背负式AGV搬运小车是针对自动化生产线和自动化物流而开发的系列产品，根据现在工业生产物料工业紧张的需求而研发的温柔搬运智能小车，专为工业物料搬运而生的搬运设备，轻松运载车间物料，把货物装载在背负式AGV小车上，可实现货物的轻松搬运，多台AGV无人搬运车配合使用时可组成装配线，代替流水线，形成柔性生产系统。利用磁条导引的作用，AGV小车通过识别地标选择目的地，AGV小车可以根据设定的站点随意放置物料。在车体上置放料架或周转箱进行往复运动，通过磁条导引识别地标，进行选择性站点停靠。此车亦可做单向AGV使用，最小转弯半径300mm,非常适用于空间不足且搬运频繁的场地使用。
The Knapsack AGV Handling Trolley is a series of products developed for automated production lines and automated logistics. It is a gentle handling intelligent trolley developed according to the tight needs of the current industrial production material industry. It is specially designed for industrial material handling. It is a handling equipment that can easily carry workshop materials , Load the goods on the knapsack AGV trolley, which can realize the easy handling of the goods. When multiple AGV unmanned trucks are used together, they can form an assembly line instead of an assembly line to form a flexible production system. Using the role of magnetic strip guidance, the AGV trolley selects the destination by identifying the landmark, and the AGV trolley can place materials at will according to the set site. Place a material rack or a turnover box on the car body for reciprocating motion, identify landmarks through magnetic strip guidance, and make selective stops. This car can also be used as a one-way AGV, with a minimum turning radius of 300mm, which is very suitable for use in venues with insufficient space and frequent handling.
小车采用两后轮独立驱动差速转向，两前轮为万向轮的四轮结构形式。步进电机经减速器后通过驱动轮提供驱动力，当两轮运动速度不同时就可以实现差速转向。
The trolley adopts a four-wheel structure in which the two rear wheels independently drive differential steering, and the two front wheels are universal wheels. The stepper motor provides driving force through the drive wheel after the reducer, and differential steering can be realized when the two wheels move at different speeds.
AGV自动导引车由车体系统、动力系统、驱动装置、转向装置、精确停车装置、车载控制系统、行走系统、安全与辅助系统、运动控制器、通信装置、移载系统、和导航系统等组成。
AGV automatic guided vehicle consists of body system, power system, drive device, steering device, precise parking device, vehicle control system, walking system, safety and auxiliary system, motion controller, communication device, transfer system, and navigation system, etc. composition.
1、车载控制系统
车载控制系统是AGV的核心部分，一般由计算机控制系统、导航系统、通讯系统、操作面板及电机驱动器构成.计算机控制系统可采用PLC、单片机及工控机等。导航系统根据导航方式不同可分为电磁导航、磁条导航、激光导航和惯性导航等不同形式.通过导航系统能使AGV确定其自身位置，并能沿正确的路径行走。通讯系统是AGV和控制台之间交换信息和命令的桥梁，由于无线电通讯具有不受障碍物阻挡的特点，一般在控制台和AGV之间采用无线电通讯，而在AGV和移载设备之间为了定位精确采用光通讯.操作面板的功能主要是在AGV调试时输入指令，并显示有关信息，通过RS232接口和计算机相连接。AGV上的能源为蓄电池，所以AGV的动作执行元件一般采用直流电动机、步进电动机和直流伺服电机等。
1. Vehicle control system
The vehicle-mounted control system is the core part of the AGV. It is generally composed of a computer control system, a navigation system, a communication system, an operation panel and a motor driver. The computer control system can use PLC, single-chip microcomputer and industrial computer. The navigation system can be divided into different forms such as electromagnetic navigation, magnetic stripe navigation, laser navigation and inertial navigation according to different navigation methods. Through the navigation system, the AGV can determine its own position and walk along the correct path. The communication system is a bridge for exchanging information and commands between the AGV and the console. Since radio communication is not blocked by obstacles, radio communication is generally used between the console and the AGV, and between the AGV and the transfer equipment in order to Optical communication is used for accurate positioning. The function of the operation panel is mainly to input commands during AGV debugging, display relevant information, and connect with the computer through the RS232 interface. The energy on the AGV is the battery, so the action elements of the AGV generally use DC motors, stepper motors and DC servo motors.
