| In recent years,with the rapid development of e-commerce,online shopping has gradually become familiar to public and has become an irreplaceable consumption model,accompanied with the rise of the express delivery industry.At the same time,the number of indoor express delivery increases rapidly.Different from other delivery environments,indoor delivery has the characteristics of many delivery floors,large areas,and complicated delivery services.This has led to the consequence that the delivery men frequently enter and leave the building.This not only reduces the efficiency of dispatching items and increases the cost,but also causes building safety and regulatory problems.Therefore,relevant provisions have forbidden the delivery men to deliver goods into the building.Therefore,how to efficiently and safely complete indoor express delivery tasks to eliminate the aforementioned conflicts has become an urgent problem to be solved and has attracted the attention of all parties in the industry.Based on the above discussion and the existing AGV prototype,this paper studies the AGV combined guidance system and control strategy for indoor intelligent delivery scenarios to implement the AGV automatic driving and control decision function,so that it can complete the delivery tasks in the indoor environment.The main work and achievements of this paper are as follows:(1)The indoor intelligent delivery AGV hardware system is built.Under the premise of defining the overall task requirements and the overall design framework,the AGV hardware system is constructed,including design of the overall hardware architecture,the selection of various hardware modules and the design of related circuit.(2)The indoor intelligent delivery AGV combination guidance system algorithm is designed and implemented.Based on the AGV kinematics model and sensor measurement model,the Kalman filter is designed to estimate the AGV pose,including AGV pose estimation based on gyro information fusion and AGV pose estimation based on magnetic staple correction information.And the latter uses the optimal weighted fusion technique based on the diagonal matrix on the basis of the Kalman filter to correct the cumulative error of the inertial guidance.At the same time,the feasibility and effectiveness of the algorithm are verified by simulation and experiment.(3)Research on control strategy of the indoor intelligent delivery AGV.The paper mainly analyzes and designs control strategies such as acceleration and deceleration control,steering control,stop and start of site,obstacle avoidance,and entering and exiting elevators.(4)Indoor intelligent delivery AGV software architecture is designed.Using hierarchical and modular ideas to design the system software architecture,the entire software system is divided into four layers: sensing layer,data processing layer,control layer,and interface layer.The sensing layer includes sensor modules responsible for collecting the parameters of AGV system and environmental;the data processing layer is responsible for data processing;the control layer uses the data processing results of the data processing layer to determine the current status of the system and makes control decisions;and the interface layer is responsible for providing interfaces to peripheral devices.The paper combines the designed combined guidance system and controlled strategy,and comprehensively tests the system from the aspects of function realization and controlled accuracy.After being tested,the system can well complete the functions of stopping and starting the site,avoiding obstacles,turning,entering and exiting elevators,path tracking,etc.,and getting a high accuracy,achieving a better control effect. |
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