激光导引AGV系统 Laser Guided AGV System

激光导引AGV系统

Laser Guided AGV System

激光导引AGV系统工作原理 
AGV在其运行区域内，规定有通信区和非通信区。在通信区域内，AGV通过其车载通信装置与系统控制计算机通信，报告其位置及状态，并接受工作指令。在非通信区域内，AGV按照小车控制器中的预定程序独立行驶，不与系统控制计算机发生联系。
其工作过程为：当接收到货物搬运指令后，小车控制器就根据所存储的运行地图和AGV当前位置及行驶方向进行计算、分析，选择最佳的行驶路线，通过驱动放大器自动控制AGV的行驶和转向，到达装载货物目标点准确停位后，移载机构动作，完成装货过程。然后AGV起动，驶向目标卸货点，准确停位后，移载机构动作，完成卸货过程，并向控制计算机报告其位置和状态。随之AGV起动，驶向待命区域。接到新的指令后再作下一次搬运。

AGV行驶过程中，车上的激光扫描头不断地扫描周围环境，当扫描到行驶路径周围预先垂直设定好的反射板时，即"看见"了"路标"。只要扫描到三个或三个以上的反射板，即可根据它们的坐标值，以及各块反光板相对于车体纵向轴的方位角，由定位计算机算出AGV 当前在全局坐标系中的X、Y坐标，和当前行驶方向与该坐标系X轴的夹角，实现准确定位和定向。 

Working Principle of Laser Guided AGV System

In its operating area, the AGV has a communication area and a non-communication area. In the communication area, the AGV communicates with the system control computer through its in-vehicle communication device, reports its position and status, and accepts work instructions. In the non-communication area, the AGV drives independently according to the predetermined program in the trolley controller, and does not communicate with the system control computer.

The working process is as follows: after receiving the cargo handling instruction, the trolley controller calculates and analyzes according to the stored operation map and the current position and driving direction of the AGV, selects the best driving route, and automatically controls the driving of the AGV through the drive amplifier. After reaching the accurate stop position of the loading target point, the transfer mechanism moves to complete the loading process. Then the AGV starts, drives to the target unloading point, and stops accurately, the transfer mechanism moves, completes the unloading process, and reports its position and status to the control computer. Then the AGV starts and drives to the standby area. After receiving a new order, do the next transportation.

During the driving process of the AGV, the laser scanning head on the vehicle continuously scans the surrounding environment, and when it scans the pre-set vertical reflector around the driving path, it "sees" the "road sign". As long as three or more reflectors are scanned, the AGV's current position in the global coordinate system can be calculated by the positioning computer based on their coordinate values and the azimuth angle of each reflector relative to the longitudinal axis of the vehicle body. The Y coordinate, and the angle between the current driving direction and the X axis of the coordinate system, realize accurate positioning and orientation.

激光导引AGV系统系统功能
1 调度管理
1.1任务管理：对上位调度计算机下达的任务根据时间先后和任务优先级进行调度。
1.2 车辆管理：根据当时AGV的位置和状态，选择距目标点最近（含各路段加权值计算结果）的空闲小车执行任务。
1.3 交通管理：对管辖内的所有AGV能实进控制和管理。AGV严格遵循规划路径行驶，彼此独立行驶和作业，能相互让车。
2 通信传输
2.1 通过网络与上位调度计算机保持联系，接受任务调度，报告执行结果。
2.2 通过无线电与各AGV保持通信联系，指挥车辆作业。
2.3 通过无线电通信，直接修改或更新每辆AGV的控制程序。
2.4 具有远程网络通信传输功能。
3 控制管理
3.1 检查车辆执行命令的过程。
3.2 查询车辆状态。
3.3查询车辆交通管理信息，各点、段的占用信息。
3.4 查询数据采集系统信号。
3.5 查询全局参数的数据。
3.6解除车辆阻塞，查询各点的占用信息。
3.7 查询路径的逻辑连接（通过各点间权值检测），显示、清空、重装参数表。
3.8 检测无线电通信状况。
3.9 查询与上位调度计算机的网络连接情况。
3.10 查询车辆中途停止信息。
4 图形监控
4.1 显示系统范围路径图，包括各个点和路段。
4.2显示系统范围内每辆AGV的位置和状态。常用状态有：正常状态、等待充电、手动状态、急停状态、路径阻塞、小车丢失、小车停止、障碍物阻塞等。显示各作业点、充电点的占用信息。
4.3 可建立对图形监控有不同操作权限的用户或用户组。
4.4 可产生事件日志等报表。
4.5 可根据定义缩放监控图形，可根据需要关闭层。
4.6 可通过定义车辆状态显示其信息。
4.7 查看和设置输入和输出的状态。
4.8 查看命令缓冲区中的命令列表，了解AGV具体的装卸货地点。命令列表会根据收到的状态信息不断更新，可删除某一项命令或改变局部参数。
4.9 查看车辆的PLC状态，跟踪指定车辆，取消不在系统的车辆，释放车辆之间的阻塞。
4.10 系统具有事件管理功能。可报告意外事件，包括AGV等待充电时间过长；车辆阻塞时间过长；失去导航时间过长；任务被取消；装卸货站台号无效或错误等。可利用事件过滤器，只显示所需查询的事件类型或时间段内发生的事件。
4.11 可在图形监控中直接下达任务（应急用）。
5 模式选择
5.1 可根据生产实际需要设置多种管理模式。如集中出库、集中返库、正常工作和休息等。不同的模式具有不同的优先调度功能。
5.2 可根据生产条件和AGV特性，选择设置不同的优先级。如充电优先、时间顺序优先、距离优先、品种优先等。
6变更路径及设定

