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在满足不同任务需求的所有生产领域里,工厂自动化越来越要求采用灵活且智能化的办法,在机械制造或使用中心以及运输或清洁处理系统都提出这类要求。通常,完成运输任务的系统是由埋在地下的感应电缆引导数个运输车所组成,因此,运输车的运动路线是固定的,只有在大量花费情况下才能更改。先进的运输方案采用自由编程轨迹并由无线电引导的运输车,工厂布局和运行路线的变化能在短时间内完成是毫无问题。检测运输车位置的模块是航迹推算单元。测距器和/或转角传感器提供信号计算运输车平面位置。不能精确地跟踪预定轨道的原因主要是由于运输车方位检测的不确定性而很快地导致增加位置误差。为解决这些问题,或者在短时间间歇内采用参考测量值,或者提高运输车航迹推算单元的精度。在制造工程和自动化研究所(IPA)中,用两辆自动导引车(AGV)来显示在制造环境中的AGV方案。位置计算是采用纯测距的航迹推算法,或者陀螺装置的航迹推算法,所以试验了两个机械速率陀螺和一个光纤陀螺。本文论述了在工作中的自动导引车的原理,对位置检测模块提出要求,还介绍了部分惯性测距器的测试结果,并与纯测距法的结果进行了比较。
In all areas of production that meet different mission needs, factory automation increasingly requires a flexible and intelligent approach that is addressed in the machinery manufacturing or usage center, as well as in shipping or cleaning systems. In general, the system that accomplishes the task of transporting is composed of several transport vehicles guided by underground induction cables. Therefore, the movement route of the transport vehicles is fixed and can only be changed under a lot of expense. State of the art transport solutions With free-programming trajectories and radio-guided transport vehicles, it is no problem that changes to the plant layout and operating routes can be completed in a short period of time. The module that detects the position of the truck is a track calculation unit. The rangefinder and / or corner sensor provide signals to calculate the carriage plane position. The reason why inaccurate tracking of a predetermined orbit is caused mainly by rapid increase of position error due to the uncertainty of the detection of the position of the transporter. In order to solve these problems, reference measurements can be used for a short period of time or the accuracy of the carriage path estimation unit can be improved. In the Institute of Manufacturing Engineering and Automation (IPA), two AGVs are used to show the AGV scenario in a manufacturing environment. The location calculation is based on a pure distance measurement, or a gyro device trajectory estimation method, so two mechanical rate gyro and one fiber optic gyro were tested. This paper discusses the principle of automatic guided vehicles in work, puts forward the requirements of position detection module, introduces the test results of some inertial range finders, and compares them with the results of pure range finding method.