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Development of a flexible AGV for flexible manufacturing systems

机译：开发用于柔性制造系统的柔性AGV

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Purpose - The paper aims to describe the design and development of an automated guided vehicle (AGV) that incorporates artificial intelligence techniques to increase its autonomy and flexibility. The aim is developing a flexible AGV that operates as a flexible material handling system (MHS) in dynamic industrial environments. Design/methodology/approach - Introduces the entire on-board control system including hardware and software designs. The sensory system consists of a laser navigation system for localisation and a security laser scanner for sensing the environment. The software architecture is instantiated in a CPU that is connected to low level controllers through a CAN bus. Simplicity, flexibility, robustness and safety were concerned in the design process. Findings - The developed prototype is able to operate in partially structured and dynamic environments, is easily configured using an approximated description of the workplace and is able to adapt when slight floor layout modifications. This development shows that current technology permits introducing intelligent vehicles in complex manufacturing systems. Practical implications - The prototype is successfully tested in a real factory, operating as a flexible MHS, transporting pallets between production and storage lines. Originality/value - A novel flexible AGV is designed and developed to operate as a flexible MHS in dynamic industrial environments. The system satisfies the safety and robustness requirements of industrial applications. The flexible MHS results especially suitable for manufacturing systems that suffers from cyclic and seasonal variations and for flexible manufacturing systems where the possibility of choosing alternative routes is a must.
机译：目的-本文旨在描述结合了人工智能技术以增加其自主性和灵活性的自动导引车（AGV）的设计和开发。目的是开发一种灵活的AGV，该AGV在动态工业环境中可用作灵活的物料处理系统（MHS）。设计/方法/方法-介绍整个板载控制系统，包括硬件和软件设计。感官系统由用于定位的激光导航系统和用于感测环境的安全激光扫描仪组成。在通过CAN总线连接到低级控制器的CPU中实例化了软件体系结构。在设计过程中要考虑简单性，灵活性，坚固性和安全性。调查结果-所开发的原型能够在部分结构化和动态的环境中运行，可以使用工作场所的近似描述轻松进行配置，并且可以在地板布局略微更改时进行调整。这一发展表明，当前的技术允许将智能车辆引入复杂的制造系统。实际意义-原型已在实际工厂中成功测试，可以作为灵活的MHS运行，在生产线和存储线之间运输托盘。原创性/价值-一种新颖的柔性AGV被设计和开发为在动态工业环境中用作柔性MHS。该系统满足工业应用的安全性和鲁棒性要求。灵活的MHS结果特别适合遭受周期性和季节性变化影响的制造系统，以及必须选择替代路线的灵活制造系统。

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