About AGV car

1 Introduction

(Automated Guided Vehicle (AGV), also commonly known as AGV car. It refers to a transport vehicle equipped with an automatic guiding device such as electromagnetic or optical, capable of traveling along a prescribed guiding path, with safety protection and various transfer functions. In industrial applications, the driver's van is not required, and a rechargeable battery is used as a power source. Generally, the travel route and behavior can be controlled by a computer, or an electromagnetic path-following system can be used to set up a travel route, the electromagnetic track is adhered to the floor, and the unmanned transport vehicle relies on the information brought by the electromagnetic track. Move and move.

2, the advantages of AGV car

(1) High degree of automation;

Controlled by computer, electronic control equipment, magnetic induction SENSOR, laser reflector.

When a certain part of the workshop needs auxiliary materials, the staff inputs relevant information to the computer terminal, and the computer terminal sends the information to the central control room, and the professional technician sends instructions to the computer. Under the cooperation of the electronic control equipment, this The instructions are eventually accepted and executed by the AGV – the excipients are delivered to the appropriate location.

(2) charging automation;

When the power of the AGV car is about to run out, it will send a request command to the system to request charging (the general technician will set a value in advance), and automatically "queue" the charging to the charging place after the system allows it.

In addition, the AGV car has a long battery life (more than 2 years) and can work for about 4 hours per 15 minutes of charging.

(3) Aesthetics, improve viewing, and thus enhance the image of the company.

(4) Convenience, reduce the floor space; AGV trolleys in the production workshop can shuttle back and forth in various workshops.

3, AGV guidance

1. Electromagnetic induction guidance The electromagnetic field and electromagnetic sensing device formed by the low frequency guiding cable guide the operation of the automated guided vehicle.

2. Laser guidance The laser scanner is used to identify a number of positioning marks set within its range of motion to determine its coordinate position, thereby guiding the AGV operation.

3. Magnet - Gyro Guide Use a special magnetic position sensor to detect small magnets mounted on the ground, and then use gyroscope technology to continuously control the running direction of the unmanned truck.

Logistics Handling Robot - AGV

AGV (Automated Guided Vehicles) is also known as an unmanned van, an automatic navigation vehicle, and a laser navigation vehicle. Its remarkable feature is unmanned driving. The AGV is equipped with an automatic guiding system, which can ensure that the system can automatically travel along a predetermined route without manual piloting, and automatically transport goods or materials from the starting point to the destination. Another feature of AGV is its flexibility, high degree of automation and high level of intelligence. The AGV's driving path can be flexibly changed according to changes in storage location requirements, production processes, etc., and the cost of running the path changes with conventional conveyor belts. The rigid conveyor line is very inexpensive. The AGV is generally equipped with a loading and unloading mechanism, which can automatically interface with other logistics equipment to automate the whole process of loading and unloading goods and materials. In addition, AGV has the characteristics of clean production. AGV relies on its own battery to provide power. It has no noise and no pollution during operation. It can be used in many places where the working environment is clean.

A type of AGV

The AGV has been in existence for 50 years from the invention, and its variety and form have become diverse with the expansion of the application field. The AGV is often divided into the following types according to the navigation method during the AGV automatic driving process:

1. Electromagnetic induction guided AGV

The electromagnetic induction type guidance is generally on the ground, and the electric wires are buried along a preset driving path. When a high-frequency current flows through the wires, an electromagnetic field is generated around the wires, and two electromagnetic sensors are symmetrically mounted on the AGV, and the received electromagnetic signals are received by the AGV. The difference in the intensity of the electromagnetic signal can reflect the extent to which the AGV deviates from the path. The AGV's automatic control system controls the steering of the vehicle based on this deviation. Continuous dynamic closed-loop control ensures stable and automatic tracking of the set path by the AGV. This electromagnetic induction guided navigation method is currently used on most commercial AGVS, especially for large and medium-sized AGVs.

