基于激光导航的堆垛式自动导引车电气系统设计与性能研究  

Design of electrical system of pileup automatic guided vehicle based on laser navigation and performance study

作　　者：王焘 WANG Tao

机构地区：[1]太重集团(上海)装备技术有限公司,上海201306

出　　处：《今日自动化》2025年第2期16-18,共3页Automation Today

摘　　要：文章针对堆垛式AGV激光导航系统进行优化设计,提出基于PDBS与IEPF算法融合的特征线段提取方法,通过改进断点分割策略和拐点检测机制,结合最小二乘法实现高精度直线拟合,有效解决了传统算法阈值敏感性和角点拟合失效问题。在电气系统设计中,构建了基于S7-1500 PLC的硬件架构,集成惯性导航与速度反馈实现动态位姿推算,并通过航向角迭代公式完成全局坐标系下的实时定位。试验验证表明,优化后的导航系统横向精度达1.83cm,纵向精度为1.94cm,显著提升了AGV的定位稳定性和运行效率。研究成果为智能仓储物流系统提供了可靠的技术支撑,具有重要工程应用价值。In order to optimize the design of the stacking AGV laser navigation system,this paper proposes a feature line segment extraction method based on the fusion of PDBS and IEPF algorithm.By improving the breakpoint segmentation strategy and the detection mechanism of the turning point,the least square method is combined to achieve high-precision straight line fitting,which effectively solves the threshold sensitivity and corner fitting failure problems of the traditional algorithm.In the electrical system design,the hardware architecture based on S7-1500 PLC is constructed,which integrates inertial navigation and speed feedback to realize dynamic pose estimation,and realizes real-time positioning in global coordinate system through course Angle iteration formula.The experimental results show that the optimized navigation system has a lateral accuracy of 1.83cm and a longitudinal accuracy of 1.94cm,which significantly improves the positioning stability and operation efficiency of AGV.The research results provide reliable technical support for intelligent warehousing and logistics system,and have important engineering application value.

关 键 词：激光导航 堆垛式自动导引车 电气系统设计 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]