2、车体系统
它包括底盘、车架、壳体和控制器、蓄电池安装架等，是AGV的躯体，具有电动车辆的结构特征。
①车体 包括底盘、车架、壳体和控制室和相应的机械电气结构如减速箱、电机、车轮等所组成，是AGV自动导引车的基础部分。具有电动车辆的结构特征和无人驾驶自动作业的特殊要求。车架常用钢构件焊接而成，重心越低越有利于抗倾翻。板上常安置移载装置、电控系统、按键、显示屏等。
②车架 车架是整个AGV自动导引车的机体部分，主要用于安装轮子、光感应器、伺服电机和减速器。车架上面安装伺服电机驱动器、PCD板和电瓶。对于车架的设计，要有足够的强度和硬度要求，故车架材料选用铸造铝合金，牌号为6061。其中6061质量比较轻，焊接性好。
③车轮 车轮采用实心橡胶轮胎。车体后面两主动轮为固定式驱动轮，与轮毂式电机相连。前面两个随动轮为旋转式随动轮，起支承和平衡小车的作用。
2. Body system
It includes chassis, frame, shell and controller, battery mounting frame, etc. It is the body of AGV and has the structural characteristics of electric vehicles.
①The car body consists of the chassis, frame, shell and control room and the corresponding mechanical and electrical structures such as gearboxes, motors, wheels, etc. It is the basic part of the AGV automatic guided vehicle. It has the structural characteristics of electric vehicles and special requirements for unmanned automatic operation. The frame is usually welded with steel components, and the lower the center of gravity is, the more conducive it is to resist overturning. Transfer devices, electronic control systems, buttons, display screens, etc. are often placed on the board.
② Frame The frame is the body part of the entire AGV automatic guided vehicle, which is mainly used to install wheels, light sensors, servo motors and reducers. The servo motor driver, PCD board and battery are installed on the frame. For the design of the frame, there must be sufficient strength and hardness requirements, so the frame material is cast aluminum alloy, and the grade is 6061. Among them, 6061 is relatively light in weight and has good weldability.
③ Wheels The wheels are made of solid rubber tires. The two driving wheels at the rear of the car body are fixed driving wheels, which are connected with the hub-type motor. The front two follower wheels are rotary follower wheels, which play the role of supporting and balancing the trolley.
3、行走系统
它一般由驱动轮、从动轮和转向机构组成.形式有三轮、四轮、六轮及多轮等，三轮结构一般采用前轮转向和驱动，四轮或六轮一般采用双轮驱动、差速转向或独立转向方式。
3. Walking system
It generally consists of a driving wheel, a driven wheel and a steering mechanism. There are three-wheel, four-wheel, six-wheel and multi-wheel, etc. The three-wheel structure generally adopts the front wheel steering and driving, and the four-wheel or six-wheel generally adopts two-wheel drive, differential speed Steering or independent steering.
4、移载系统
它是用来完成作业任务的执行机构，在不同的任务和场地环境下，可以选用不同的移载系统，常用的有滚道式、叉车式、机械手式等。
4. Transfer system
It is an executive mechanism used to complete tasks. Under different tasks and site environments, different transfer systems can be selected. Commonly used are raceway type, forklift type, manipulator type, etc.
