基于超声波测距的定制家具AGV避障系统设计  

Design of AGV Obstacle Avoidance System for Customized Furniture Based on Ultrasonic Ranging

作　　者：李博[1] 孙莉辰 徐贺 牛晓霆[1] LI Bo;SUN Li-chen;XU He;NIU Xiao-ting(College of Home Furnishing and Art Design,Northeast Forestry University,Harbin 150040,Heilongjiang,P.R.China;College of Mechanical and Electrical Engineering,Northeast Forestry University,Harbin 150040,Heilongjiang,P.R.China)

机构地区：[1]东北林业大学家居与艺术设计学院,黑龙江哈尔滨150040 [2]东北林业大学机电工程学院,黑龙江哈尔滨150040

出　　处：《林产工业》2023年第12期45-49,共5页China Forest Products Industry

基　　金：国家自然科学基金(52271128);教育部产学合作协同育人项目(220606545201713)。

摘　　要：定制家具AGV(Automated Guided Vehicle)对自身与障碍物之间的距离测量不准确会导致避障效果较差。为了实现定制家具AGV分拣运送车的自动搬运功能,设计了基于超声波测距的定制家具AGV避障系统。利用超声波传感器准确地测量AGV与障碍物间的距离,通过构建模糊数据库,提取模糊反射信息以及不同方位上距离测量信息等手段获取实时轨迹信息,使定制家具AGV完成避障运动。同时,研究以仓库室内为测试环境进行了试验验证,结果表明:该避障系统能够实时、准确地检测出AGV运行轨迹上存在的障碍物,并辨别障碍物的类型,从而实现避障功能。Inaccurate measurement of the distance between the customized furniture AGV and obstacles can lead to poor obstacle avoidance performance.In order to achieve the automatic handling function of customized furniture AGV sorting and transportation vehicles,a customized furniture AGV obstacle avoidance system based on ultrasonic ranging was designed.By using ultrasonic sensors to accurately measure the distance between AGV and obstacles,a fuzzy database was established,diffuse reflection information was located,and distance measurement information from different directions was extracted to detect road information in realtime,enabling customized furniture AGV to complete obstacle avoidance movement.Finally,an experiment was conducted using the indoor warehouse as the testing environment.The results showed that the obstacle avoidance system can accurately detect the presence of obstacles on the AGV operating trajectory and identify the types of obstacles,which could help implement obstacle avoidance function.

关 键 词：定制家具 AGV 避障系统 超声波测距 轨迹 

分 类 号：TS664.01[轻工技术与工程] TS396