能够根据用户要求快速变更运行路径及设定，包括路径和点坐标移动、修改、增删、定义内容的修改等。
7 充电控制
7.1 AGV具有智能化控制充电功能。当小车电池容量消耗到一定值时会自动发出请求信息。系统将即时安排到充电站进行充电。并在未完成工作任务之前，遵循任务优先原则。如没有空闲充电站，会排队等待，车辆不会接受新的任务

7.2 系统通过信号及时更新充电的信息，能控制AGV停在指定充电台位，吸合隔离开前，触发充电。充电完成后，指挥小车断开隔离开关，投入工作。整个过程完全自动化。

Laser-guided AGV system system function

1. Scheduling Management

1.1 Task management: The tasks assigned by the upper scheduling computer are scheduled according to the time sequence and task priority.

1.2 Vehicle management: According to the position and state of the AGV at that time, select the idle car closest to the target point (including the calculation result of the weighted value of each road section) to perform the task.

1.3 Traffic management: Control and manage all AGVs within the jurisdiction. AGVs strictly follow the planned path, drive and operate independently of each other, and can yield vehicles to each other.

2. Communication Transmission

2.1 Keep in touch with the upper scheduling computer through the network, accept task scheduling, and report the execution results.

2.2 Maintain communication with each AGV through radio and direct vehicle operations.

2.3 Directly modify or update the control program of each AGV through radio communication.

2.4 It has the function of remote network communication transmission.

3. Control Management

3.1 Check the process of the vehicle executing the command.

3.2 Query vehicle status.

3.3 Query vehicle traffic management information, occupancy information of each point and segment.

3.4 Query data acquisition system signals.

3.5 Query data of global parameters.

3.6 Unblock the vehicle and check the occupancy information of each point.

3.7 Query the logical connection of the path (through the weight detection between each point), display, clear, and reload the parameter table.

3.8 Detect radio communication conditions.

3.9 Query the network connection with the upper scheduling computer.

3.10 Query the information about vehicle stop midway.

4. Graphical Monitoring

4.1 Display a system-wide path map, including individual points and segments.

4.2 Display the position and status of each AGV within the system. Common states are: normal state, waiting for charging, manual state, emergency stop state, path blockage, car lost, car stop, obstacle blocking, etc. Displays the occupancy information of each operating point and charging point.

4.3 Users or user groups with different operation rights for graphic monitoring can be established.

4.4 Reports such as event logs can be generated.

4.5 The monitoring graph can be scaled according to the definition, and the layer can be closed as needed.

4.6 It can display its information by defining the state of the vehicle.

4.7 View and set the status of input and output.

4.8 Check the command list in the command buffer to understand the specific loading and unloading locations of the AGV. The command list will be continuously updated according to the received status information, and a certain command can be deleted or local parameters can be changed.

4.9 Check the PLC status of the vehicle, track the specified vehicle, cancel the vehicle that is not in the system, and release the blockage between vehicles.

4.10 The system has event management function. Unexpected events can be reported, including AGVs waiting too long to charge; vehicles blocked for too long; lost navigation for too long; missions cancelled; invalid or wrong loading and unloading station numbers, etc. Event filters can be used to display only the event types or events that occurred within the time period that you want to query.

4.11 The task can be directly issued in the graphic monitoring (for emergency use).

5. Mode Selection

5.1 A variety of management modes can be set according to the actual needs of production. Such as centralized delivery, centralized return, normal work and rest, etc. Different modes have different priority scheduling functions.

