Research And Application Of Key Technologies Of Heavy Load AGV With Mecanum Wheel

With the continuous advancement of intelligent manufacturing,AGV,as the core equipment of smart logistics,is gradually receiving wide attention from all walks of life.This topic is aimed at the specific needs of mold transportation in stamping industry Through actual research,it is found that the Mecanum wheel mobile platform meets the requirements of practical applications with its omnidirectional motion characteristics.Therefore,in this paper,the key technologies of heavy load AGV with Mecanum wheel are studied to lay the foundation for practical applicationThe key technologies of AGV mainly include three aspects:positioning navigation,system control and path planning.The following is a brief summary of the research content of this paper:(1)Laser positioning system design:Firstly,the laser positioning principle is studied,and the pose calculation is deduced based on the actual application.Then,according to the application requirements,the selection of the positioning system is determined,and the positioning system layout requirements are summarized.Finally,the static and dynamic matching algorithms of the reflector are designed for the actual positioning process,which establish the basis for the realization of the positioning.(2)AGV control system design:The overall scheme of the control system is designed from the perspective of implementing path tracking,and then the AGV motion control system and the path tracking control system are designed in order from bottom to top.When designing the motion control system,the AGV kinematics model is analyzed firstly,then the AGV motion velocity control is designed based on the model.For the path tracking control system,the path tracking decoupling control is designed based on the characteristics of the Mecanum wheel mobile platform.And the specific research and design of position tracking control and angle tracking control are carried out(3)Map construction and path planning:Based on the analysis of the current conventional map construction methods,the grid mapping is used to construct the map of the actual application scene,and then the Dijkstra algorithm and the A*algorithm are analyzed through experiment respectively.Then the algorithm is improved according the analyzed results,and the improved A*algorithm based on Euclidean distance estimation is finally adopted for the actual path planning.(4)System platform construction and experimental analysis:The actual hardware system and software system of AGV are constructed,and the positioning and control experiments are carried out based on the system platform.The experimental results show that the positioning system has good positioning effect and stability.When tracking the target path,the position tracking and angle tracking results can meet the requirements of practical application.In addition,the control parameters are analyzed experimentally,which provides strong support for practical applications.The research results have good industrial application prospects.