2. Laser guided AGV

The AGV is equipped with a rotatable laser scanner, and a laser positioning mark with a highly reflective reflector is mounted on a wall or pillar along the running path. The AGV relies on a laser scanner to emit a laser beam, and then receives reflection from the surrounding positioning mark. The returned laser beam, the on-board computer calculates the current position of the vehicle and the direction of the movement, and corrects the orientation by comparing with the built-in digital map, thereby realizing automatic handling.

At present, the application of this kind of AGV is more and more common. And according to the same guiding principle, if the laser scanner is replaced with an infrared emitter or an ultrasonic transmitter, the laser-guided AGV can be changed into an infrared guided AGV and an ultrasonic guided AGV.

3. Vision-guided AGV

The vision-guided AGV is an AGV that is rapidly developing and mature. The AGV is equipped with a CCD camera and a sensor, and an image system of the environment surrounding the path of the AGV is set in the on-board computer. During AGV driving, the camera dynamically acquires image information of the surrounding environment of the vehicle and compares it with the image database to determine the current location and make decisions for the next step.

This AGV does not require any physical path setting, so it has the best guiding flexibility in theory. With the rapid development of computer image acquisition, storage and processing technology, the practicality of this kind of AGV is getting stronger and stronger.

In addition, there are various forms of AGV such as ferromagnetic gyro inertial guided AGV and optical guided AGV.

4, the application of AGV

1. Warehousing industry

The warehousing industry is the earliest application of AGV. In 1954, the world's first AGV was put into operation in the warehouse of Mercury Motor Freight Company in South Carolina, USA, to realize the automatic handling of inbound and outbound goods. At present, there are about 20,000 various AGVs in the world running in 2,100 large and small warehouses. In the three-dimensional warehouse of the development zone that Haier Group put into operation in 2000, nine AGVs formed a flexible in-house automatic handling system, successfully completing the daily handling of 23,400 inbound and outbound cargo and parts.

2. manufacturing

AGV is a leader in the manufacturing line of production, efficient, accurate and flexible material handling tasks. And a flexible logistics handling system can be composed of multiple AGVs. The transportation route can be adjusted in time with the adjustment of the production process, so that more than ten products can be manufactured on one production line, which greatly improves the flexibility of production and the competitiveness of the enterprise. In 1974, in order to improve the flexibility of the transport system, the Volvo Kalmar sedan assembly plant in Sweden adopted an automatic car assembly line based on AGVS as a carrier. The assembly line consists of several AGVSs that can be loaded with the car body. After the assembly line, the assembly time is reduced. 20%, assembly failure reduced by 39%, investment recovery time reduced by 57%, labor force reduced by 5%. At present, AGV has been widely used in the manufacturing and assembly lines of major automobile factories in the world, such as GM, Toyota, Chrysler, and Volkswagen.

In recent years, as the basic handling tool of CIMS, the application of AGV has penetrated into many industries such as machining, home appliance production, microelectronics manufacturing, cigarettes, etc. The field of production and processing has become the most widely used field of AGV.

3. Post office, library, port terminal and airport

In post offices, libraries, terminals, airports, etc., the transportation of items has the characteristics of large changes in workload, strong dynamics, frequent adjustment of work processes, and single handling operation. AGV's parallel operation, automation, intelligence and flexibility. The characteristics of the product can well meet the handling requirements of the above-mentioned occasions. Sweden started the postal work in 1983 at the Post Office in Greater Stockholm, Japan in Japan in 1988 at the Tama Post Office, and in 1990 at the Shanghai Post Hub in Shanghai. At the port of Rotterdam, the Netherlands, 50 AGVs called “yard tractors” completed the repetitive work of transporting containers from the side of the ship to warehouses hundreds of yards away.

4. Tobacco, medicine, food, chemical

In the tobacco, pharmaceutical, food, chemical and other industries where the handling operations are clean, safe, and free of emissions, the application of AGV has also received attention. Many cigarette companies in China, such as Qingdao Yuzhong Group, Yuxi Hongta Group, Honghe Cigarette Factory, Huaiyin Cigarette Factory, use laser-guided AGV to complete the handling of pallet goods.

