自动搬运车研制及其路径规划实现
发布时间：2018-08-28 16:24
【摘要】：由于人工成本的不断上升,传统的搬运车已经无法在适应高生产率的要求。而自动搬运车由于其搬运效率高,适应性强等特点不断的被应用到各种室内环境。本文经过对国内外自动搬运车发展现状的调查,研究设计了一款自动搬运车,在此基础上对其路径规划进行了研究。本文根据设计的要求,对自动搬运车的各个模块进行设计,开发一款差速转向、循磁条导航功能的搬运车,着重介绍自动搬运车的驱动总成、运动模型分析、主控电路板以及其控制程序的设计,自动搬运车的核心控制板以C8051F410单片机为处理器,磁条传感器可完成数据采集并将数据送入主控芯片进行处理,主控芯片根据传感器状态利用柯蒂斯驱动器对电机进行控制;自动搬运车的控制程序则主要是变比例系数PID算法以及十字路口方向选择算法,然后在此搬运车的基础上重点介绍路径规划的具体的实现方法,以及如何远程控制自动搬运车按照规划的路径完成搬运任务。为了最大限度的减少搬运车在十字路口的等待时间,本文重点分析了模糊控制策略在十字路口调度车辆的应用。该控制策略可以指导车辆根据运送货物的轻重缓急来通过十字路口,可以在一定程度上减少搬运车在十字路口的堵塞现象。对自动搬运车的各个功能的测试结果表明搬运车可以根据上位机规划出的路径完成搬运任务,在搬运车运动的过程中各项性能都能满足要求。结果表明整个设计方案是可行的。
[Abstract]:Because of the rising labor costs, the traditional hauler has been unable to meet the requirements of high productivity. Because of its high efficiency and adaptability, the automatic hauler has been applied to various indoor environments. According to the requirements of the design, this paper designs each module of the automatic conveyor, develops a differential steering and magnetic stripe-guided conveyor, emphatically introduces the driving assembly of the automatic conveyor, the analysis of the motion model, the design of the main control circuit board and its control program, and the automatic conveyor. The core control board of the truck uses C8051F410 single chip microcomputer as the processor. The magnetic stripe sensor can complete data acquisition and send the data to the main control chip for processing. The main control chip uses Curtis driver to control the motor according to the state of the sensor. The control program of the automatic truck is mainly variable proportional coefficient PID algorithm and cross road. The algorithm of choosing the direction of the portal is introduced, and then the method of realizing the path planning is emphasized on the basis of the portal truck, and how to control the automatic portal truck remotely to complete the portal task according to the planned path. In order to minimize the waiting time of the portal truck at the intersection, the fuzzy control strategy is analyzed emphatically at the intersection. The control strategy can guide the vehicle to pass through the intersection according to the priority of the goods transported. It can reduce the blockage of the moving vehicle at the intersection to a certain extent. The test results of each function of the moving vehicle show that the moving vehicle can complete the moving according to the path planned by the upper computer. The results show that the whole design scheme is feasible.
【学位授予单位】：中国计量大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP23
本文编号：2209941
[Abstract]:Because of the rising labor costs, the traditional hauler has been unable to meet the requirements of high productivity. Because of its high efficiency and adaptability, the automatic hauler has been applied to various indoor environments. According to the requirements of the design, this paper designs each module of the automatic conveyor, develops a differential steering and magnetic stripe-guided conveyor, emphatically introduces the driving assembly of the automatic conveyor, the analysis of the motion model, the design of the main control circuit board and its control program, and the automatic conveyor. The core control board of the truck uses C8051F410 single chip microcomputer as the processor. The magnetic stripe sensor can complete data acquisition and send the data to the main control chip for processing. The main control chip uses Curtis driver to control the motor according to the state of the sensor. The control program of the automatic truck is mainly variable proportional coefficient PID algorithm and cross road. The algorithm of choosing the direction of the portal is introduced, and then the method of realizing the path planning is emphasized on the basis of the portal truck, and how to control the automatic portal truck remotely to complete the portal task according to the planned path. In order to minimize the waiting time of the portal truck at the intersection, the fuzzy control strategy is analyzed emphatically at the intersection. The control strategy can guide the vehicle to pass through the intersection according to the priority of the goods transported. It can reduce the blockage of the moving vehicle at the intersection to a certain extent. The test results of each function of the moving vehicle show that the moving vehicle can complete the moving according to the path planned by the upper computer. The results show that the whole design scheme is feasible.
【学位授予单位】：中国计量大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP23
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