Design Of Automatic Guide Car For Railway Open Car Maintenance Equipment

Automated Guided Vehicle(Automated Guided Vehicle),also known as AGV,due to its ability to undertake no contact,autonomous addressing tasks,and has the advantages of high flexibility,plasticity,outstanding efficiency and safety,and in the field of production,manufacturing,warehouse transportation and other widely concerned.At present,there are few researches on AGVs applied in railway convertible maintenance factories.The environment of railway convertible maintenance factories is complex,the industrial production requires high precision,and the carrying equipment is bulky and prone to collision,so the research and development is difficult.Based on the actual demand in production operation of CRRC Guiyang Railway Co.,LTD.,the project developed an automatic guide car,which was used to transport the open car maintenance equipment in the workshop.Aiming at the problems such as low positioning accuracy and large path tracking error of traditional lidar,improvements are made and new algorithm ideas are proposed to improve positioning and operation accuracy.The main contents are as follows:1.Building a Hardware Platform for AGV System.After fully investigating and studying the development of AGV technology at home and abroad,and visiting the actual working environment,the project chooses laser guidance scheme and uses Mc Namm wheel omnidirectional mobile platform as the walking mechanism of AGV.After comparing the advantages and disadvantages of the two control systems,the closed-loop servo system is selected as the AGV motion control system.The AGV is equipped with safety system,and the programmable control module(PLC)is selected as the control core of AGV.On this basis,appropriate components are selected to build AGV hardware platform,and mechanical model of AGV is designed.Finally,the electrical circuit of the AGV is designed to complete the circuit connection.2.Research on the laser radar positioning of the system.Based on the hardware platform,the AGV omnidirectional mobile platform motion model is established.On the basis of the motion model,the laser radar positioning technology is studied,and the process of reflection plate detection is improved to improve the detection accuracy.An optimization algorithm is introduced to calculate the center of the reflector.A new dynamic reflector matching algorithm is proposed to solve the problem of misjudgment in the traditional reflector matching method.Based on the traditional localization algorithm,a new multi-point localization algorithm is proposed to improve the accuracy of AGV localization.3.Developing a software system for AGV.Design each module of the software system according to the task requirements of AGV;The travel error of AGV is analyzed,and the fuzzy controller is designed to correct the running deviation and realize accurate path tracking.Design man-machine interaction interface,convenient for operators to use.4.Debugging important modules of AGV system and testing the whole machine task.Debug servo motor system,check motor installation and operation;Debug the lidar equipment and check the accuracy of the positioning system;Safety system debugging to verify the safety and stability of AGVs;Finally,the vehicle alignment test and task test.The test shows that the automatic guide car of railway open car maintenance equipment runs well in the workshop,the system positioning and parking accuracy indicators meet the initial design requirements and successfully complete the research and development objectives.