Design of flexible autonomous transport robots for industrial production

K. Schilling, M. M. Arteche, Juan Garbajosa, R. Mayerhofer
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引用次数: 14

Abstract

Autonomously guided vehicles (AGVs) are a key element to perform flexible transport tasks in industrial production. At present AGVs, usually guided via induction wires laid in the floor, are widely used for material transport. The ESPRIT-project RETRARO addresses, in an trial application, advanced data processing techniques to develop a free navigation capability for the AGV in order to achieve a higher operational flexibility. On basis of the REAKT real-time expert system and a low cost range detection system using sensor data fusion, the following functionalities are provided: algorithms for efficient path planning and health monitoring; economic sensor systems to provide navigation and obstacle avoidance functions; and the combination of free navigation capabilities with an existing wire-guided AGV system. There results a flexible transport system, able to adapt to changing production configurations. This paper provides details of this approach and reports on the trial implementation in a spinning mill.
面向工业生产的柔性自主运输机器人设计
自动导向车辆(agv)是实现工业生产中灵活运输任务的关键要素。目前,agv被广泛用于物料运输,通常通过铺设在地板上的感应导线引导。在试验应用中,esprit项目RETRARO解决了先进的数据处理技术,为AGV开发自由导航能力,以实现更高的操作灵活性。基于REAKT实时专家系统和基于传感器数据融合的低成本距离检测系统,提供了以下功能:高效路径规划和健康监测算法;提供导航和避障功能的经济传感器系统;以及将自由导航功能与现有的线导AGV系统相结合。这就产生了一个灵活的运输系统,能够适应不断变化的生产配置。本文详细介绍了该方法,并报告了该方法在纺纱厂的试验实施情况。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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