磁条导引自动导航车（AGV）主体系统设计

发布时间：2018-01-02 08:39

本文关键词：磁条导引自动导航车（AGV）主体系统设计　出处：《中国计量学院》2015年硕士论文　论文类型：学位论文

【摘要】：AGV(自动导航车)能够适应室内外各种环境的物料搬运工作,因为其灵活、高效、适应性强等特点,被广泛应用于制造、仓储、分拣、物流、搬运等领域。本文经过对国内外AGV发展现状的调查,对于磁条导引的自动导航车(AGV)进行了研究。首先结合具体的设计要求,进行了AGV的整体设计,并分别介绍了AGV的各个模块;确定开发一款磁条导引的具有差速转向、RFID站点停车等功能的AGV;然后结合叉车式AGV的特点,进行了自动导航车整体的结构设计,并对于其驱动模块和速度编码器的安装结构进行了重点介绍,开展了驱动电机选型分析和导航车差速结构的运动学分析;在以上AGV结构设计的基础上,进行了AGV主控电路板设计和主控电路板控制程序的开发;主控电路板以C8051F410单片机为核心控制芯片,可以完成传感器数据采集,并结合CURTIS1212驱动器进行电机控制;AGV控制程序则主要是PID控制算法程序和RFID串口通信程序等,以实现AGV的行走转向控制、安全控制、站点识别停车控制等功能;之后则对开发出的AGV进行了各种性能测试,测试结果表明本设计总体方案是可行的,达到了预期的效果。论文的最后,对磁条导引自动导航车主体系统的设计工作做出了总结和展望。
[Abstract]:AGV (automatic guided vehicle) can adapt to the material handling work of various indoor and outdoor environment, because of its flexibility, high efficiency, strong adaptability, is widely used in manufacturing, warehousing, sorting, logistics, transportation and other fields. In this paper, through investigation and development situation of AGV at home and abroad, for vehicle automatic navigation guided magnetic stripe (AGV) were studied. According to the specific requirements of the design, the overall design of AGV, and introduces the modules of AGV; to determine the development of a magnetic guide with differential steering, RFID stops and other functions of the AGV; and then combined with the characteristics of AGV forklift, the overall structure design of automatic guided vehicle and, for the driver and the speed of the encoder installation structure was introduced, the kinematic differential structure of motor vehicle driving and navigation selection analysis based on the above analysis; the structural design of AGV, to The development of AGV main control circuit board design and the main control circuit board control program; the main control circuit board using C8051F410 microcontroller as the core control chip, can complete the sensor data acquisition, combined with CURTIS1212 drive motor control; AGV control program is mainly PID control algorithm program and RFID serial communication procedures, to achieve AGV walking steering control, safety control, site identification parking control; then on the development of a AGV for a variety of performance testing, test results show that this design scheme is feasible and achieves the desired results. Finally, the design of automatic guided vehicle guidance magnetic body system has made the summary and outlook.

【学位授予单位】：中国计量学院
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP23

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