AGV装配线系统

提供运行控制数据；

Testing for body into position, which is to test the position of the vehicle to be assembled on the chassis assembly line in order to provide running control data for AGV transportation system.

2、工艺链运行检测和控制，主要检测工艺链运行状态，同时根据工艺链运行状态控制AGV的运行状态确保 AGV系统在运行过程中的安全性，根据AGV的运行状态，一旦AGV发生故障或其他原因造成AGV停车，控制工艺链的停止运行，防止对设备或工件的损坏；

Testing and controlling the running of the process chain, which is mainly to test the running state of the process chain and at the same time control AGV running state to ensure the safety of AGV system in its running course. According to AGV running state, once AGV malfunction happens or AGV stops running due to other reasons, it shall control the process chain to stop running in order to prevent damage to equipment or workpiece.

3、充电器工作状态的检测，检测充电器的工作状态，保证AGV正常充电。 Testing the working state of the charger, which is to test charger’s working state to ensure AGV normal charge.

14. 导航线的铺设Navigation Line Paving

AGV地面导航线有两种铺设方式，一种为铺设在地面上的，导航线由长500mm、宽50mm、厚度为1mm的磁性橡胶铺设而成，由于该方式更改性较好，此铺设方式一般采用在装配工艺路线未完全确定时；另外一种方式为埋于地下，导航磁条由长1000mm、宽10mm、厚度为15mm的磁性橡胶组成，此种方法一般在装配工艺确定后实施。

There are two methods for AGV ground navigation line paving. One is to pave on the ground. The navigation line is made of magnetic rubber of 500mm length, 50mm width and 1mm thickness. This method is easy to change and generally used when the assembly process path can’t be confirmed completely. The other method is to pave under the ground. The navigation magnetic strip is made of magnetic rubber of 1000mm length, 10mm width and 1mm thickness. This method is used when the assembly process has been confirmed.

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AGV装配线系统 埋于地下的导航线剖面图 15. AGV系统特点AGV System Characteristics 15.1 高速无线局域网的建立和应用 Setup and Application of High-speed Wireless LAN

AGV系统采用工业级的无线通信模块，建立高速无线局域网，通信速率可以达到3-54Mbps，明显优于无线串行通讯的K级通讯速率。在高速无线局域网通信系统支持下，AGV系统可以很好的实现多台AGV、多种任务、复杂地图避碰调度和任务调度，极大地提高了AGV系统的监控能力。

AGV system adopts industrial wireless communication module and set up high-speed wireless LAN with the communication speed reaching 3-54Mbps, surpassing largely the K level communication speed of the wireless serial communication. With the support of high-speed wireless LAN communication system, AGV system can realize the running of multi-AGVs and many kinds of tasks as well as collision prevention dispatching and tasks dispatching with complex map, which has largely improved AGV system monitoring and control.

AGV系统的通信能力的提高，为系统带来的好处是明显的。

The improvement of AGV system communication has apparent advantages for the system.

1）提高了控制台对AGV的控制效率。 Improving console control efficiency on AGV.

2）控制台可以更快的获得各台AGV的运行状态，提高了对AGV故障处理的及时性。

The console can get the running state of each AGV quickly, thus improve timeliness of AGV malfunction disposal.

3）可以由控制台对AGV进行避碰调度，任务调度。

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AGV装配线系统

Can use the console to make dispatch for collision prevention and task dispatch to AGV

4）控制台显示AGV的位置更准确。

The console displays AGV position more accurately. 5）大大增加了AGV系统运行的可靠性。

Increasing largely the reliability of AGV system running 15.2 AGV运行的灵活性Flexibility of AGV Running

1）

AGV的导航方式为磁导航，运行的轨迹可通过软件和更改磁条的粘贴位置来修改，使装配的路线更为柔性。

AGV uses magnetic navigation method. Its running track can be amended through software and by changing the paste position of the magnetic strip in order to make the assembly path more flexible.

2）

AGV由控制台集中调度管理，线上AGV数量可根据使用情况自由增减，AGV出现故障可撤离装配线维护缩短停线时间。

AGV is dispatched and managed by the console. The number of AGV on the line can be added or reduced freely according to usage. When AGV has malfunction, it can leave the assembly line for maintenance and save break time of the production line.

15.3 高精度导航系统High Accuracy Navigation System

AGV系统采用磁导航传感器可以获得位置控制精度：?10mm。

AGV system adopts magnetic navigation sensor to reach position control accuracy: ?10mm.

AGV系统采用磁地标传感器控制停车，可以获得停车位置控制精度：?10mm。 AGV system uses magnetic land mark sensor to control vehicle to stop and get the stop position control accuracy: ?10mm.

AGV系统采用基于PSD原理的跟踪传感器，可以同步跟踪车身运行跟踪精度可达到?10mm。

AGV system adopts tracking sensor based on PSD principle to realize synchronization tracking of the body moving and get tracking accuracy: ?10mm.

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AGV装配线系统

15.4 友好的人机界面User Friendly Human Machine Interface

1. 方便的全中文菜单，提供丰富的操作内容；

Providing convenient Chinese menu, and abundant operation contents 2. 显示器和操作面板可以提示操作步骤，AGV工作状态，故障信息。 Display and operation panel can give clue on operation steps, AGV working state and malfunction information.

3. 可以通过显示和操作面板设定系统参数，修改系统参数。

Setting and amending system parameters through display and operation panel 4. 可以通过显示和操作面板设定工作参数，修改工作参数。

Setting and amending working parameters through display and operation panel. 15.5 完善的自诊断系统Perfect Self-diagnosis System

AGV车载控制器软件和硬件的设计提供了完善的AGV系统自检测、自诊断、自保护能力。

The design of AGV vehicle controller software and hardware has provided it with perfect functions of AGV system self-testing, self-diagnosis and self-protection. 15.6 AGV可靠性措施Measures on AGV Reliability

新松公司从八十年代初就开始进行移动机器人和自动导引车AGV的研究和软件开发，在系统设计和软件开发方面积累了丰富的经验。九十年代新松公司首次将AGV用于汽车装配行业-沈阳华晨金杯汽车公司，在此基础上新松公司不断完善装配型AGV的功能及应用，到目前为止新松公司与国内大多数汽车厂签订了装配型AGV的合同，至2005年底新松公司共生产用于汽车装配的AGV近100台。

From the early 1980s, SIASUN has begun research and software development on moving robot and automated guided vehicle (AGV) and has accumulated abundant experience on system design and software development. In the 1990s, SIASUN applies AGV in automobile assembly industry for Shenyang Brilliance Jinbei Automobile Co., Ltd. for the first time. Based on this, SIASUN makes continuous efforts to perfect the function and application of the assembly AGV. By now, SIASUN has signed contract of assembly AGV with most of domestic automotive manufacturers and by the end of 2005, SIASUN has produced about 100 AGVs used for automotive assemble.

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