AGV Intelligent Solutions
001-----惯性导引
优点：惯性导引是一项成熟、可靠的导引技术,具有可靠性高，短期精度高，自主性强的优点,但是具有不可避免的缺点。
缺点：有累计误差,导致其长期导引精度不够。（通过其他技术进行校正。视觉导引系统，进行它的准确定位来校正惯性导航系统）
惯性导航是在AGV上安装陀螺仪，在行驶区域的地面上安装定位块，AGV可通过对陀螺仪偏差信号的计算及地面定位块信号的采集来确定自身的位置和方向，从而实现导引。
此项技术在军方较早运用，其主要优点是技术先进，定位准确性高，灵活性强，便于组合和兼容，适用领域广，已被国外的许多AGV生产厂家采用。其缺点是制造成本较高，导引的精度和可靠性与陀螺仪的制造精度及使用寿命密切相关。
001-----Inertial guidance
Advantages: Inertial guidance is a mature and reliable guidance technology, which has the advantages of high reliability, high short-term accuracy and strong autonomy, but it has inevitable shortcomings.
Disadvantage: There are accumulated errors, resulting in insufficient long-term guidance accuracy. (Correction by other techniques. Vision guidance system, correcting the inertial navigation system for its accurate positioning)
Inertial navigation is to install a gyroscope on the AGV and install a positioning block on the ground in the driving area. The AGV can determine its own position and direction through the calculation of the gyroscope deviation signal and the acquisition of the ground positioning block signal, so as to achieve guidance.
This technology was used in the military earlier, and its main advantages are advanced technology, high positioning accuracy, strong flexibility, easy combination and compatibility, and a wide range of applications. It has been adopted by many foreign AGV manufacturers. The disadvantage is that the manufacturing cost is high, and the accuracy and reliability of the guidance are closely related to the manufacturing accuracy and service life of the gyroscope.
002------电磁导航
电磁导航原理：电磁导航是较为传统的导航方式之一，目前仍被许多系统采用，它是在AGV的行驶路径上埋设金属线，并在金属线上加载导引频率，通过对导引频率的识别来实现AGV的导航。
电磁导航优点：导引线隐蔽，不易污染和破损，导引原理简单而可靠，便于控制通讯，对声光无干扰，投资成本比激光导航低很多；
电磁导航缺点：改变或扩充路径较麻烦，导引线铺设相对困难。
电磁导引目前仍被许多系统采用，它是在agv的行驶路径上埋设金属线，并在金属线加载导引频率，通过对导引频率的识别来实现agv的导引。
其主要优点是引线隐蔽，不易污染和破损，导引原理简单而可靠，便于控制和通讯，对声光无干扰，制造成本较低。
缺点是路径难以更改扩展，对复杂路径的局限性大。
002------ Electromagnetic Navigation
Principle of electromagnetic navigation: Electromagnetic navigation is one of the more traditional navigation methods, which is still used by many systems. It embeds a metal wire on the driving path of the AGV, and loads the guide frequency on the metal wire. Identification to achieve AGV navigation.
Advantages of electromagnetic navigation: the guide wire is concealed, not easy to be polluted and damaged, the guiding principle is simple and reliable, easy to control communication, no interference to sound and light, and the investment cost is much lower than that of laser navigation;
Disadvantages of electromagnetic navigation: It is troublesome to change or expand the path, and it is relatively difficult to lay the guide wire.
Electromagnetic guidance is still used in many systems. It embeds metal wires on the driving path of agv, and loads the metal wire with a guiding frequency, and realizes the guidance of agv through the identification of the guiding frequency.
Its main advantages are that the lead wire is concealed, not easy to be polluted and damaged, the guiding principle is simple and reliable, easy to control and communicate, no interference to sound and light, and low manufacturing cost.
The disadvantage is that the path is difficult to change and expand, and it has great limitations on complex paths.
003-----磁带导航
磁带导航原理：磁带导航技术与电磁导航相近，不同之处在于采用了在路面上贴磁带替代在地面下埋设金属线，通过磁带感应信号实现导引。
磁带导航优点：AGV定位精确，磁带导航灵活性比较好，改变或扩充路径较容易，磁带铺设也相对简单，导引原理简单而可靠，便于控制通讯，对声光无干扰，投资成本比激光导航低很多；
磁带导航缺点：磁带需要维护，要及时更换损坏严重磁带，不过磁带更换简单方便，成本较低。但此导引方式易受环路周围金属物质的干扰，对磁带的机械损伤极为敏感，因此导引的可靠性受外界影响较大。
003-----Tape Navigation
The principle of tape navigation: The tape navigation technology is similar to the electromagnetic navigation, the difference is that the tape is pasted on the road instead of burying the metal wire under the ground, and the guidance is realized by the tape induction signal.