5. Hazardous locations and special industries

Militaryly, it integrates other detection and disassembly equipment based on AGV's automatic driving. It can be used for battlefield demining and position reconnaissance. The British military is developing MINDER Recce, a reconnaissance vehicle with mine detection, destruction and route verification capabilities. Automatic reconnaissance vehicle. In steel plants, AGV is used for the transportation of furnace materials, which reduces the labor intensity of workers. In places where nuclear power plants and nuclear radiation are used for fresh-keeping storage, AGVs are used for the transport of goods and avoid dangerous radiation. In film and film warehouses, AGV delivers accurate and reliable materials and semi-finished products in a dark environment.

5, AGV car operating instructions

Before getting familiar with using the AGV car, please keep the following in mind:

1. Before starting the AGV car, please pay attention to whether the car is in the middle of the guide line. If the position is not correct, please turn off the power of the car and push the car to the middle of the guide line before starting the car. The car is divided into the front and the rear of the car. The front of the car is equipped with the LCD screen, and the other side is the rear. The start of the car must ensure that the front and rear of the car are online, that is, the guiding line is in the middle of the front and rear of the car. The left and right deviations can be plus or minus 10CM. After the car is started, the front end of the car will be automatically adjusted to make it in the best position.

2. Before starting the AGV car, please check if the red stop button at the top of the car is pressed. If it is in a tight stop, rotate the stop button to make it pop up.

3. Rotate the key of the roof to start the power supply of the car. If you hear a short sound of “drop” and a blue welcome screen appears on the LCD, it indicates that the car has started successfully. If you hear the long sound of “Drip--”, it means that the car is not starting normally. Please turn the key back to the original position, turn off the power of the car and wait for 5 seconds to restart the car until the startup is successful. If the start is not successful for more than 3 consecutive times, please charge the car as soon as possible.

4. After the AGV car starts normally, the two yellow parking lights turn off briefly for 3 seconds and then go out. A blue welcome screen appears on the LCD screen, and the car enters the internal system self-test process. After a brief self-test, the car enters normal operation and waits for the operator to proceed to the next step.

5, AGV car internal lead-acid battery can support continuous operation for 6 hours, if the reading address card is not successful in normal operation, or the car is not successful from the stop state, please charge the car as soon as possible, please guarantee 8 hours of charging time .

6. When charging the AGV car, you need to take the stop button and turn the key switch counterclockwise to turn off the car power. Turn on the power plug of the charger, plug the charger into the charging socket at the rear of the car, and turn on the charger. The green charging light on the top of the car lights up, indicating that the charging process is normal. Check the status of each knob on the charger. The charging voltage must be 24V, and the charging current should be rotated clockwise to the maximum position. After charging for 8 hours, please check the ammeter pointer reading on the charger. When the pointer reading is less than 1A, it means the charging process is nearing the end and the charger can be unplugged.

7. When the AGV car is running, there is an abnormal situation. After the car is derailed, please manually press the “Cancel” button to stop the emergency or press the stop button to turn off the car power. After turning off the power of the trolley, push the trolley back to the guide rail and re-run. The trolley provides internal derailment protection circuit. When the trolley leaves the orbit for 2 seconds, it automatically stops running. It also needs to turn off the trolley power and push the trolley back to the orbit.

8, due to limited space, the map is complex, the speed of the car as far as possible 1 and 2 files! When the AGV car is running in a corner, please ensure that the speed is 1st gear; when the car is parked and started from the parking state, the speed must also be 1st gear. When running in a straight line, you can select 2 files, try not to use 3 and 4 files.

9. The path input table supports up to 27 paths. When entering the path on the trolley screen, you can use the PAGE UP and PAGE UP buttons to turn pages. The current page number will appear at the top of the screen.

The AGV trolley can be set remotely by the computer or manually set by the trolley. [1]