Design And Implementation Of An AGV Control System Using Laser And Visual Navigation

Automated Guided Vehicle(AGV)is a kind of vehicle equipped with automatic guidance device,which has the functions of autonomous planning guidance path,safety protection and various loading functions.With the development of Made-in-China 2025 and Industrial 4.0,AGV is widely used in more and more industries such as intelligent factories,flexible manufacturing lines,warehouses,wharfs,logistics,etc.In this paper,referring to the existing product design schemes at home and abroad,a latent AGV control system,used in factory workshops and warehouses,is developed and designed,and this work is supported by the Industry-University Cooperation Project(IUCP)of Fujian Province "Research and Development of Autonomous Navigation AGV Device Based on Visual and Inertial Positioning".Firstly,aiming at the application scenarios and expected performance indicators required by the subject,the mechanical structure of AGV car body is determined and its kinematics model is given.The performance parameters of driving motor and power battery are calculated and analyzed,and the selection of the two types is determined.The multi-sensor integrated navigation framework based on laser and vision is given,and the location algorithm of track estimation based on odometer and gyroscope is deduced.The problem of time registration for multi-source integrated navigation system is analyzed and solved.Based on this,a design scheme of AGV control system based on two-layer controller structure is proposed.Then,the hardware selection and circuit design of the lower computer are completed in the framework of the control system design scheme;a communication scheme between two-layer controllers is proposed,including communication mode,communication protocol and software and hardware implementation scheme;the software system design framework of the lower computer is given,including the software fault recovery functionprinciple based on watchdog timer and the micro-control based on time slice rotationmethod.The software framework of the system and the implementation method of each sub-task software.Then,the equipment information and performance parameters of the AGV prototype are given.The actual performance of the main functional units such as motion control,track estimation and positioning,ultrasonic obstacle avoidance and power monitoring and management are tested through a series of experiments.The vehicle performance of the AGV prototype is tested and the results are analyzed.Finally,this paper summarizes the work of the full text,describes the achievements and shortcomings of this work,and considers and gives several possible follow-up directions.