5、安全与辅助系统
为了避免AGV在系统出故障或有人员经过AGV工作路线时出现碰撞，AGV一般都带有障碍物探测及避撞、警音、警视、紧急停止等装置。另外，还有自动充电等辅助装置。
5. Safety and auxiliary systems
In order to avoid the collision of the AGV when the system fails or when people pass the AGV working route, the AGV generally has devices such as obstacle detection and collision avoidance, alarm sound, police vision, and emergency stop. In addition, there are auxiliary devices such as automatic charging.
6、控制台
控制台可以采用普通的IBM-PC机，如条件恶劣时，也可采用工业控制计算机，控制台通过计算机网络接受主控计算机下达的AGV输送任务，通过无线通讯系统实时采集各AGV的状态信息。根据需求情况和当前各AGV运行情况，将调度命令传递给选定的AGV。AGV完成一次运输任务后在待命站等待下次任务。如何高效地、快速地进行多任务和多AGV的调度，以及复杂地形的避碰等一系列问题都需要软件来完成。由于整个系统中各种智能设备都有各自的属性，因此用面向对象设计的C++语言来编程是一个很好的选择。在编程时要注意的是AGV系统的实时性较强，为了加快控制台和AGV之间的无线通讯以及在此基础上的AGV调度，编程中最好采用多线程的模式，使通讯和调度等各功能模块互不影响，加快系统速度。
6. Console
The console can use an ordinary IBM-PC machine, or an industrial control computer when the conditions are bad. The console accepts the AGV conveying task issued by the main control computer through the computer network, and collects the status information of each AGV in real time through the wireless communication system. According to the demand and the current operation of each AGV, the scheduling command is delivered to the selected AGV. After the AGV completes a transportation task, it waits for the next task at the standby station. How to efficiently and quickly schedule multi-tasking and multi-AGV, as well as a series of problems such as collision avoidance in complex terrain, need software to complete. Since all kinds of smart devices in the whole system have their own properties, it is a good choice to use the object-oriented design C++ language to program. When programming, it should be noted that the AGV system has strong real-time performance. In order to speed up the wireless communication between the console and the AGV and the AGV scheduling based on this, it is best to use a multi-threaded mode in programming to enable communication and scheduling, etc. Each functional module does not affect each other, which speeds up the system.
7、通讯系统
通讯系统一方面接受监控系统的命令，及时、准确地传送给其它各相应的子系统，完成监控系统所指定的动作:另一方面又接收各子系统的反馈信息，回送给监控系统，作为监控系统协调、管理、控制的依据。
由于AGV位置不固定，且整个系统中设备较多，控制台和AGV间的通讯最适宜用无线通讯的方式。控制台和各AGV就组成了一点对多点的无线局域网，在设计过程中要注意两个问题:
①无线电的调制问题
无线电通讯中，信号调制可以用调幅和调频两种方式。在系统的工作环境中，电磁干扰较严重，调幅方式的信号频率范围大，易受干扰，而调频信号频率范围很窄，很难受干扰，所以应优先考虑调频方式。而且调幅方式的波特率比较低，一般都小于3200Kbit/s，调频的波特率可以达到9600K bit/s以上。
②通讯协议问题
在通讯中，通讯的协议是一个重要问题。协议的制定要遵从既简洁又可靠的原则。简洁有效的协议可以减少控制器处理信号的时间，提高系统运行速度。
7. Communication system
On the one hand, the communication system accepts the command of the monitoring system and transmits it to other corresponding subsystems in a timely and accurate manner to complete the actions specified by the monitoring system; on the other hand, it receives the feedback information of each subsystem and sends it back to the monitoring system as a monitoring The basis for system coordination, management and control.
Since the position of the AGV is not fixed and there are many devices in the whole system, the communication between the console and the AGV is most suitable for wireless communication. The console and each AGV form a point-to-multipoint wireless local area network. Two issues should be paid attention to in the design process:
①The modulation problem of radio
In radio communication, signal modulation can be done in two ways: amplitude modulation and frequency modulation. In the working environment of the system, the electromagnetic interference is serious, the signal frequency range of the AM mode is large, and it is easy to be interfered, while the frequency range of the FM signal is very narrow, so it is difficult to be interfered, so the frequency modulation mode should be given priority. Moreover, the baud rate of AM mode is relatively low, generally less than 3200Kbit/s, and the baud rate of FM can reach more than 9600K bit/s.
