November
5 Automation Programmable logic controller Equipment TES (Transfer Table KOSICE) IPC MPL PIP8-2 / LINUX Language Custom-built electronic boards 11/22/2016 JM Chevalley, EN-HE-HM, November
6 MAFI Convoy Automatic mode Scanner SICK Detection of obstacles (only on floor) Guidance line system Automatic steering Bar code system Automatic speed control (finally not used during LHC installation) The operator shall always be present on the vehicle, not really full automatic 11/22/2016 JM Chevalley, EN-HE-HM, November
7 MAFI Convoy Driving modes Manual mode Semi-automatic mode Automatic mode Touch panel Manual mode - Steering program selection - Steering wheel - Speed pedal Semi-automatic mode - Dead-man control - Speed pedal - Guidance line system activated Automatic mode - Guidance line system activated - Barcode system activated, the MAFI scan barcodes to control the speed 11/22/2016 JM Chevalley, EN-HE-HM, November
8 MAFI Convoy Automatic mode Why the automatic mode had not been used? Guidance ligne not reliable enough Power rail not reliable enough (slide contacts / F1B Electrical feef boxes) MAFI vehicles not reliable enough Too many obstacles stopping the convoy (Scanner sick) Vehicles designed to be operated by operator (visual check) 11/22/2016 JM Chevalley, EN-HE-HM, November
9 Transfer tables Automatic mode Necessary to find out the positioning in space of the transfer tables, magnet and magnet support jacks Use measuring station and measuring jigs to determine this positioning 11/22/2016 JM Chevalley, EN-HE-HM, November
10 TES Automatic mode The measured values (22 measures in total) are sent to the TES computer in order to calculate the exact horizontal trajectory from the MAFI equipment to the magnet support jacks while passing the overlapping interconnects of the adjacent installed magnet 11/22/2016 JM Chevalley, EN-HE-HM, November
11 TES Automatic mode Overlapping interconnects of the adjacent installed magnet 11/22/2016 JM Chevalley, EN-HE-HM, November
12 Guidance systems used in CERN tunnels Tunnel LHC : Infrared system Tunnel SPS : No Tunnel SPS Railway MAFI 11/22/2016 JM Chevalley, EN-HE-HM, November
13 MAFI Infrared sensors IDM LS40 Sensor Guidance line 11/22/2016 JM Chevalley, EN-HE-HM, November
14 MAFI Infrared sensors IDM LS40 The IDM LS40 sensors sent the information to the PLC controller which calculates the steering set point values (steering cylinders on each wheel) in order to follow the guidance ligne Tractor display pannel 1 Front and 1 rear sensor per equipment Front tractor sensors Trailer sensors Rear tractor sensors 11/22/2016 JM Chevalley, EN-HE-HM, November
15 MAFI Infrared sensors IDM LS40 In case of bad quality of the line, the speed of the convoy will be reduced or stopped 11/22/2016 JM Chevalley, EN-HE-HM, November
16 MAFI Infrared sensors IDM LS40 The normal guidance line width is 60 mm As the sensor detects a guidance line of 100 mm, the maximum speed is automatically limited (for instance in critical area) 11/22/2016 JM Chevalley, EN-HE-HM, November
17 ANTI COLLISION SCANNER SICK To detect in front of the tractor any obstacle or person on the floor (20 cm) Warning, speed limited and automatically stop Warning area, stop area to be programmed 11/22/2016 JM Chevalley, EN-HE-HM, November
18 Railway system Advantages No risk to quit the guidance line Simple steering system Use for personnel transport (train) Use for material transport (vehicles) Use for magnets transport (trailer) Easier recovery procedure in case of breakdown, the damaged trailer might be towed even if loaded with a magnet (trailer rolling on the railway) Disadvantages Impact on the floor Risk for the people, bicycle, other mobile equipment Railway installation cost Logistic aspects regarding the vehicles using the same railway (switches) Special equipment for the magnet transfert from trailer onto jacks 11/22/2016 JM Chevalley, EN-HE-HM, November
19 MAFI Emergency recovery procedure Use of a towing axle to lift one side of the trailer or of the tractor, in order to tow the damaged equipment by a standard towing tractor Towing axle for tractor recovery Towing axle for trailer recovery 11/22/2016 JM Chevalley, EN-HE-HM, November
20 MAFI Emergency recovery procedure Emergency towing procedure only possible if : Trailer unloaded (no magnet on the trailer) Emergency procedure to unload the magnet is only possible if : Trailer in the LHC (on the flat), not possible in the TI2 tunnel (slope) Enough space on the side of the trailer to install the recovery tools Trailer in a 50m straight section in the LHC, not possible in the curve section 11/22/2016 JM Chevalley, EN-HE-HM, November
21 Use of recovery jacks to lift the magnet Trailer 11/22/2016 JM Chevalley, EN-HE-HM, November
22 Unloaded trailer towed between the jacks Only possible in straight sections 11/22/2016 JM Chevalley, EN-HE-HM, November
23 Critical zones in the LHC Straight but no space for the recovery jacks Space for the recovery jacks but not straight 11/22/2016 JM Chevalley, EN-HE-HM, November
24 Power supply solutions Power rail As currently installed in the LHC tunnel Inductive power supply or Contactless power supply (CPS) The power system transfers energy by electromagnetic induction, making direct electrical connections unnecessary The power is inductively transmitted from a stationary (primary) conductor to a mobile consumer (vehicle) Battery system Expected progress (electrical car development) No infrustructure, only 400VAC plugs needed 11/22/2016 JM Chevalley, EN-HE-HM, November
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