The AGV besides following the white line can also change speed using magnets positioned near the guide line (the black circle on the left side of the line), normally the AGV switches to slow speed a few centimeters before stations (when it detects the magnet in the picture) and back to high speed a few centimeters afterwards (this second magnet is not visible in this picture).
Each station has an infrared emiter and an infrared detector. The emiter, when active, stops the AGV in the station. The receiver is activated when the AGV passes by the station. The emiter and receiver and the black and blue boxes in this picture. This station has also a charging contact that can be used to charge the batteries automatically when the AGV is stoped.
On the top of the AGV the PCMCIA RFieldbus adapter is visible (white and blue box), with a PROFIBUS cable (purple) connecting it to the Link Device (gray box on the background).
