Engineering Design And Experimental Research Of AGV Based On Laser Guiding

In recent years,with the rise of the concept "unmanned workshop"and "wisdom factory",AGV is widely applied to the logistics,manufacturing,intelligent security and other fields.This article is supported by wisdom innovation projects of the wheel hub casting workshop in Zhejiang province,liquid aluminum furnace is designed to be carried by special industrial AGV.Compared with the traditional scheme,production by using special AGV has high efficiency,safety,stability,and many other advantages.In this paper,the special structure of AGV and modular navigation system were designed required by enterprise project and the limitation of field environment.The engineering implementation of the industrial AGV was completed.In this paper,the research content includes the following aspects:1.In this paper,Status quo of AGV navigation technology at home and abroad was studied.Different modes of navigation were compared in detail.Combined with the advantages and disadvantages of all kinds of navigation technology,limited by environmental requirements,the guiding strategy by FEM was proposed.The engineering implementation of the industrial AGV was completed.2.The Feature Matching algorithm was designed,laser clustering algorithm and multiple line segmentation algorithm were optimized by experimental study.The Feature matching algorithm was optimized according to the results of positioning experiments.The Line Segment Sequence matching algorithm was designed and tested.The advantages and disadvantages of two algorithm were compared.3.Modular navigation algorithm based on finite state machine was proposed in view of the limitations of Global Coordinate Positioning navigation algorithm.The trajectory table was designed.The test route was designed.The movement of navigation algorithm module,regional positioning module and function module were designed.4.The modular control software was designed.The calibration experiment,layout of reflector,running experiments,repeated positioning,filling docking experiment and obstacle avoidance experiment were carried out.The technical indicators were met.The AGV system was proved that it could adapt to working environment of casting workshop and completed transfer of liquid aluminum.