基于磁导航的全向AGV定位技术研究
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摘要
在智能车间中,自动导引车(AGV)需要一定的定位精度,而传统的驱动轮很难满足定位要求。针对定位精度问题,考虑成本控制,课题组提出了一种基于多磁导引的全向自动导引车定位方法。首先利用磁传感器实时获取自动导引车当前位置与定位标识点的偏差;然后,采用模糊PID控制生成控制量;最后,将控制量结合全向自动导引车的运动模型实现最终定位。实验结果表明:采用磁导引并结合模糊PID控制,自动导引车的运动稳定性好,定位精度可达±5 mm,同时有效地降低了硬件成本。本研究可实现自动导引车的高效、高精度定位。
In the intelligent workshop,Automated Guided Vehicle( AGV) requires certain positioning accuracy,while traditional driving wheels are difficult to meet the positioning requirements. Aiming at this problem and cost control,a omni-directional AGV location method based on multi-magnetic navigation was proposed in this paper. First,the magnetic sensor was used to get the real time deviation between the AGV position and the positioning point. Then,the fuzzy PID control was used to generate the control quantity. Finally,the control quantity was combined with the omnidirectional AGV motion model to achieve the final positioning. The experimental results show that,with the use of magnetic navigation and fuzzy PID control,the motion stability of AGV is good,the positioning accuracy is up to ± 5mm,and the cost of hardware is reduced effectively. It is of practical significance and innovation.
In the intelligent workshop,Automated Guided Vehicle( AGV) requires certain positioning accuracy,while traditional driving wheels are difficult to meet the positioning requirements. Aiming at this problem and cost control,a omni-directional AGV location method based on multi-magnetic navigation was proposed in this paper. First,the magnetic sensor was used to get the real time deviation between the AGV position and the positioning point. Then,the fuzzy PID control was used to generate the control quantity. Finally,the control quantity was combined with the omnidirectional AGV motion model to achieve the final positioning. The experimental results show that,with the use of magnetic navigation and fuzzy PID control,the motion stability of AGV is good,the positioning accuracy is up to ± 5mm,and the cost of hardware is reduced effectively. It is of practical significance and innovation.
引文
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[12]张忠民,郑仁辉.基于模糊PID的麦克纳姆轮移动平台的控制算法[J].应用科技,2017,44(6):53-59.
[2]白彪才,马殷元.组合导航的AGV定位精度的改善[J].测控技术,2018,37(4):138.
[3]苏永华.全方位移动式AGV技术研究[J].制造业自动化,2014,36(15):10.
[4]吴鹏,李东京,贠超.一种惯性传感器与编码器相结合的AGV航迹推算系统[J].机电工程,2018,35(3):310-316.
[5]ZUMBERGE J F,HEFLIN M B,JEFFERSON D C.Precise point positioning for the efficient and robust analysis of GPS data from large network[J].Journal of Geophysical,1997,102(B3):5005-5017.
[6]何珍,楼佩煌,钱晓明,等.多目视觉与激光组合导航AGV精确定位技术研究[J].仪器仪表学报,2017,38(11):2830-2838.
[7]李照,舒志兵,严亮.基于模糊路径纠偏的AGV视觉精定位研究[J].电子技术应用,2018,44(4):81-85.
[8]魏明明,汪焰恩.基于计算机视觉反馈的AGV定位停车研究[J].机床与液压,2011,39(15):35-37.
[9]梁延德,刘大维.基于到达时间差异的超声波AGV定位[J].组合机床与自动化加工技术,2007,4(4):66-69.
[10]闫国荣,张海兵.一种新型轮式全方位移动机构[J].哈尔滨工业大学学报,2001(6):855.
[11]DU Xinyu,ZHANG Naiyao,YU Na.Structure analysis and function evaluation of a kind of fuzzy PID controllers[J].Chinese Journal of Electronics,2004,13(4):654-659.
[12]张忠民,郑仁辉.基于模糊PID的麦克纳姆轮移动平台的控制算法[J].应用科技,2017,44(6):53-59.