Advantages of tape navigation: AGV positioning is accurate, the flexibility of tape navigation is better, it is easier to change or expand the path, the tape laying is relatively simple, the guiding principle is simple and reliable, easy to control communication, no interference to sound and light, and the investment cost is higher than that of laser navigation. much lower;
Disadvantages of tape navigation: The tape needs maintenance, and the severely damaged tape needs to be replaced in time, but the replacement of the tape is simple and convenient, and the cost is low. However, this guiding method is easily disturbed by metal substances around the loop, and is extremely sensitive to the mechanical damage of the magnetic tape, so the reliability of the guiding is greatly affected by the outside world.
004-----视觉导航
视觉导航原理：视觉导航是在AGV的行驶路径上涂刷与地面颜色反差大的油漆或粘贴颜色反差大的色带，在AGV上安装有摄图传感器将不断拍摄的图片与存储图片进行对比，偏移量信号输出给驱动控制系统，控制系统经过计算纠正AGV的行走方向，实现AGV的导航。
视觉导航优点：AGV定位精确，视觉导航灵活性比较好，改变或扩充路径也较容易，路径铺设也相对简单，导引原理同样简单而可靠，便于控制通讯，对声光无干扰，投资成本比激光导航同样低很多，但比磁带导航稍贵；
视觉导航缺点：路径同样需要维护，不过维护也较简单方便，成本也较低。对色带的污染和机械磨损十分敏感，对环境要求过高，导引可靠性较差，且很难实现精确定位。
004-----Visual Navigation
Principle of visual navigation: Visual navigation is to paint paint with a large color contrast with the ground or paste a color tape with a large color contrast on the AGV's driving path. A photo sensor is installed on the AGV to compare the continuously captured pictures with the stored pictures. The offset signal is output to the drive control system, and the control system corrects the walking direction of the AGV through calculation to realize the navigation of the AGV.
Advantages of visual navigation: AGV positioning is accurate, the flexibility of visual navigation is better, it is easier to change or expand the path, the path laying is relatively simple, the guiding principle is also simple and reliable, easy to control communication, no interference to sound and light, and investment cost is relatively low. Laser navigation is also much lower, but slightly more expensive than tape navigation;
Disadvantages of visual navigation: The path also requires maintenance, but the maintenance is simpler and more convenient and the cost is lower. It is very sensitive to the contamination and mechanical wear of the ribbon, has high environmental requirements, poor guidance reliability, and is difficult to achieve precise positioning.
005------激光导航
激光导航原理：激光导航是在AGV行驶路径的周围安装位置精确的反射板，AGV通过发射激光束，同时采集由反射板反射的激光束，来确定其当前的位置和方向。
AGV的初始位置计算——AGV小车停止不动；激光扫描器至少可测得4条光束，即至少“看到”4块反射板；已知所有反射板的精确位置（X，Y）；
AGV的连续位置计算——根据运动模型估算小车的当前位置，根据估算的新位置关联反射板，根据关联的反射板修正自身位置，据此修正AGV下一步动作。
激光导航优点：AGV定位精确，地面无需其它定位设施；行驶路径可灵活改变；
激光导航缺点：由于控制复杂及激光技术昂贵投资成本较高，反射片与AGV激光传感器之间不能有障碍物，不适合空中有物流影响的场合。
005------Laser Navigation
Principle of laser navigation: Laser navigation is to install a reflector with a precise position around the AGV's driving path. The AGV determines its current position and direction by emitting a laser beam and collecting the laser beam reflected by the reflector at the same time.
The initial position calculation of the AGV - the AGV car is stationary; the laser scanner can measure at least 4 beams, that is, at least "see" 4 reflectors; the precise positions (X, Y) of all reflectors are known;
Continuous position calculation of AGV - estimate the current position of the car according to the motion model, associate the reflector according to the estimated new position, correct its own position according to the associated reflector, and correct the next action of the AGV accordingly.
Advantages of laser navigation: AGV positioning is accurate, no other positioning facilities are required on the ground; the driving path can be flexibly changed;
Disadvantages of laser navigation: Due to the complex control and high investment cost of laser technology, there should be no obstacles between the reflective sheet and the AGV laser sensor, which is not suitable for occasions where there are logistics effects in the air.
