A. AGV Robot kewayawa yanayin
Tare da bayyanar babban kasuwa ba tare da mutum ba, sarrafa kansa da kayan aiki da sauran masana'antu, AGV atomatik mutum-mutum ya ci gaba sosai, AGV mutum-mutum yana nufin kayan aiki tare da na'urorin sarrafa kansa na lantarki ko na gani, zai iya tafiya a kan hanyoyin da aka tsara, yana da kariya ta tsaro da kuma ayyukan jigilar kayan aiki daban-daban, aikace-aikacen masana'antu na Sin na sarrafa kansa ba tare da mutum ba, ana iya cajin baturi a matsayin tushen wutar lantarki Yawancin lokaci ana iya sarrafa hanyar tafiya ta hanyar kwamfuta, ko amfani da hanyar lantarki don saita hanyar, hanyar lantarki ta kasa, AGV ta bi bayanan da hanyar lantarki ta kawo don motsawa.
Daga cikin manyan fasahohi na AGV Robots: 1) Ganowa da kewayawa 2) AGV Scheduling. Robot na hannu na farko ya san "Ina" watau matsalar wuri, sa'an nan kuma "Ina da zan je" wannan matsalar tsarawa, sa'an nan kuma "Yadda zan je" wannan matsalar kewayawa ce. Matsayi da kewayawa sau da yawa an magance su tare, don matsayi da kewayawa a cikin gida, hanyoyin da aka saba da su na yau da kullun sune magnetic strips, tef, magnetic nails da sauransu, fa'idodi da iyakancewar waɗannan hanyoyin suna bayyane: fa'idodi shine hanyar motsi mai sarrafawa, tsaro mafi girma, rashin amfani shine iyakancewar hanya mafi girma. Ƙananan sassauƙa na wuri shirye-shirye kamar laser reflective panel, 2D code, rufin fasali, waɗannan shirye-shiryen za su yi amfani da wasu fasali da aka riga aka saita don wuri, kamar hasken wuta a cikin teku, lokacin da mutum mai motsi ya ga hasken wuta ya san inda yake. Misali mafi yawan amfani da lambar 2D shine Kiva na Amazon. Mafi sassauƙa shine SLAM, kuma mafi girma shine SLAM na laser. Ta hanyar gina taswirar muhalli a gaba, sa'an nan kuma ta hanyar daidaitawa da halayen muhalli da aka samu ta hanyar na'urorin firikwensin na yanzu don samun matsayin yanzu, watsi da tsarin saita alamun hanya ta hannu, da neman alamun hanya. Akwai kuma wani ra'ayi ne kamar GPS hanyar wuri, kamar WIFI, iBeacons, wannan hanyar wuri daidaito ba zai iya zama da yawa ba, amma ga muhalli bukatun ƙananan, wuri algorithm ma dangane da sauki, bukatar haɗuwa da sauran wuri hanyoyin. Game da inertia da kilomita, an yi amfani da shi don taimakawa da wuri, haɗuwa da hanyoyin kewayawa da yawa da suka gabata. Kuma hanyar da aka fi amfani da ita a waje shine ƙuduri mai ƙarancin ƙarancin ƙarancin ƙarancin ƙarancin ƙarancin ƙarancin ƙarancin ƙarancin ƙarancin ƙarancin ƙarancin ƙarancin ƙarancin ƙarancin ƙarancin ƙarancin ƙarancin ƙarancin ƙarancin ƙarancin ƙarancin ƙarancin ƙarancin ƙarancin ƙarancin ƙarancin ƙaranc Wani nau'in da ba a yi shi ne bambancin GPS, amfani da daidaitaccen teburin GPS don gyara matsayin AGV, daidaito da jinkirin lokaci na iya zama matsalolin da ake buƙatar magance su.
Amfani da tsarin sanya wuri na UWB yana da daidaito mai inganci, sauƙin turawa, ingancin tsarin yana da kyau, don haka AGV da ke dogara da fasahar sanya wuri ta UWB yana da babban hangen nesa.

