AGV作为轮式移动机器人（WMR-Wheeled Mobile Robot）的一个分支，自动导引是其主要的特征，也是企业在AGV选型是需要关注的一大问题。随着各类技术的发展，AGV的导引技术也不断提升。20世纪70年代，基本的导引技术是靠感应埋在地下的导线产生的电磁频率，通过名为“地面控制器”的设备打开或关闭导线中的电磁频率，从而指引AGV沿着预定的路径行驶。20世纪80年代末期，无线式导引技术被运用到AGV系统中，例如利用激光和惯性进行导引，这样提高了AGV系统的灵活性和准确性。当需要修改路径时，也不必改动地面或中断生产。这些导引方式的引入，使得导引方式更加多样化了。
AGV is a branch of wheeled mobile robot, and automatic guidance is its main feature, and it is also a major issue that enterprises need to pay attention to in AGV selection. With the development of various technologies, the guidance technology of AGVs has also been continuously improved. In the 1970s, basic guidance technology was based on sensing the electromagnetic frequencies generated by wires buried in the ground, and turning the electromagnetic frequencies in the wires on or off through a device called a "ground controller" to guide the AGV along a predetermined path. drive. In the late 1980s, wireless guidance technology was applied to the AGV system, such as the use of laser and inertial guidance, which improved the flexibility and accuracy of the AGV system. When the path needs to be modified, there is no need to change the ground or interrupt production. The introduction of these guiding methods makes the guiding methods more diverse.
目前，常用的导引方式有：电磁导引、磁带导引、色带导引、激光导引、惯性导引、视觉导引、GPS导引、坐标导引等等。多样的导引方式使企业在选择AGV产品时往往无从下手。
At present, the commonly used guidance methods are: electromagnetic guidance, tape guidance, ribbon guidance, laser guidance, inertial guidance, visual guidance, GPS guidance, coordinate guidance and so on. Various guidance methods make it difficult for companies to start when choosing AGV products.
要选择正确的导引技术，企业需要先了解各类导引技术的原理及特点。虽然AGV的导引技术多种多样，但究其本质，可分为“固定路径导引”和“自由路径导引”两大类。“固定路径导引”方式的AGV只是简单地沿着固定的物理线路行驶（如电磁导引、磁带导引、色带导引等），AGV上的导引传感器通过测量AGV与理论路径（电线、磁带、色带等）的偏移量控制AGV的运行方向；而“自由路径导引”的AGV能够根据导航及路径规划信息，自动选择预设的“逻辑线路”行驶（如激光导航、惯性导航等），通过这种方式AGV导航传感器得到的是间接信号，如，激光导航通过激光扫描器测出反射板的夹角和距离；惯性导航通过陀螺仪测出角加速度并配合地面标签位置。目前集中主流的AGV导引技术原理及特点如下：
To choose the correct guidance technology, enterprises need to understand the principles and characteristics of various guidance technologies. Although there are various AGV guidance technologies, their essence can be divided into two categories: "fixed path guidance" and "free path guidance". The AGV in the "fixed path guidance" mode simply drives along a fixed physical line (such as electromagnetic guidance, tape guidance, ribbon guidance, etc.), and the guidance sensor on the AGV measures the AGV and the theoretical path (wire The offset of the AGV, tape, ribbon, etc.) controls the running direction of the AGV; and the AGV with "free path guidance" can automatically select a preset "logical line" to drive (such as laser navigation, inertial Navigation, etc.), in this way, the AGV navigation sensor obtains indirect signals. For example, laser navigation measures the angle and distance of the reflector through a laser scanner; inertial navigation measures angular acceleration through a gyroscope and matches the position of the ground label. At present, the principles and characteristics of the mainstream AGV guidance technology are as follows:
电磁导引
电磁导引是一种较为传统的导引方式，通过在AGV的行驶路径上埋设金属线，并在金属线上加载电流产生导引频率，AGV通过对导引频率的识别和跟踪，确定运行路线。电磁导引的优点是导引线隐蔽，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，投资成本低；缺点是不易扩展或改变路径，对于复杂路径局限性大。
Electromagnetic Guidance
Electromagnetic guidance is a more traditional guidance method. By burying a metal wire on the driving path of the AGV and loading a current on the metal wire to generate a guiding frequency, the AGV determines the running route by identifying and tracking the guiding frequency. . The advantage of electromagnetic guidance is that the guide wire is hidden, 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 low investment cost; the disadvantage is that it is not easy to expand or change the path, and it is limited for complex paths big.
磁带导引
磁带导引与电磁导引相近，不同之处在于采用了在地面上铺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。磁带导引的优点是定位精确，灵活性比较好，改变或扩充路径较容易，铺设简单易行，成本也较低；缺点是易受环路周围金属物质的干扰、磁带易受机械损伤，且AGV智能按磁带路径行走，因此在路径变更时也需要重新铺设磁带。
Tape Guidance
The tape guidance is similar to the electromagnetic guidance, the difference is that the tape is laid on the ground instead of burying the metal wire under the ground, and the guidance is realized by the tape induction signal. The advantages of tape guiding are accurate positioning, better flexibility, easier to change or expand the path, simple and easy to lay, and low cost; the disadvantage is that it is easily interfered by metal substances around the loop, the tape is susceptible to mechanical damage, and The AGV intelligently follows the tape path, so the tape needs to be relaid when the path changes.
