Development For Prototype Machine Of 2D Laser Radar Guided AGV

AGV is the abbreviation of Automated Guided Vehicle.It is a kind of unmanned automatic transport vehicle,which is powered by battery,equipped with non-contact guiding device and independent addressing system.With the increase of human costs and the level of automation and intellectualization of logistics equipment increasingly high,the demand for AGV are increasing.Therefore,the AGV has a great prospect of application and development.The purpose of this project is to develop a AGV based on two dimensional(2D)lidar guidance for the transportation of cylinder sleeve parts in workshop.Based on the working condition of the workshop and the current situation and developing trends of AGV at home and abroad,the study select 2D laser radar as the guidance sensor and the rectangular diagonal layout of the double rudder as walking mechanism of AGV.Based on these,the article design the whole scheme of the AGV system.The emphasis of the task is the theoretical research and design selection of two dimensional lidar location technology and vehicle mounted system.Firstly,this paper analyzes the design requirements and technical requirements.After understanding the working conditions,the AGV walking mechanism is analyzed and laid out,and the guidance mode of AGV is determined according to the usage requirements.On the basis of investigation and preliminary design,the whole scheme of AGV,including the vehicle control system,is reasonably designed.Secondly,in this paper,we propose a location algorithm based on the reflector,which uses the distance of the landmarks as the match feature to match detective landmarks to actual landmarks.The positioning accuracy is improved and the complexity of the road sign detection algorithm is reduced.Beyond that,we propose a map construction method and the road sign detection method,which enhance the flexibility of algorithm application and provide a theoretical basis for large-scale development of lidar location system.Thirdly,we choose the hardware of the vehicle system and select the photoelectric switches and low voltage electrical appliances.According to the needs of selection and later maintenance,we draw out the electrical system design drawings.Finally,we debug the prototype and the connection of AGV sensor.It mainly includes the connection and operation debugging of two dimensional laser radar,the connection,configuration and connection debugging of the collision avoidance sensor,and the actual test of the prototype of the prototype in the factory area under the indoor environment.And we actually test the prototype at the factory area in room environment.After testing in the actual working environment,the AGV prototype runs well and reaches the initial design requirements.