【摘要】：由于人工成本的不斷上升,傳統(tǒng)的搬運車已經(jīng)無法在適應(yīng)高生產(chǎn)率的要求。而自動搬運車由于其搬運效率高,適應(yīng)性強等特點不斷的被應(yīng)用到各種室內(nèi)環(huán)境。本文經(jīng)過對國內(nèi)外自動搬運車發(fā)展現(xiàn)狀的調(diào)查,研究設(shè)計了一款自動搬運車,在此基礎(chǔ)上對其路徑規(guī)劃進行了研究。本文根據(jù)設(shè)計的要求,對自動搬運車的各個模塊進行設(shè)計,開發(fā)一款差速轉(zhuǎn)向、循磁條導(dǎo)航功能的搬運車,著重介紹自動搬運車的驅(qū)動總成、運動模型分析、主控電路板以及其控制程序的設(shè)計,自動搬運車的核心控制板以C8051F410單片機為處理器,磁條傳感器可完成數(shù)據(jù)采集并將數(shù)據(jù)送入主控芯片進行處理,主控芯片根據(jù)傳感器狀態(tài)利用柯蒂斯驅(qū)動器對電機進行控制;自動搬運車的控制程序則主要是變比例系數(shù)PID算法以及十字路口方向選擇算法,然后在此搬運車的基礎(chǔ)上重點介紹路徑規(guī)劃的具體的實現(xiàn)方法,以及如何遠程控制自動搬運車按照規(guī)劃的路徑完成搬運任務(wù)。為了最大限度的減少搬運車在十字路口的等待時間,本文重點分析了模糊控制策略在十字路口調(diào)度車輛的應(yīng)用。該控制策略可以指導(dǎo)車輛根據(jù)運送貨物的輕重緩急來通過十字路口,可以在一定程度上減少搬運車在十字路口的堵塞現(xiàn)象。對自動搬運車的各個功能的測試結(jié)果表明搬運車可以根據(jù)上位機規(guī)劃出的路徑完成搬運任務(wù),在搬運車運動的過程中各項性能都能滿足要求。結(jié)果表明整個設(shè)計方案是可行的。
[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.
【學(xué)位授予單位】：中國計量大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TP23

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本文編號：2209941