Navigation module
The positioning during the movement of the AGV, the traditional navigation methods include electromagnetic navigation and two-dimensional code. After three generations of AGV technology evolution (magnetic navigation - two-dimensional code - unmarked navigation), AGV robots now operate independently without any auxiliary navigation equipment. It can realize self-built maps, self-identification of working environment, route planning, intelligent obstacle avoidance, and long-distance transportation across factories.
motion module
The motion system includes a reducer, a drive and a steering motor, etc., and is an important module of the AGV's motion trajectory from point A to point B.
Communication module
The communication module is used for the information exchange between the agv and the dispatching system and the navigation system, generally in the form of establishing a wireless local area network. The agv only communicates with the dispatching system in two directions, the bicycles generally do not communicate with each other, and the communication protocol is generally based on the TCP/IP protocol.
Anti-collision module
AGV safety measures are divided into software and hardware parts. Software includes fault detection and processing. Hardware uses various sensors such as contact collision sensors, acoustic waves, lasers and other non-contact sensors.
power module
Generally, the battery is 24v48v, etc., and the types are lead-acid battery, lithium battery, etc. The battery system needs to have the ability to detect the battery usage status and charging status and send the status report to the control center.
Vehicle module
Common controllers are based on single-chip microcomputer, PLC-based and industrial computer-based control systems. Realize functions such as navigation calculation, guidance realization, vehicle walking, and cargo loading. The in-vehicle software roughly includes the following modules:
Navigator test module, software interface module, initialization module, motion control module, path planning module. Other auxiliary modules, including alarm module, wireless communication module, etc.
AGVS monitoring and scheduling management system
The host computer system realizes tasks such as task reception, scheduling and task allocation, environmental map drawing and management, path planning and coordination, and automatic charging. Send instructions and path information to each AGV through the communication device, and then guide each AGV to complete the corresponding task. It can be integrated with other information systems to receive task information from ERP, WMS, MES terminal equipment, etc. According to the implementation, it can be divided into centralized and distributed. The distributed system expands and enhances the functions of the AGV mobile platform. The AGV adopts embedded map technology, which can automatically plan the running path in real time. The centralized system adopts the unified distribution and planning of the central control system, and there is no communication between bicycles.
