一、 什么是AGV
AGV ( Automatic Guided Vehicle)即自动导引小车，它是一种以电池为动力，装有非接触导向装置和独立寻址系统的无人驾驶自动化搬运车辆。它的主要特征表现为具有小车编程、停车选择装置、安全保护以及各种移载功能，并能在计算机的监控下，按指令自主驾驶，自动沿着规定的导引路径行驶，到达指定地点，完成一系列作业任务。其系统技术和产品已经成为柔性生产线、柔性装配线、仓储物流自动化系统的重要设备和技术。
通常多台AGV与控制计算机（控制台），导航设备，充电设备以及周边附属设备组成AGV系统，其主要工作原理表现为在控制计算机的监控及任务调度下，AGV可以准确的按照规定的路径行走，到达任务指定位置后，完成一系列的作业任务，控制计算机可根据AGV自身电量决定是否到充电区进行自动充电。
AGV自动导引车是融合了电子技术和机械技术的典型机电一体化产品。随着各种AGV新产品不断开发，AGV自动导引车技术不断发展，先进的传感器、电子电力器件、光电器件、计算机、控制技术、电池技术、机构学等高新技术成果逐渐地集成到AGV新产品及其系统技术中去，使它的技术附加值越来越大。
1. What is AGV
AGV (Automatic Guided Vehicle) is an automatic guided vehicle, which is an unmanned automated handling vehicle powered by a battery, equipped with a non-contact guiding device and an independent addressing system. Its main features are that it has car programming, parking selection device, safety protection and various transfer functions, and can drive autonomously according to instructions under the monitoring of the computer, automatically drive along the specified guide path, and reach the designated place. Complete a series of homework tasks. Its system technology and products have become important equipment and technologies for flexible production lines, flexible assembly lines, and warehousing and logistics automation systems.
Usually multiple AGVs and control computers (console), navigation equipment, charging equipment and peripheral auxiliary equipment form an AGV system. Its main working principle is that under the monitoring and task scheduling of the control computer, the AGV can accurately follow the specified path. , After reaching the designated position of the task, a series of tasks are completed, and the control computer can decide whether to go to the charging area for automatic charging according to the power of the AGV itself.
二、AGV的基本结构及典型部件
2. The Basic Structure and Typical Components of AGV
AGV的基本结构 The Basic Structure of AGV
1) 车体：由车架和相应的机械装置所组成，是AGV的基础部分，是其他总成部件的安装基础。
2) 蓄电和充电装置：AGV常采用24V和48V直流蓄电池为动力。蓄电池供电一般应保持连续工作8小时以上的需要。
3) 驱动装置：由车轮、减速器、制动器、驱动电机及速度控制器等部分组成，是控制AGV正常运行的装置。其运行指令由计算机或人工控制齐发出，运行速度、方向、制动的调节分别由计算机控制。为了安全，在断电时制动装置能靠机械实现制动。
4) 导向装置：接受导引系统的方向信息，通过转向装置来实现转向动作。
5) 车上控制器：接受控制中心的指令并执行相应的指令，同时将本身的状态（如位置、速度等）及时反馈给控制中心。
6) 通信装置：实现AGV与地面控制站及地面监控设备之间的信息交换。
7) 安全保护装置：包括对AGV本身的保护、对人或其他设备的保护等方面。
8) 移载装置：与所搬运货物直接接触，实现货物转载的装置。
9) 信息传输与处理装置：对AGV进行监控，监控AGV所处的地面状态，并与地面控制站实时进行信息传递。
1) Car body: It is composed of the frame and the corresponding mechanical devices. It is the basic part of the AGV and the installation basis of other assembly components.
2) Power storage and charging device: AGVs often use 24V and 48V DC batteries as power. The battery power supply should generally be maintained for more than 8 hours of continuous work.
3) Driving device: It is composed of wheels, reducer, brake, driving motor and speed controller. It is the device that controls the normal operation of AGV. Its running instructions are issued by computer or manual control, and the adjustment of running speed, direction and braking is controlled by computer respectively. For safety, the braking device can be mechanically braked in the event of a power failure.
4) Guiding device: receive the direction information of the guiding system, and realize the steering action through the steering device.
5) On-board controller: accepts the instructions of the control center and executes the corresponding instructions, and at the same time feeds back its own status (such as position, speed, etc.) to the control center in time.
6) Communication device: realize information exchange between AGV and ground control station and ground monitoring equipment.
7) Safety protection device: including the protection of the AGV itself, the protection of people or other equipment, etc.
8) Transfer device: a device that directly contacts with the goods to be carried to realize the transfer of goods.
9) Information transmission and processing device: monitor the AGV, monitor the ground state where the AGV is located, and transmit information in real time with the ground control station.
AGV的典型部件 Typical Parts of AGV
AGV模块组成 AGV Module Composition
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