2. UWB kewayawa siffofin
Ka yi la'akari da gabatar da fasahar sanya wuri ta UWB, musamman UWB yana da daidaito mai girma har zuwa 10cm, a wasu lokuta na aikace-aikace, daidaito na 10cm zai iya isa, amma gabaɗaya, daidaito na 10cm har yanzu yana da ƙarancin isasshen, don haka za a iya la'akari da hanyoyin haɗuwa da fasahar sanya wuri ta UWB da sauran fasahohin sanya wuri. Misali, a ƙarshen gabatar da RFID barcode, magnetic kunshin da sauran hanyoyin. Amfani da UWB location da kuma anti-collision algorithm a lokacin matsayi na tsakiya, ƙara sassauci na AGV, amfani da RFID don daidai daidaitawa a ƙarshen lokacin, don cimma manufar haɓaka daidaito.

1, rage ma'aikata aiki ƙarfi, m rarraba albarkatun, inganta masana'antu bude da inganci

2. Za a iya rage lalacewar kaya saboda ayyukan da ba a tsara su ba

3, tsarin ciki mai hankali sarrafawa, sa kaya da aka sanya mafi tsari, da bita mafi tsabta

4. Ta hanyar tura da yawa UWB matsayi tushe tashoshi a cikin masana'antu, sa masana'antu yankin za a iya samun ingantaccen matsayi rufe, matsayi daidaito ya kai 10cm

5, AGV atomatik ciyar da motoci tura wuri tashar, wuri tushe tashar ta hanyar gano wuri tashar bugun jini siginar don yanke hukunci da wuri tashar

6, Positioning Engine ta hanyar lissafin bayanan da aka bayar da tashar tushe ta ƙarshe ƙayyade AGV ta biyu-dimensional coordinates

7, AGV tashar karɓar matsayi coordinate jagora daga bangaren tsarin, bi manufa

8. Tsarin sassauci mai ƙarfi, yana ba da damar canza hanyar tsarawa
9. Ana amfani da shi a filin sarrafa kayan aiki na inji, samar da kayan aiki da sauran masana'antu

Tsarin Ka'ida:

1, Shigar da mai karatu na RFID a ƙarƙashin motar AGV mai ciyar da kaya, sanya kayan kaya a kan motar jigilar kaya, rack, akwatin kaya da sauransu don jigilar kaya, shigar da tashar UWB a kan motar AGV mai ciyar da kaya

2, a kan kayan jigilar hanyar UWB tashar da UWB matsayi tushen tashar kammala AGV babban motoci wuri bayanai samun, AGV ciyar da motoci bayan da aka sanya kayan aiki a kan kayan aiki sarrafawa cibiyar bayar da umarni (ciyar da hanyar) zuwa PLC mai sarrafawa, PLC karɓar umarni bayan sarrafa ciyar da motoci fara da kuma fara jigilar da kayan aiki bisa umarni

3, UWB location tsarin ya yanke hukunci da AGV mota ya isa makomar bayan, bayanan bayanai bayan wuri zuwa PLC mai kula (sarrafa tsarin module), PLC karɓar lambar bayanai da kuma sarrafa bayanai bayan, sarrafa AGV ciyar da mota ta hanyar ciyar da zaɓi shafin tashi, RFID karatu na AGV mota bincike manufa tag bayanai, da kuma tabbatar da kayan aiki zuwa

4, Bayan kayan isar da shafin AGV ciyar da motoci za a iya gudanar da kayan jigilar kayan bayan umarnin, bayan kammala duk umarnin ciyar da motoci, ta hanyar da aka saita ta dawo da farawa
AGV kewayawa ta hanyar UWB
UWB fasahar a kan AGV mota aikace-aikace, daidaito sosai mafi girma fiye da WIFI, inertia da sauran hanyoyin, kuma zai iya sosai kara AGV sassauci, tare da m amfani da hangen nesa, UWB location fasahar ba kawai a cikinMa'aikata Positioning SystemAkwai aikace-aikace masu yawa, kuma akwai babban nasara a fannin masana'antu.