基于激光加惯性导航方式的重载AGV设计

Design of Heavy Load AGV Based on Laser and Inertial Navigation

目前,自动引导运输车主要集中在高端市场,体积小型化,轻载为主。针对重载AGV的载重、技术、成本等方面的问题,提出激光SLAM导航方式的室内外兼容运行的无轨重载AGV。该设计在汽车底盘的基础上进行改进,将转向桥和驱动桥更改为转向驱动桥;采用实心轮胎,提高承载能力;采用激光SLAM导航提高AGV的自主能力和环境适应能力。从载重、车速等方面计算电机的额定参数,对电机选型;通过续航要求匹配电;通过对比各种导航方式选定激光SLAM导航,最后确定一种在路面适应性、环境适应性、越野性、载重性能等方面远远超过传统舵轮结构的重载AGV。

The main focus of automatic guided transport vehicle is high-end market, small size, light load. Aiming at the problems of load,technology and cost of heavy-duty AGV, a trackless heavy-duty AGV with compatible indoor and outdoor operation of laser SLAM navigation mode was proposed. The design was improved on the basis of automobile chassis. The steering axle and driving axle were changed to steering axle. Solid tire was used to improve bearing capacity. Laser SLAM navigation was used to improve AGV’s autonomy and environmental adaptability. The rated parameters of the motor were calculated from the aspects of load and speed, and the motor type was selected;the matching power was required by the endurance;and the laser SLAM navigation was selected by comparing various navigation modes. Finally, a kind of heavy-duty AGV which was far superior to the traditional rudder wheel structure in road adaptability, environmental adaptability, cross-country and load performance was determined.