色带导引
在AGV的行驶路径涂漆或粘贴色带，通过AGV自带的摄像头采集色带图像并进行信号处理实现导引。光学导引的优点是灵活性比较好，路线设置简单易行；缺点是对色带的脏污和机械磨损十分敏感，导引可靠性较差，精度较低。
Ribbon Guidance
Paint or paste the ribbon on the driving path of the AGV, and collect the image of the ribbon through the camera that comes with the AGV and perform signal processing to achieve guidance. The advantage of optical guidance is that it is more flexible and the route setting is simple and easy; the disadvantage is that it is very sensitive to the dirt and mechanical wear of the ribbon, and the guidance reliability is poor and the accuracy is low.
激光导引
激光导引是在行驶路径安装激光定位标致（有高反光性的激光反射板），激光定位标致通常安装在运行路径沿途的墙壁或支柱上。AGV上的激光扫描器发射激光，同时采集通过反射板反射回来的激光并进行信号处理实现定位和确定航向。优点是定位精准，路径灵活多变，满足多种现场环境；缺点是对环境光线、地面、设备反光面有要求，且反射板与AGV的激光扫描器之间不能有障碍物，不适合空中有物流影响的场合。
依据同样的原理，若将激光扫描器更换为红外发射器、或超声波发射器，则激光导引式AGV可以变为红外导引式AGV和超声波导引式AGV。
Laser Guidance
Laser guidance is to install laser positioning Peugeot (a highly reflective laser reflector) on the driving path, and laser positioning Peugeot is usually installed on walls or pillars along the running path. The laser scanner on the AGV emits laser light, and at the same time collects the laser light reflected by the reflector and performs signal processing to achieve positioning and heading. The advantage is that the positioning is accurate, the path is flexible and changeable, and it can meet a variety of on-site environments; the disadvantage is that there are requirements for ambient light, the ground, and the reflective surface of the equipment, and there can be no obstacles between the reflector and the laser scanner of the AGV. Logistics affected occasions.
According to the same principle, if the laser scanner is replaced with an infrared transmitter or an ultrasonic transmitter, the laser-guided AGV can become an infrared-guided AGV and an ultrasonic-guided AGV.
惯性导引
惯性导引是在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航向。惯性导引的优点是定位准确性高、灵活性强，适用性广；缺点是成本较高且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。
Inertial Guidance
Inertial guidance 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 heading by calculating the gyroscope deviation signal and collecting the signal of the ground positioning block. The advantages of inertial guidance are high positioning accuracy, strong flexibility, and wide applicability; the disadvantage is that the cost is high, and the accuracy and reliability of guidance are closely related to the manufacturing accuracy and service life of the gyroscope.
视觉导引
AGV上装有视觉传感设备（CCD摄像机或视觉传感器），在车载计算机中设置有AGV预定行驶路径周围环境的图像数据库。AGV行驶过程中，摄像机动态获取车辆周围环境图像信息并与图像数据库进行比较，从而确定当前位置并对下一步行驶做出决策。视觉导引的优点是不需人为设置物理路径，具有很强的柔性，随着计算机图像采集、储存和处理技术的飞速发展，该种AGV的实用性将越来越强。
Visual Guidance
The AGV is equipped with a visual sensing device (CCD camera or vision sensor), and an image database of the surrounding environment of the AGV's predetermined travel path is set in the on-board computer. During the driving process of the AGV, the camera dynamically obtains the image information of the surrounding environment of the vehicle and compares it with the image database, so as to determine the current position and make a decision on the next driving. The advantage of visual guidance is that there is no need to manually set a physical path, and it has strong flexibility. With the rapid development of computer image acquisition, storage and processing technology, the practicability of this kind of AGV will become stronger and stronger.
根据对各类AGV导引技术的分析，可以得到各类AGV导引技术的对比，如下表。
According to the analysis of various AGV guidance technologies, the comparison of various AGV guidance technologies can be obtained, as shown in the following table.
表1 各类AGV导引技术比较
Table 1 Comparison of various AGV guidance technologies
有的企业认为，最先进的导引方式就是最好的。其实不然，不论是老技术还是新技术，都有其优缺点和使用的局限性，单一的导引技术无法覆盖企业所有的应用需求，企业根据不同的场合，不同的使用需求，需要选择不同导引技术的产品。例如，在经常有叉车或人员来往的路段上，不宜用磁带导引；如果AGV的路径经常变化的话，应考虑使用“自由路径导引”的技术；有高空物流的生产现场，不宜适用激光导引的方式……企业在选择时，需要综合考虑应用需求、环境因素、成本等多方面的因素，因地制宜、灵活运用，才能是投资的效益最大化。
Some companies believe that the most advanced guidance method is the best. In fact, it is not the case. Whether it is an old technology or a new technology, it has its advantages, disadvantages and limitations of use. A single guidance technology cannot cover all the application needs of enterprises. Enterprises need to choose different guidance according to different occasions and different use requirements. technology-driven products. For example, tape guidance should not be used on the road section where forklifts or people often come and go; if the path of the AGV changes frequently, the "free path guidance" technology should be considered; in the production site with high-altitude logistics, it is not suitable to use laser guidance The way of introduction... When enterprises choose, they need to comprehensively consider various factors such as application requirements, environmental factors, and costs, and adapt to local conditions and use them flexibly to maximize the benefits of investment.
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