基于视觉导引的全方位移动AGV的研制

发布时间：2018-04-29 06:02

本文选题：自动导引小车 + 全方位移动　；参考：《南京航空航天大学》2017年硕士论文

【摘要】：自动导引小车(Automated Guided Vehicle,AGV)在自动化物料搬运系统中扮演着越来越重要的角色,全方位移动AGV是一种具有前进、后退、平移、旋转等多功能的自动化运输小车。本文的研究目标是采用视觉导引技术,以Mecanum轮作为驱动轮,研制一款具有智能化、灵活、可靠稳定性的全方位移动AGV,以满足日益发展的自动化物料输送系统的需求。首先,本文在分析了各行各业中对于AGV系统的应用需求基础上,结合Mecanum轮的运动特性,完成了视觉导引的全方位移动AGV的总体设计;针对Mecanum轮的运动和结构特点,开展了AGV车架悬挂结构设计及AGV传动系统方案的优化设计,提出了一种三点平衡式悬架结构,前悬架采用非独立悬挂结构,以中心点为支撑,具有左右偏摆功能;后悬架采用独立悬挂,具有绕支撑点上下摆动功能。不但满足了AGV全方位运动的要求,同时,还具有平稳性好、减震效果佳的目标。然后,本文建立了采用Mecanum四轮驱动模式的AGV的运动学模型,研发了全方位移动的PID控制算法,并利用MATLAB软件对控制算法进行了数字模拟仿真;完成了基于UC/OS-II操作系统完成了实时多任务控制单元的开发;结合实际应用需求,完成了电气系统、移载平台开发设计。最后,在前期研发工作的基础上,完成了自主研制的视觉导引的全方位移动AGV小车的研发,并进行了功能测试和核心技术指标实验验证,实验结果表明本文提出的总体技术方案和控制算法是有效的、可行的,AGV具有全方位移动功能,运行平稳、路径跟踪精度高。
[Abstract]:Automated Guided Vehicle (AGV) plays a more and more important role in the automatic material handling system. The omnidirectional mobile AGV is a kind of automatic transport car with many functions, such as forward, back, translation and rotation. The research aim of this paper is to use visual guidance technology and use Mecanum wheel as the driving wheel. It has intelligent, flexible, reliable and stable omni-directional mobile AGV to meet the needs of an increasingly developing automated material delivery system. Firstly, this paper has analyzed the application requirements of AGV system in all walks of life, combined with the motion characteristics of the Mecanum wheel, and completed the overall design of the omni-directional mobile AGV with visual guidance. According to the movement and structure characteristics of Mecanum wheel, the design of the suspension structure of AGV frame and the optimal design of the AGV transmission system are carried out. A three point balanced suspension structure is proposed. The front suspension adopts the non independent suspension structure, with the center point as the support and the left and right pendulum functions. The rear suspension adopts the independent suspension and has the swing up and down around the support point. The function not only meets the requirements of the AGV omni-directional movement, but also has the target of good stability and good damping effect. Then, this paper establishes a kinematic model of AGV using Mecanum four wheel drive mode, develops a PID control algorithm of omni-directional movement, and uses the soft parts of MATLAB to simulate the control algorithm. Based on the UC/OS-II operating system, the real time multi task control unit is developed, and the development and design of the electric system and the platform are completed. Finally, on the basis of the previous research and development work, the research and development of the omni-directional mobile AGV car developed by the autonomous development is completed, and the function test and the core technology are carried out. The experimental results show that the overall technical scheme and control algorithm proposed in this paper are effective and feasible. The AGV has the function of omni-directional movement, running smoothly and the path tracking precision is high.

【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

【参考文献】