基于STM32的自动引导小车（AGV）导航系统的研究

发布时间：2018-02-24 15:43

本文关键词： 导航系统 AGV STM32 射频技术　出处：《武汉理工大学》2014年硕士论文　论文类型：学位论文

【摘要】：随着工业科技的发展以及工业生产的自动化，仓库的高度集成化，迅速准确的搬运产品，极大的提高生产效率，自动引导小车（Automated GuideVehicle），简称AGV，越来越广泛的应用到现代化的工业生产中[1]。AGV是集光、电、磁及计算机等各种信息为一体的高科技产品，以蓄电池为能源，电机为动力装置，以磁阻传感器或者其他导航方式为“方向盘”，以铺好的地磁条为既定线路，智能运输物品的动力装置[2]。AGV，能够降低工业生产为人力劳动的依赖，提高生产效率，而且其安装简单，容易维护，空间占用率低，路径变换简单，在现代化的工业生产中收到极大的青睐[3]。论文从硬件结构和软件设计两个方面对AGV的导航系统进行了详细的介绍。基于STM32的自动导航小车导航系统的硬件的核心是STM模块。其他的功能模块主要有采集模块，电路放大模块，转换模块。采集模块只要是磁感电阻在磁场中运动，产生电压，由于磁场强度的不同，，产生的电压也有高低，经过放大电路模块，将采集的电压信号进行放大，再将放大的电压信号经AD转换后送给STM32，以便于进行下一步的比较。指令模块是指射频卡片。有射频卡片采集到指令信息后，先输给STM32，再有STM32给于电机相应的转向信号。 STM32是整个导航系统的核心，首先从放大电路获得到放大后的电压信号，对大眼信号进行滤波去噪后，对数值进行比较，来判断AGV是否沿着既定的地磁路线进行前进。若出现偏差，则进行相应的调整。综合轨道线路和小车在路口的信息，对电机进行最优化控制，让AGV既能按照路线行进又能再路口进行相应的选择。供电电源模块给系统提供稳定可靠的工作电平。基于STM32的AGV导航系统，能够按照既定的路线行进，当AGV行进路线和地磁线路出现偏差时能够进行及时的纠正并在路口处及时检测到路口信息并进行正确的选择路线。这种导航系统简易，安装简单，使用方便，成本低，使用领域广泛，有很好的市场前景。
[Abstract]:With the development of industrial science and technology, the automation of industrial production, the highly integrated warehouse, the rapid and accurate handling of products, greatly improve the production efficiency. Automated guided vehicle (AGV) is more and more widely used in modern industrial production. AGV is a high-tech product with light, electricity, magnetism and computer information as a whole. The battery is used as energy source and motor as power device. With magnetoresistive sensors or other navigation methods as the "steering wheel" and laid magnetic stripes as the established line, the power device of intelligent transport goods [2] .AGV, can reduce the dependence of industrial production on human labor, improve production efficiency, and its installation is simple. Easy to maintain, low space occupancy, simple path change, in modern industrial production received great favor [3]. This paper introduces the navigation system of AGV in detail from two aspects of hardware structure and software design. The core of the hardware of automatic navigation vehicle navigation system based on STM32 is STM module. As long as the magnetic inductance resistor moves in the magnetic field to generate voltage, because of the different magnetic field intensity, the generated voltage is also high or low. After the amplifier circuit module, the collected voltage signal is amplified. Then the amplified voltage signal is sent to STM32 after AD conversion for further comparison. The instruction module refers to the RF card. After the command information is collected by the RF card, the signal is lost to STM32 first, and then the STM32 gives the corresponding steering signal to the motor. STM32 is the core of the whole navigation system. Firstly, the voltage signal is obtained from the amplifier circuit to the amplified voltage signal. After filtering and denoising the big eye signal, the numerical value is compared. To determine if AGV is moving along a given geomagnetic route. If there is a deviation, adjust it accordingly. Integrate the information of track lines and cars at the intersection to optimize the control of the motor. The power supply module provides a stable and reliable working level for the system. The AGV navigation system based on STM32 can follow the established route. When the AGV travel route and geomagnetic line deviate, it can correct the intersection information and select the correct route in time. This navigation system is simple, easy to install, easy to use and low in cost. Wide range of use, there is a good market prospects.
【学位授予单位】：武汉理工大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TN96

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