As the main medium of intelligent logistics, AGV robots have the advantages of intelligence, high efficiency, high reliability, and easy installation and maintenance. It can effectively reduce the labor costs of factories and warehouses. At present, it is widely used in all walks of life. Today, Xiaobian will introduce to you the key technologies of AGV cars.
(1) Environmental perception and information fusion technology
AGV sensors can perceive the external environment and its own situation to achieve independent driving tasks. As an intelligent handling tool, AGV cars not only need to perceive and judge the surrounding environment, but also need to monitor their own real-time situation. The accurate application of sensing technology can effectively treat it. The accurate and stable operation of AGV cars is of great significance. Utilize the relevant combination of multi-source information, fully identify, analyze, estimate and dispatch data, complete the tasks of issuing decisions and accurately processing information, and appropriately estimate the surrounding environment and war situation. As an intelligent handling tool, AGVs not only need to perceive and judge the surrounding environment, but also need to monitor their own real-time situation. The accurate application of sensing technology can effectively treat it. The accurate and smooth operation of AGV cars is of great significance.
(2) Positioning and navigation guidance technology
For AGV navigation technology, it is indispensable. It is one of the core technologies for AGV intelligence and complete independent work, and it is also the core part of AGV technology research. The quality of positioning and navigation technology directly depends on the accuracy and performance stability of AGV, and also determines the key factors such as AGV functionality, application practicality, and degree of automation. Positioning is to perceive external information through sensors and determine the position of the controlled equipment in the field layout through effective control of the main controller. Positioning technology can control the position of the AGV in the path and accurately assign corresponding tasks through position information. AGV also has various navigation methods, which are mainly divided into magnetic navigation, optical navigation, laser navigation, visual navigation, GPS navigation and inertial navigation. Various navigation and guidance technologies also have their own advantages and disadvantages and are suitable for different occasions. Since each navigation method has its own advantages and disadvantages, an integrated navigation method based on multiple navigation and guidance methods can achieve complementary guidance effects. It has become a hot spot in current research and application.
(3) Path planning
AGV completes the perception of surrounding information through the navigation system. The next step is how to plan the driving path based on the information obtained. According to whether there is complete environmental information at the beginning of path planning, path planning methods can be divided into two categories: path planning in known environments and path planning in unknown environments. Unknown environments include completely unknown or partially unknown environmental information at the beginning of path planning, as well as the presence of moving obstacles and unpredictable movements in the environment. Through the perception of our own sensor system and our own motion state, we continuously plan obstacle-free paths in the current environment.
(4) Motion control and path tracking
After planning the AGV's driving path, the next step is to require the AGV to accurately and quickly track the desired path. AGV motion control and stability tracking of the target path are the core technologies of independent driving. At present, closed-loop control strategies based on deviation feedback are still in use to eliminate system tracking errors. In order to ensure the real-time, robust AGV stable driving requirements, AGV currently, the calculation of kinematics and dynamics and how to design a good feedback control law for AGV are an active motion control research industry.
(5) Intelligent control technology
Since the beginning of the 20th century, control theory has developed and evolved. As modern control theory continues to integrate new disciplines and technologies such as fuzzy mathematics and neural networks, traditional control technology has gradually developed into intelligent control technology, which can better handle complex system control problems. Intelligent control (intelligentcontrols) is a kind of intelligence that imitates human beings, with services such as autonomous learning, inference and decision-making. It can make efficient inferences and decisions independently without human intervention or help according to changes in control targets or control environments. Intelligent control is an inevitable trend in the development of control theory. It is significantly superior to traditional control methods in depth and breadth. It is the mutual penetration of knowledge in disciplines such as computer science and technology, information technology, etc., and controls the continuous development of scientific and engineering research. In the motion control model and power control model of AGV robots, the system has the characteristics of uncertainty, complexity, nonlinearity, etc., and intelligent control can achieve control well. At present, fuzzy control, neural network control, genetic algorithm control, pattern recognition control, etc. are all commonly used control methods for AGV.