1. AGV is the information collection unit that realizes this part of the function through navigation sensors, landmark sensors and tracking sensors. They obtain guidance, positioning and synchronization signals by sensing with navigation magnetic stripe, landmark magnetic strip and optical target, respectively. Magnetic navigation technology is the core technology of AGV. Since the magnetic stripe itself has a constant magnetic field signal, without additional signal generator, the navigation sensor is installed in front of the car body to calculates the deviation and distance between the AGV and the magnetic stripe by detecting the difference between the signal strength of the magnetic field; the landmark sensor is located on the side of the car body and detects the landmark magnetic stripe and feedback the required signal to the main controller VCU100 through the CAN bus to control the AGV to walk along the track.

2. The walking execution unit of AGV is a set of servo control system. The walking servo system of AGV adopts the speed loop and the position loop feedback, so its function is much more powerful than the frequency converter in terms of speed and precision. The power supply of the servo driver is the DC power supply, and the loop gain, maximum working current, input gain and offset can be adjusted by adjusting the potentiometer on the servo amplifier. Because there is more large chain speed feedback than the rail self-propelled car, the AGV synchronization changes.

3. Communication mode: because the rail car adopts the sliding touch wire as the communication mode, Therefore, only a few digital signals can be exchanged between PLC; AGV is to build a wireless LAN to achieve powerful communication functions; The LAN consists of a CISCOAP station based on IEEE 802.11a/IEEE 802.11b/IEEE 802.11g network standards and several Siemens SA stations, Its transmission rate and propagation distance can reach 2.4 GHz, 54 Mbps and 290 m respectively; The rear axle AGV loop and engine AGV loop are divided into two LAN as through the setting of SSID; Based on the wireless LAN, AGV realizes task assignment, collision avoidance management and all information interaction between all industrial controllers and each AGV.

3. Power taking mode: In the final assembly line of automobiles, the chassis assembly equipment is in a moving state and moves frequently, which makes the power taking mode become the technical focus and also the concentration point of equipment failure in on-site maintenance. The rail trolley adopts sliding touch and obtains power supply (220 V) through two carbon brushes and sliding touch wires

2; AGV adopts on-board battery pack and charging at two points in the running loop. Since the battery pack is DC, this additional charging motor is required.