②The problem of communication protocol
In communication, the communication protocol is an important issue. The formulation of the protocol should follow the principles of simplicity and reliability. A concise and effective protocol can reduce the time for the controller to process signals and increase the speed of the system.
8、导航系统
AGV导航系统的功能是保证AGV小车沿正确路径行走，并保证一定行走精度。AGV的制导方式按有无导引路线分为三种:一是有固定路线的方式:二是半固定路线的方式，包括标记跟踪方式和磁力制导方式;三是无路线方式，包括地面帮助制导方式、用地图上的路线指令制导方式和在地图上搜索最短路径制导方式。
固定路线的导引方式有电磁制导方式、光学控制带制导方式、激光制导方式和超声波制导方式。
①电磁制导方式
②光学控制带导引方式
③激光制导方式
④超声波制导方式
8. Navigation system
The function of the AGV navigation system is to ensure that the AGV trolley walks along the correct path and to ensure a certain walking accuracy. The guidance methods of AGV are divided into three types according to the presence or absence of guided routes: one is the method with a fixed route; the other is the semi-fixed route method, including the marking tracking method and the magnetic guidance method; the third is the route-free method, including ground-assisted guidance. method, use the route instruction guidance method on the map and search the shortest path guidance method on the map.
The guidance methods of the fixed route include electromagnetic guidance, optical control belt guidance, laser guidance and ultrasonic guidance.
①Electromagnetic guidance method
②Optical control belt guide method
③Laser guidance method
④Ultrasonic guidance method
9、载荷传送装置
AGV的载荷传送装置为一平板，其作用为运输箱体类零件到指定工位。主要用来装载箱体类零件，运送物料等。
9. Load transfer device
The load transfer device of the AGV is a flat plate, which is used to transport the box-like parts to the designated station. Mainly used to load box parts, transport materials, etc.
10、驱动装置
驱动AGV自动导引车运行并具有速度控制和制动能力的子系统。主要包括电机、减速器、驱动器、控制与驱动电路等。驱动系统一般为闭环方式与开环方式，前者以伺服直流电机为主，后者以步进电机为主。
10. Drive device
The subsystem that drives the AGV to operate and has speed control and braking capabilities. It mainly includes motors, reducers, drivers, control and drive circuits, etc. The drive system is generally closed-loop and open-loop. The former is mainly based on servo DC motors, and the latter is mainly based on stepper motors.
11、动力系统
蓄电池是目前AGV自动导引车使用的唯一电源。用来驱动车体、车上附属装置，如控制、通讯、安全等。 AGV自动导引车周边设施使用一般工业电力，根据用途而有不同要求。如充电间频率发生器、自动门、计算机室、通讯装置以及工作环境所需装置的动力等。根据车型、运行及载荷量而采用不同功率的蓄电他，一般都是蓄电池组合体。常用直流电压为12伏、24伏、48伏及72伏。
11. Power system
The battery is the only power source currently used by the AGV automatic guided vehicle. It is used to drive the car body and accessories on the car, such as control, communication, security, etc. The surrounding facilities of the AGV automatic guided vehicle use general industrial power, and have different requirements according to the purpose. Such as frequency generators in charging rooms, automatic doors, computer rooms, communication devices, and the power of devices required in the working environment. According to the model, operation and load, different power storage devices are used, and they are generally battery assemblies. Common DC voltages are 12 volts, 24 volts, 48 volts and 72 volts.
AGV是智能化的移动机器人，也是现代工业自动化物流系统的主要设备。
AGV is an intelligent mobile robot and the main equipment of modern industrial automation logistics system.
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