Study And Achieve Of A Laser-Guided AGV

With the development of material conveying system,the flexible manufacturing system,and automatic stereoscopic warehouse system and so on,AGV(Automated Guided Vehicle),due to its ability to solve the disadvantages of traditional logistics system as the important part of material conveying system and flexible manufacturing system,has been widely used in manufacturing transmission links.Compared with other navigation modes,the laser forklift AGV has obvious advantages: simple installation of the anti-light panel,uncomplicated network construction,small turning radius,ready access to path change,direct application in the occasion where the forklift truck was used before,etc.This article,based on the actual development process of laser forklift AGV project of Guangdong Jaten Robot & Automation Co.,Ltd and the on-site commissioning in Unilever laundry detergent factory,discusses the application requirements and process control of the laser forklift AGV,and focuses on triangulation algorithm and single steering wheel kinematics.The high performance controller CVC600 of NDC is chosen as the main control system in order to shorten the development cycle,improve the efficiency of research and development,and more importantly ensure the precision control,stability and reliability of the laser forklift AGV.Since AGV contains many non-standard design,the main research include:1.Laser forklift AGV vehicle control system hardware design.As regards the process control of laser forklift AGV,CAN communication is applied in the design of power supply module,motor drive module,security collision module with CVC600 main controller as the core in order to meet the control requirement of AGV vehicle control system.In order to ensure the safety of laser forklift AGV work,the Turkish company S300 laser scanning measurement sensor and diffuse sensors are employed to realize non-contact safe obstacle avoidance;the bilateral as well as the barrier strip to achieve contact safe obstacle avoidance.2.Analysis of the forklift AGV three localization algorithm and planning of field path of laser driving forklift AGV with the number of turns,turning range and performance period as evaluation index considering the field conditions on the basis of the design of laser forklift AGV experiment platform.The path of AGV planned with the reflector panel data tested as a coordinate reference is imported into the AGV and system manager to provides precondition for response task scheduling.3.Laser forklift AGV control software design.First,set the variables of IEC61131-3standard-based programming language in OpenPCS environment.Second,set initialization program design,motor control procedures,safety program of obstacle avoidance and AGV's communication procedures with the elevator door,etc.Third,through real-time monitoring the feasibility of variables of debugger,download the debugged program to the controller.Thus,the test can achieve the expected effect.4.The location management system design.A joint test of the machine and the location management system which employs C# as its development language,SQL Server as its database in the enterprise environment test has verified the convenience and effectiveness of control strategy.