【摘要】：火工行業(yè)是一項(xiàng)高危險性行業(yè),要保證生產(chǎn)過程的安全,必須實(shí)現(xiàn)生產(chǎn)過程的自動化,達(dá)到少人化甚至無人化。為了實(shí)現(xiàn)此目的,使用自動導(dǎo)引車運(yùn)輸,它不僅能夠提高安全性,而且能夠提高工作效率和降低生產(chǎn)成本。為了實(shí)現(xiàn)炸藥廠物料安全運(yùn)輸,設(shè)計(jì)了火工品運(yùn)輸AGV。同時,根據(jù)AGV導(dǎo)航實(shí)際的應(yīng)用需要,選擇激光導(dǎo)航和紅外導(dǎo)航。然而激光導(dǎo)航精度高、成本高,而紅外導(dǎo)航精度低、成本低,為了得到精度高成本又低的導(dǎo)航方式,選擇激光和紅外組合導(dǎo)航方式。實(shí)現(xiàn)組合導(dǎo)航需要數(shù)據(jù)融合技術(shù),同時,組合導(dǎo)航數(shù)據(jù)是非線性的,故而選擇E-Kalman濾波器算法實(shí)現(xiàn)信息融合。本文具體研究方法是通過查閱大量文獻(xiàn)和專利等技術(shù)材料、考察學(xué)習(xí)國內(nèi)外企業(yè)的技術(shù)和現(xiàn)狀,結(jié)合本研究實(shí)際應(yīng)用要求,選擇具體導(dǎo)航方法,并不斷加以改進(jìn)。AGV平臺確立后,導(dǎo)航試驗(yàn),激光單獨(dú)導(dǎo)航橫向均值誤差為0.1367m,豎向均值誤差0.1835m,紅外單獨(dú)導(dǎo)航橫向均值誤差為0.1873m,豎向均值誤差0.2690m,EKF數(shù)據(jù)融合的組合導(dǎo)航橫向均值誤差為0.0861m,豎向均值誤差0.1200m,比較誤差值,EKF數(shù)據(jù)融合的組合導(dǎo)航誤差最小。由以上結(jié)果可以得出結(jié)論:EKF數(shù)據(jù)融合的組合導(dǎo)航在火工品運(yùn)輸中導(dǎo)航誤差小,精度高。因此,EKF數(shù)據(jù)融合的組合導(dǎo)航是一種低成本提高導(dǎo)航精度的有效方法。
[Abstract]:Fire industry is a high risk industry. In order to ensure the safety of the production process, it is necessary to realize the automation of the production process and achieve the goal of less personalization or even unhumanization. In order to achieve this purpose, automatic guided vehicle transportation can not only improve the safety, but also improve the work efficiency and reduce the production cost. In order to realize the safe transportation of materials in explosive factory, AGV. for the transportation of explosive products is designed. At the same time, according to the practical application needs of AGV navigation, laser navigation and infrared navigation are selected. However, the laser navigation accuracy is high and the cost is high, while the infrared navigation accuracy is low and the cost is low. In order to obtain the high precision and low cost navigation mode, the laser and infrared integrated navigation mode is selected. Data fusion technology is needed to realize integrated navigation. At the same time, integrated navigation data is nonlinear, so E-Kalman filter algorithm is selected to realize information fusion. The specific research method of this paper is to investigate and study the technology and present situation of domestic and foreign enterprises by consulting a large number of literature and patent and other technical materials. Combined with the practical application requirements of this study, the specific navigation methods are selected and constantly improved. After the establishment of AGV platform, the transverse mean error of laser navigation alone is 0.1367m, the vertical mean error is 0.1835m, and the transverse mean error of infrared navigation alone is 0.1873m. The vertical mean error is 0.2690m, the transverse mean error of EKF data fusion is 0.0861m, the vertical mean error is 0.1200m, and the integrated navigation error of EKF data fusion is the smallest. From the above results, it can be concluded that the integrated navigation of EKF data fusion has small navigation error and high accuracy in gunwork transportation. Therefore, EKF data fusion integrated navigation is an effective method to improve navigation accuracy at low cost.
【學(xué)位授予單位】：新疆農(nóng)業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TP23

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