one. AGV background introduction:

"Automated guided vehicle system" is what we often call AGVS, which is the abbreviation of (Automated Guided Vehicle), that is, "Automated Guided Vehicle". It is a transport vehicle with safety protection and various transfer functions. It has the advantages of high work efficiency, strong controllability, simple structure and high safety. AGV is an integrated intelligent logistics handling equipment that integrates mechanical devices, electronic control equipment, safety and anti-collision equipment, data and information acquisition sensors, fieldbus and other technologies. It is often used in smart workshops.

The development of the automated guided vehicle (AGV) system has become one of the largest professional branches in the production logistics system, and the trend of industrialization has emerged, and it has become an indispensable part of modern enterprise automation equipment. In developed countries such as Europe and the United States, the development is the fastest and the most widely used; in Japan and South Korea, it has also been developed and applied rapidly. In my country, the scope of application of AGV is also expanding, and it has been widely used in the fields of material distribution, cargo handling, and flexible assembly in industrial production.

two. Classification of common AGVs:

AGVs can be divided into magnetic strips, lasers, and QR codes according to the guidance method. The common AGVs in smart workshops are divided into the following categories:

(1) Backpack AGV

 

 

It adopts two-wheel differential drive, which can forward, retreat, and turn, and provide load-bearing methods such as pallets and rollers. The structure is simple and easy to use. Customers can upgrade to adopt AGV transportation without modifying the existing transportation objects.

(2) Forklift AGV

 

Forklift AGV needs to complete the point-to-point handling of the goods, while positioning the pallets to realize the accurate fork picking of the goods, so as to realize the "goods-to-person" goods handling. The precise positioning of the goods is realized through the laser radar and other sensors. Take and transport, saving time and effort.

(3) Material box AGV

 

 

The box-type AGV can realize the "box-to-person" cargo handling. Its main body is the material box. The AGV can directly take out the material box from the shelf and transport it to the designated location.

three. AGV system architecture

Through the advanced AGV dispatch control algorithm of ISDAC, combined with many domestic industry application scenarios, the AGV dispatch control system software has been developed, which can realize the functions of AGV system operation management, traffic control, task distribution, automatic charging control, map planning, etc. Realize seamless connection with MES system, intelligent warehousing, production line system, etc., to create a highly flexible and highly automated modern logistics.

The composition of AGV mainly includes the following parts:

 

1. Obstacle avoidance camera 2. Charging notch 3. Front lidar 4. Status indicator light strip

5. Drive wheel 6. Power switch 7. Point tof sensor 8. Emergency stop button

9. Power button 10. Touch screen 11. Motor unlock button 12. Rear lidar

13. Anti-collision edge

 

The AGVS hardware control part is mainly composed of drivers, vehicle controllers, encoders, steering wheels, navigation sensors, power supply systems, laser obstacle avoidance sensors, touch screens, etc.

 

The AGVS software control part is mainly composed of the MES/WMS host and the AGV system management and monitoring host.

The AGV dispatching system interface program controls the on-site AGV through the network, and the dispatching system can provide an interface to upload data to WMS or MES (as shown in Figure 7).

The 1st equipment layer includes i-Stock intelligent warehousing, automated three-dimensional warehousing, various AGVs, etc., to realize the storage, supervision, transportation, and data information collection of terminal materials.

The 2nd WCS layer uses 5G networks to seamlessly connect devices and further open up various production links to meet the needs of device interconnection and remote interactive applications in an industrial environment, realize data collection and transmission, and control the drive and dispatch tasks of the first layer device system .

At the 3rd MES/WMS layer, the AGV scheduling system is connected to it, which can provide enterprises with information and data management and analysis, realize automated factories, and create an efficient and intelligent manufacturing collaborative management platform for enterprises.

4th management, production masters production plans and basic information through the ERP enterprise information system, and provides a management platform for decision-makers to provide decision-making methods for the enterprise, which has a significant effect on the improvement of business processes and core competitiveness of the enterprise.

Four. System functions

The main functions of AGV are:

①AGV task scheduling: Communicate with AGV, select one from the idle AGV, and guide the AGV to complete the transportation function according to a certain route.

②Real-time path planning: Real-time path planning is to optimally plan the route of the AGV according to the location of the selected AGV and the location of the target site, and guide the AGV to follow the planned route to complete the transportation function.

③Traffic control: In some specific areas, due to space reasons or process requirements, only one AGV can pass at the same time, or two AGVs cannot go head-to-head, the dispatch system needs to manage the AGV and guide a certain AGV to pass first, and others AGVs pass through them in a certain order. This process is called traffic control.

④ Field equipment signal collection and action control: Some equipment on the customer site needs to be physically connected to the AGV to realize automatic loading and unloading of materials. In this case, the operating status information of the field equipment must be collected through the scheduling system, and it needs to be sent at some point The signal controls the action of the field device.

⑤MES or WMS interface: The task information of this scheduling system may come from the MES or WMS system, and it is also obliged to report the task execution results to the MES or WMS. All AGV status information in the MES or WMS query system includes: status query, task query, task release, task modification or cancellation, and task execution report.

⑥ Live call interface: respond to some equipment signals on site as call information, or respond to on-site manual button actions as call information.

⑦Equipment condition monitoring: Monitor the AGV's operating status and task information, and display the AGV's route and location information with a graphical interface.