006-----RFID导航（电子标签）
在AGV车头部安装一个低频远距离RFID读卡系统，然后在轨道节点处固定一个电子标签，赋予每个电子标签一个ID号和定义，令AGV根据ID号的特定指令做出相对应的动作。
优点是无需铺线，结构简单,成本低,灵活性强，可随意改变路径，而且更容易实现,能准确定位。缺点对RFID硬件要求高。
006-----RFID Navigation (electronic label)
A low-frequency long-distance RFID card reader system is installed on the head of the AGV, and then an electronic tag is fixed at the track node, and each electronic tag is given an ID number and definition, so that the AGV can make corresponding actions according to the specific instructions of the ID number. .
The advantages are that there is no need to lay lines, the structure is simple, the cost is low, the flexibility is strong, the path can be changed at will, and it is easier to implement and can accurately locate. Disadvantages High requirements for RFID hardware.
007-----光电导航
光学导航在AGV的行驶路径上涂漆或粘贴色带，通过对摄像机采入的色带图象信号进行简单处理而实现导航。
优点：灵活性比较好，地面路线设置简单易行。
缺点：对色带的污染和机械磨损十分敏感，对环境要求过高，导航可靠性较差，且很难实现精确定位。
007-----Photoelectric Navigation
Optical navigation paints or sticks ribbons on the driving path of the AGV, and realizes navigation by simply processing the ribbon image signals collected by the camera.
Advantages: The flexibility is relatively good, and the ground route setting is simple and easy.
Disadvantages: It is very sensitive to the contamination and mechanical wear of the ribbon, the environmental requirements are too high, the navigation reliability is poor, and it is difficult to achieve precise positioning.
008-----直接坐标导引技术
用定位块将AGV的行驶区域分成若干坐标小区域，通过对小区域的计数实现导引，一般有光电式（将坐标小区域以两种颜色划分，通过光电器件计数）和电磁式（将坐标小区域以金属块或磁块划分，通过电磁感应器件计数）两种形式，其优点是可以实现路径的修改，导引的可靠性好，对环境无特别要求。缺点是地面测量安装复杂，工作量大，导引精度和定位精度较低，且无法满足复杂路径的要求。
008-----Direct Coordinate Guidance Technology
The AGV's driving area is divided into several small coordinate areas by the positioning block, and the guidance is realized by counting the small areas. Generally, there are photoelectric type (divide the small coordinate area into two colors and count by photoelectric devices) and electromagnetic type (the coordinate The small area is divided into metal blocks or magnetic blocks, and counted by electromagnetic induction devices. The disadvantage is that the ground measurement installation is complicated, the workload is large, the guidance accuracy and positioning accuracy are low, and it cannot meet the requirements of complex paths.
009----图象识别导引技术
对AGV行驶区域的环境进行图象识别，实现智能行驶，这是一种具有巨大潜力的导引技术，此项技术已被少数国家的军方采用，将其应用到AGV上还只停留在研究中，目前还未出现采用此类技术的实用型AGV。
可以想象，图象识别技术与激光导引技术相结合将会为自动化工程提供意想不到的可能，如导引的精确性和可靠性，行驶的安全性，智能化的记忆识别等都将更加完美。
009----Image Recognition Guidance Technology
Image recognition of the environment in the driving area of AGV to realize intelligent driving Among them, there is no practical AGV using such technology yet.
It is conceivable that the combination of image recognition technology and laser guidance technology will provide unexpected possibilities for automation engineering, such as the accuracy and reliability of guidance, driving safety, and intelligent memory recognition will be more perfect. .
对几种常用的导引方式做简单的比较如下图：
A simple comparison of several commonly used guidance methods is as follows:
对国外十几家AGV公司27个系列产品所采用的主要导向技术的统计结果显示，电磁感应、惯性导航、光学检测、位置设定、激光检测、图像识别所占比例分别为32.3%、27.8%、16.9%、13.8%、7.69%和1.54%。其中，电磁感应导向技术的应用比例最高，这表明该项技术已经十分成熟。而机器视觉导向技术应用较少，说明该项技术还需要深入研究和不断完善。另外，自主导航技术仍然处在研究阶段，还有许多技术问题需要解决。
The statistical results of the main guidance technologies adopted by 27 series of products of more than a dozen foreign AGV companies show that the proportions of electromagnetic induction, inertial navigation, optical detection, position setting, laser detection and image recognition are 32.3% and 27.8% respectively. , 16.9%, 13.8%, 7.69% and 1.54%. Among them, the application ratio of electromagnetic induction guidance technology is the highest, which shows that this technology is very mature. However, the application of machine vision-oriented technology is less, indicating that this technology still needs in-depth research and continuous improvement. In addition, autonomous navigation technology is still in the research stage, and there are still many technical problems to be solved.
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