Study On The Navigation And Position Technology Of AGV Based On Hybird Navigation Mode

With the rapid development of electronic information industry and the increasing demand for PCB,China has become the largest PCB production base in the world at present.However,the production mode of most PCB enterprises are still labor-intensive.Considering the increase in labor costs and the rapid updating of electronic products,it has become an inevitable trend for PCB enterprises to transform towards intelligence.Intelligent logistics is an essential step in the intelligent transformation.Automated guided vehicle(AGV),has become an important equipment in the intelligent logistics with its advantages of flexibility and intelligence,etc.Guidance technology is the key technology of AGV.AGV is widely used in more situations,which promote the continuous development of guidance technology.In this paper,a plan that using hybrid navigation AGV to convey the materials for PCB production workshop is put forward.The navigation and location technology is mainly studied in the hybrid navigation AGV,and the navigation performance is verified and evaluated.The main works of this paper can summarized as follows:(1)According to the PCB production workshop layout and process flow,combined with the existing navigation technology of AGV,an AGV system(AGVS)framework is proposed which can switch between magnetic navigation and QR Code visual navigation,the main technology of the AGVS is determined at the same time.In the framework of this AGVS,magnetic navigation is used in workshop aisles,and the visual positioning based on QR code road signs is used in each craft workshop.(2)The key technology of magnetic navigation AGV is set as the research subject.On the one hand,the structural framework of the magnetic navigation AGV is designed.On the other hand,the mathematical model of AGV is established and the error is analyzed.In addition,the incremental PID algorithm is used to correct the navigation deviation and its feasibility is verified.Furthermore,the Radio Frequency Identification(RFID)technology is used to achieve the positioning of AGV.(3)For the status in the various process workshops,a visual navigation scheme for laying QR codes on the ground is proposed.In this framework,the process of preprocessing and decoding of QR code image is introduced,and the AGV coarse positioning method which combines the encoder information and discrete coordinates of QR code is proposed.Then,by analyzing the camera model and using the camera parameters obtained by Zhang Zhengyou calibration method,the equations for calculating the relative positions of AGV and QR codes are deduced,and the accurate AGV positioning method is obtained based on QR code.Finally,Kalman filter algorithm is used to combine the encoder information with the precision positioning result based on the QR code,which further improves the accuracy of AGV navigation and positioning.(4)The operational flow of magnetic navigation and visual navigation based on QR code is summarized.The recognition result of QR code is tested by Open CV library and the result of camera parameters calibration is verified.The experimental results show that the method can detect the QR code correctly and get its pixel coordinates,the camera calibration results can meet the accuracy requirements.This paper focuses on the AGV automatic navigation technology.According to the actual situation of the PCB production workshop,the regionalization of the workshop and the use of combining the magnetic navigation with the QR code vision navigation technology improve the working efficiency and provide the reference scheme for the PCB enterprise to transform the intelligent production.The navigation and location technology of hybrid navigation AGV provides some theoretical support for developing AGV suitable for PCB production workshop.