發(fā)布時(shí)間：2018-07-04 20:47

  本文選題：AGV + 信息融合�。� 參考：《內(nèi)蒙古科技大學(xué)》2015年碩士論文

【摘要】：智能化、信息化的自動(dòng)搬運(yùn)車(AGV)作為一種新型的無(wú)人駕駛運(yùn)輸設(shè)備，它在傳統(tǒng)的物流倉(cāng)儲(chǔ)搬運(yùn)裝置的基礎(chǔ)上將機(jī)械、電子、計(jì)算機(jī)等多個(gè)學(xué)科的高新技術(shù)結(jié)合在一起，，并且在自動(dòng)化倉(cāng)庫(kù)和各種商品生產(chǎn)車間、裝配制造流水線中投產(chǎn)應(yīng)用，提高了整個(gè)搬運(yùn)系統(tǒng)的柔性與通用性，解決了舊式搬運(yùn)方法工作效率低、人員冗余大的缺點(diǎn)，使自動(dòng)搬運(yùn)車在各種復(fù)雜的、立體化的、結(jié)構(gòu)化的工作環(huán)境中得到更廣泛、更實(shí)際的應(yīng)用。本課題旨在確定一套在實(shí)驗(yàn)室應(yīng)用條件下低成本、高復(fù)用的系統(tǒng)研究方案，通過(guò)多種傳感器獲取的信息，實(shí)現(xiàn)對(duì)周圍環(huán)境信息的空間探測(cè)，對(duì)小車自身所處位置、運(yùn)動(dòng)方向的感知，經(jīng)過(guò)數(shù)據(jù)處理、數(shù)據(jù)融合之后實(shí)現(xiàn)精確有效的導(dǎo)引和搬運(yùn)功能。 本文從AGV的導(dǎo)引技術(shù)入手，并根據(jù)車輛的機(jī)械結(jié)構(gòu)及前輪轉(zhuǎn)向后輪驅(qū)動(dòng)的行走方式，選取了適合本設(shè)計(jì)特點(diǎn)的慣性導(dǎo)引方法，然后建立AGV的運(yùn)動(dòng)模型，分析其運(yùn)動(dòng)控制規(guī)律。結(jié)合結(jié)構(gòu)化環(huán)境的特點(diǎn)，在車身上面及四周安裝分工不同的各種傳感器，實(shí)時(shí)采集周圍環(huán)境的信息之后傳送到主控單元中進(jìn)行處理，使用多傳感器信息融合技術(shù)將每一種疊加或分散的信號(hào)數(shù)據(jù)更加有效的利用起來(lái)，完成AGV的導(dǎo)引定位、安全避障、自主行駛、取貨搬運(yùn)等步驟。選取了合適的硬件及電路之后，依據(jù)系統(tǒng)算法思想制定軟件架構(gòu)并完成軟件設(shè)計(jì)。 在結(jié)構(gòu)化的測(cè)試環(huán)境中，使用實(shí)驗(yàn)室現(xiàn)有的設(shè)備和市面上常用的元器件搭建了本次課題研究的實(shí)驗(yàn)平臺(tái)，通過(guò)在結(jié)構(gòu)化的室內(nèi)環(huán)境中利用車載的陀螺儀和編碼器采集AGV的偏移信息和航向信息，然后進(jìn)行了AGV的導(dǎo)引定位測(cè)試與物料搬運(yùn)實(shí)驗(yàn)，驗(yàn)證了系統(tǒng)慣性導(dǎo)引的精確度和實(shí)時(shí)性，同時(shí)還利用超聲波傳感器和紅外傳感器進(jìn)行輔助的絕對(duì)定位分析與安全避障處理，將采集到的距離信息經(jīng)過(guò)多數(shù)表決機(jī)制篩選和加權(quán)平均融合計(jì)算后，進(jìn)行了AGV障礙物實(shí)時(shí)檢測(cè)的實(shí)驗(yàn)，驗(yàn)證了系統(tǒng)在緊急避障情況下的穩(wěn)定性和安全性。經(jīng)過(guò)實(shí)驗(yàn)驗(yàn)證，搬運(yùn)車可以順利完成物料搬運(yùn)任務(wù)，系統(tǒng)整體功能可以實(shí)現(xiàn)。最后對(duì)研究?jī)?nèi)容和結(jié)果進(jìn)行了總結(jié)，找出了研究的缺點(diǎn)和不足，提出了可以進(jìn)一步改進(jìn)提高之處。
[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.
【學(xué)位授予單位】：內(nèi)蒙古科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類號(hào)】：TP23

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