本文關(guān)鍵詞：磁條導引自動導航車（AGV）主體系統(tǒng)設(shè)計　出處：《中國計量學院》2015年碩士論文　論文類型：學位論文

  更多相關(guān)文章： 自動導航車 差速轉(zhuǎn)向 磁條導引 C8051F410單片機 射頻識別

【摘要】：AGV(自動導航車)能夠適應(yīng)室內(nèi)外各種環(huán)境的物料搬運工作,因為其靈活、高效、適應(yīng)性強等特點,被廣泛應(yīng)用于制造、倉儲、分揀、物流、搬運等領(lǐng)域。本文經(jīng)過對國內(nèi)外AGV發(fā)展現(xiàn)狀的調(diào)查,對于磁條導引的自動導航車(AGV)進行了研究。首先結(jié)合具體的設(shè)計要求,進行了AGV的整體設(shè)計,并分別介紹了AGV的各個模塊;確定開發(fā)一款磁條導引的具有差速轉(zhuǎn)向、RFID站點停車等功能的AGV;然后結(jié)合叉車式AGV的特點,進行了自動導航車整體的結(jié)構(gòu)設(shè)計,并對于其驅(qū)動模塊和速度編碼器的安裝結(jié)構(gòu)進行了重點介紹,開展了驅(qū)動電機選型分析和導航車差速結(jié)構(gòu)的運動學分析;在以上AGV結(jié)構(gòu)設(shè)計的基礎(chǔ)上,進行了AGV主控電路板設(shè)計和主控電路板控制程序的開發(fā);主控電路板以C8051F410單片機為核心控制芯片,可以完成傳感器數(shù)據(jù)采集,并結(jié)合CURTIS1212驅(qū)動器進行電機控制;AGV控制程序則主要是PID控制算法程序和RFID串口通信程序等,以實現(xiàn)AGV的行走轉(zhuǎn)向控制、安全控制、站點識別停車控制等功能;之后則對開發(fā)出的AGV進行了各種性能測試,測試結(jié)果表明本設(shè)計總體方案是可行的,達到了預期的效果。論文的最后,對磁條導引自動導航車主體系統(tǒng)的設(shè)計工作做出了總結(jié)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.

【學位授予單位】：中國計量學院
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：TP23

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