基于光电与航向角融合定位的AGV机器人

AGV Robot Based on Photoelectric and Heading Angle Fusion Positioning

目前在小件物料生产搬运过程中,AGV机器人存在灵活性强与定位精度高不能兼具的问题。为此设计了一种新型的AGV机器人用于实现小件物料的精准搬运。该机器人采用了上下位机电路构型,上位机(Jetson nano)负责识别任务码和物料,下位机(STM32F407)控制步进电机驱动麦克纳姆轮底盘,通过步进电机梯形加减速和位置式PID控制算法,使机器人运行更加稳定。此外,机器人还配备了五自由度机械臂,用于完成小件物料的抓取和放置,以增强其灵活性。为了提高机器人的定位精度,AGV机器人在获取地面环境信息和机器人位姿信息后,提出了一种基于光电与航向角融合定位纠偏方法。大量实验结果表明,该AGV机器人到达指定目标点的平均误差为0.85 mm,定位最大误差不超过±3 mm,其机械臂能够准确将物料放置至对应区域。

At present,AGV robots have the problem of being unable to achieve both high flexibility and high positioning accuracy during the production and handling of small materials.For this purpose,a new type of AGV robot is designed to achieve precise handling of small materials.The AGV robot adopts the upper and lower computer circuit configuration.The upper computer(Jetson nano)recognizes the task code and materials,and the lower computer(STM32F407)controls the stepper motor to drive the mecanum wheel chassis.The stepper motor trapezoidal acceleration and deceleration and positional PID The control algorithm makes the robot run more stably.In addition,the robot also uses a five-degree-of-freedom robotic arm to complete the grabbing and placing of small materials,so as to solve the problem of poor flexibility.In order to improve the positioning accuracy of the robot,after the AGV robot obtains the ground environment information and the robot's pose information,it proposes a positioning correction method based on the fusion of photoelectric and heading angles on the basis of photoelectric positioning and heading angle positioning.Through repeated experiments,the results show that the average error of the AGV robot reaching the designated target point is 0.85 mm,the maximum error of positioning does not exceed±3 mm,and its mechanical arm can accurately place the material to the corresponding area.