摘要
麦克纳姆轮因为其全向运动的特点正被逐步引入到自动引导运输车(AGV)领域,提升AGV导航定位精度和改进装卸货方式始终都是该领域研究的热点。利用安装在麦克纳姆轮全向运输平台上的3台激光位移传感器,精确测量出平台在停靠时的航向角误差和位置误差,并借助全向运动方式消除误差实现精确定位。借助平台配备的升降装置并利用麦克纳姆轮作为驱动辊轮,推动货物离开运输平台实现多方向自动卸载。实验平台在平整塑胶地面的测试结果表明可实现±1 mm的停靠精度,并能够实现前后左右4个方向的货物自动卸载,验证了方案的可行性和实用性。
Due to the omnidirectional motion of Mecanum wheel,it’s being gradually introduced into the automated guided vehicle(AGV)field.Improving the positioning accuracy of AGV navigation and the loading and unloading methods are always hot topics in this field.Three high-precision laser distance sensors mounted on the Mecanum transportation platform are used to measure the course angle error and position error.With the lifting device equipped on the platform and the Mecanum wheel as the driving roller,the multi-direction automatic unloading is realized by pushing the goods off the transportation platform.The experimental result of the test platform on the flat plastic ground show that the docking accuracy of±1 mm can be achieved,and the goods can be automatically unloaded in the front,rear,left and right directions.
作者
李立早
Li Lizao(Nanjing college of Information Technology,Nanjing 210023,China)
出处
《电子测量技术》
2019年第14期147-151,共5页
Electronic Measurement Technology
