Abstract: The agv car has been widely used in the industrial field, so how to achieve positioning of the agv car? This paper mainly introduces the positioning method of agv trolley, and explains in detail the application of agv trolley photosensitive device positioning method and AGV trolley automatic feeding vehicle positioning system.
The positioning principle of AGV trolleyThe magnetic material is fixed on the ground, and the magnetic sensor is fixed under the AGV body. After the magnetic sensor detects the pre-arranged magnetic strip on the ground, the detected signal is transmitted to the vehicle controller, and the vehicle controller performs the guiding calculation. And control.
AGV positioning methodIn order to ensure the accuracy and reliability of positioning, suitable sensors must be used, and different sensors form different positioning methods. There are mainly positioning methods based on photosensitive devices, positioning methods of eddy current sensors, positioning methods of photoelectric sensors, and sensor combination positioning methods.
1. Photosensor based positioning methodThe principle of this positioning method is the photoelectric effect. It is known from the light-emitting characteristics of the phototransistor that there is a good linearity between the photocurrent output and the illuminance. As the AGV keeps close to the target position, its illuminance increases, and the output of the photosensor increases, thereby controlling the positioning of the AGV. The positioning method has a long effective detection range and can reach more than 200 mm, but the positioning accuracy is low, and the output change of the photosensitive device during the whole positioning process is not obvious, which brings difficulties to the calibration.
2. Positioning method based on eddy current sensorThe eddy current sensor has a large linear measurement range and high sensitivity, and can directly measure the displacement. This positioning method enables precise positioning. The main component of the eddy current sensor is a coil, and its shape and size are related to the sensitivity and measurement range of the sensor. The detection range is generally long (100 mm or more) during positioning, and thus the volume is large. The electromagnetic field generated when the coil is operated has a magnetic influence on the coordinate guiding method and the sensor used in the electromagnetic induction guiding method.
3. Photoelectric sensor based methodThis positioning method consists of a photoelectric pair tube. Under normal circumstances, the receiving tube can receive infrared signals. When the AGV reaches the destination, the AGV blocks the infrared light and causes a control signal to be issued. This positioning accuracy can reach more than 1.5mm. If a small light gap is installed in front of the launch tube, the positioning accuracy can be increased to more than 0.6 mm. However, this positioning method cannot control the AGV after the automatic guidance ends until the final precise positioning.
4. Sensor combination positioning methodThe sensor combination positioning method consists of two parts: light guiding and fine positioning. The light guide is guided by a photosensitive device. Since the effective detection range of the photosensitive device is long, the accuracy is poor, and the precise positioning cannot be performed, and the magnetic sensor has high precision. The combined method can combine the advantages of the two. When positioning, it is guided by infrared rays to make it close to the target position, and finally fine positioning is performed by fine positioning components (such as proximity switches). This method is highly accurate, but the device is more complicated.
Positioning method of AGV trolley - photosensitive device positioning methodThe AGV trolley can automatically load and unload, and the material can be transported without driving. In the transportation process of the AGV trolley, accurately positioning the material transportation location is a very important part in the transportation process. One of the positioning methods of the AGV trolley is the positioning of the photosensitive device. law.
One of the positioning methods of the AGV trolley is based on the positioning method of the photosensitive device, and the principle is to complete the positioning of the AGV trolley by the photoelectric effect. It is known from the light-emitting characteristics of the phototransistor that there is a good linearity between the photocurrent output and the illuminance. As the AGV trolley is constantly approaching the target position, its illumination is continuously increased, and the output of the photosensor is increased, thereby controlling the positioning of the AGV trolley.
In order to ensure the accuracy and reliability of positioning, suitable sensors must be used, and different sensors form different positioning methods. The AGV trolley positioning method based on the photosensitive device can achieve an effective detection range of 200 mm or more. The disadvantage is that the positioning accuracy is low, and the output change of the photosensitive device during the entire positioning process is not obvious, which brings difficulties to the calibration.
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