结构化环境中智能搬运车的设计

发布时间：2018-07-04 20:47

本文选题：AGV + 信息融合　；参考：《内蒙古科技大学》2015年硕士论文

【摘要】：智能化、信息化的自动搬运车(AGV)作为一种新型的无人驾驶运输设备，它在传统的物流仓储搬运装置的基础上将机械、电子、计算机等多个学科的高新技术结合在一起，，并且在自动化仓库和各种商品生产车间、装配制造流水线中投产应用，提高了整个搬运系统的柔性与通用性，解决了旧式搬运方法工作效率低、人员冗余大的缺点，使自动搬运车在各种复杂的、立体化的、结构化的工作环境中得到更广泛、更实际的应用。本课题旨在确定一套在实验室应用条件下低成本、高复用的系统研究方案，通过多种传感器获取的信息，实现对周围环境信息的空间探测，对小车自身所处位置、运动方向的感知，经过数据处理、数据融合之后实现精确有效的导引和搬运功能。本文从AGV的导引技术入手，并根据车辆的机械结构及前轮转向后轮驱动的行走方式，选取了适合本设计特点的惯性导引方法，然后建立AGV的运动模型，分析其运动控制规律。结合结构化环境的特点，在车身上面及四周安装分工不同的各种传感器，实时采集周围环境的信息之后传送到主控单元中进行处理，使用多传感器信息融合技术将每一种叠加或分散的信号数据更加有效的利用起来，完成AGV的导引定位、安全避障、自主行驶、取货搬运等步骤。选取了合适的硬件及电路之后，依据系统算法思想制定软件架构并完成软件设计。在结构化的测试环境中，使用实验室现有的设备和市面上常用的元器件搭建了本次课题研究的实验平台，通过在结构化的室内环境中利用车载的陀螺仪和编码器采集AGV的偏移信息和航向信息，然后进行了AGV的导引定位测试与物料搬运实验，验证了系统惯性导引的精确度和实时性，同时还利用超声波传感器和红外传感器进行辅助的绝对定位分析与安全避障处理，将采集到的距离信息经过多数表决机制筛选和加权平均融合计算后，进行了AGV障碍物实时检测的实验，验证了系统在紧急避障情况下的稳定性和安全性。经过实验验证，搬运车可以顺利完成物料搬运任务，系统整体功能可以实现。最后对研究内容和结果进行了总结，找出了研究的缺点和不足，提出了可以进一步改进提高之处。
[Abstract]:As a new type of driverless transportation equipment, the intelligent and information automatic carrier (AGV) combines mechanical, electronic and computer technologies on the basis of traditional logistics warehousing and handling devices. And it is put into operation in the automatic warehouse and various commodity production workshops, which improves the flexibility and versatility of the whole handling system, solves the shortcomings of low efficiency and large staff redundancy of the old handling method. So that the automatic truck in a variety of complex, three-dimensional, structured work environment more widely, more practical applications. The purpose of this project is to determine a low cost and high reuse system research project under the condition of laboratory application. Through the information obtained by various sensors, we can realize the spatial detection of the surrounding environment information and the position of the car itself. After data processing and data fusion, accurate and effective guidance and handling functions are realized. Starting with the guidance technology of AGV and according to the mechanical structure of the vehicle and the driving mode of the rear wheel of the front wheel, this paper selects the inertial guidance method suitable for the characteristics of the design, and then establishes the motion model of the AGV and analyzes its motion control law. Combined with the characteristics of the structured environment, various sensors with different division of labor are installed on and around the body, and the information of the surrounding environment is collected in real time and transmitted to the main control unit for processing. The multi-sensor information fusion technology is used to make use of each kind of superposition or scattered signal data more effectively. The steps of AGV navigation, safety and obstacle avoidance, independent driving, cargo handling and so on are completed. After selecting the appropriate hardware and circuit, the software architecture is designed according to the idea of system algorithm and the software design is completed. In the structured test environment, the experimental platform of this research is built by using the existing equipment in the laboratory and the commonly used components in the market. By using gyroscope and encoder to collect the offset information and heading information of AGV in the structured indoor environment, the precision and real time of inertial guidance of the system are verified by the guided positioning test and material handling experiment of AGV. At the same time, the ultrasonic sensor and infrared sensor are used to assist the absolute positioning analysis and safe obstacle avoidance. The distance information collected is screened by the majority voting mechanism and the weighted average fusion is calculated. The experiment of AGV obstacle detection in real time is carried out to verify the stability and safety of the system in the case of emergency obstacle avoidance. After experimental verification, the carrier can successfully complete the material handling task, and the overall function of the system can be realized. Finally, the contents and results of the study are summarized, the shortcomings and shortcomings of the research are found, and the points for further improvement are put forward.
【学位授予单位】：内蒙古科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP23

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