基于AGV导航定位技术的成品件烟出仓智能搬运系统及应用  

Intelligent Handling System for Finished Product Cigarette Warehousing Based on AGV Navigation and Positioning Technology and Its Application

作　　者：杨哲 王佳伟[1] 傅俊杰 孔振明 郑炯 YANG Zhe;WANG Jiawei;FU Junjie;KONG Zhenming;ZHENG Jiong(Shanghai Tobacco Group Co.,Ltd.,Shanghai 200082,China)

机构地区：[1]上海烟草集团有限责任公司,上海200082

出　　处：《自动化应用》2024年第9期267-271,共5页Automation Application

摘　　要：针对烟厂多月台环境中的成品件烟出仓系统无法实现全自动无人叉车送货的问题,开发了一套基于AGV导航定位技术的成品件烟出仓智能搬运系统。通过结合高精度AGV激光导航的静态/动态SLAM方法、二维激光雷达的货车外轮廓检测技术以及基于无先验信息的自适应货车定位方法,确保了精确、可靠的导航和定位,显著提升了AGV在复杂工作场景中的定位准确性和工作效率。This paper addresses the challenge of achieving fully automatic unmanned forklift delivery in the finished cigarette delivery system within the complex multi-platform environment of a tobacco factory.This paper have developed an intelligent handling system for finished cigarette delivery based on advanced guided vehicle(AGV)navigation and positioning technology.This system combines high-precision AGV laser navigation using static/dynamic simultaneous localization and mapping(SLAM)methods,2D lidar-based truck exterior contour detection technology,and an adaptive truck positioning approach without prior information.These integrated technologies ensure precise and reliable navigation and positioning,significantly enhancing the accuracy and efficiency of AGV positioning in complex operational scenarios.

关 键 词：成品件烟 AGV导航定位技术 SLAM方法 激光雷达 

分 类 号：TP311[自动化与计算机技术—计算机软件与理论]