5.2 Different priorities can be set according to production conditions and AGV characteristics. Such as charging priority, time priority, distance priority, variety priority, etc.

6. Change Paths and Settings

It can quickly change the running path and settings according to user requirements, including path and point coordinate movement, modification, addition and deletion, modification of definition content, etc.

7. Charge Control

7.1 AGV has intelligent control charging function. When the battery capacity of the car is consumed to a certain value, the request information will be sent automatically. The system will instantly schedule to a charging station for charging. And before completing the work task, follow the principle of task priority. If there is no free charging station, it will wait in line and the vehicle will not accept new tasks

7.2 The system updates the charging information in time through the signal, and can control the AGV to stop at the designated charging station, and trigger charging before the pull-in and isolation. After the charging is completed, the command trolley disconnects the isolation switch and starts working. The entire process is fully automated.

激光导引AGV系统突出特点
1 先进性
使用激光扫描器定位，精度很高，一般≤±5mm;
在布局描述方面，计算机支持程度更高；
可与小车连续通信（无线电或红处）；
有无线反馈控制性能；
对干扰（频率影响、断线或失线等）不敏感；
小车控制器采用积木化结构，全部参数软件定义，具有强大的PLC支持。

2 适应性
在现有工厂设备基础上作新的安装可以和生产同步进行；
设备的重组或扩充对停产和生产的影响小；
不依赖地板表面（金属板、导轨、木地板等）；
具有更复杂的运行路线；
除反射板之外，不用其它辅助定位装置；
可以快速方便地改变运行路线。
3 经济性
无需掘地埋线；
无需投资建造高频功率放大器；
反射板成本低，尺寸小，数量有限，安装简便。

Outstanding Features of Laser-Guided AGV Systems

1. Advancement

Using laser scanner positioning, high precision, generally ≤±5mm;

In terms of layout description, the computer support is higher;

Can communicate with the car continuously (radio or red);

With wireless feedback control performance;

Insensitive to interference (frequency influence, disconnection or loss of line, etc.);

The trolley controller adopts a building block structure, all parameters are defined by software, and it has powerful PLC support.

2. Adaptability

New installations on the basis of existing plant equipment can be carried out simultaneously with production;

The reorganization or expansion of equipment has little impact on shutdown and production;

Does not depend on the floor surface (sheet metal, rails, wood floors, etc.);

Has a more complex running route;

Except for the reflector, no other auxiliary positioning devices are used;

The running route can be changed quickly and easily.

3. Economical

No need to dig underground;

No need to invest in building high frequency power amplifiers;

The reflector has low cost, small size, limited quantity and easy installation.

小结
1 激光导引AGV系统充分发挥了激光技术的优势，使AGV行走过程从传统的分段（通常数米为一段）盲走后进行位置校正上升到连续（50ms/次）计算，即时校正坐标位置。因此，定位精度高，指标先进。

2 系统功能强大，实时对AGV进行动态管理与监控，前台响应快捷无误，后台数据详尽准确。显示了系统在管理思想、控制手段、现场经验等方面的周密考虑。 

3 在导引区域内，路径修改、增删、重新规划、定义均可以快速地在计算机上完成，使用户在调整生产设备，重组生产结构，技术改造和更新等方面无后顾之忧。

4 激光导引AGV的路径规划灵活性非传统AGV所能及，对于狭窄通道、巷道、纵横交错的行驶路径更突出其优势。

5 激光导引AGV系统的数据管理是生产物流自动化基础信息网的重要组成部分，为今后发展信息自动化管理系统创造了有利条件。

Summary

1 The laser-guided AGV system gives full play to the advantages of laser technology, making the AGV walking process from the traditional segmented (usually several meters for a segment) blind walking after position correction to continuous (50ms/time) calculation, and the coordinate position is corrected in real time . Therefore, the positioning accuracy is high and the indicators are advanced.

2 The system has powerful functions, which can dynamically manage and monitor AGVs in real time. The front desk responds quickly and correctly, and the background data is detailed and accurate. It shows the careful consideration of the system in terms of management ideas, control methods, and field experience.

3 In the guide area, path modification, addition and deletion, re-planning, and definition can be quickly completed on the computer, so that users have no worries in adjusting production equipment, reorganizing production structure, technical transformation and updating.

4 The path planning flexibility of laser-guided AGVs is beyond the reach of traditional AGVs, and its advantages are more prominent for narrow passages, roadways, and criss-crossing driving paths.

5 The data management of the laser-guided AGV system is an important part of the basic information network of production logistics automation, which creates favorable conditions for the development of information automation management system in the future.