本文關(guān)鍵詞：磁條導(dǎo)引自動(dòng)導(dǎo)航車(chē)（AGV）主體系統(tǒng)設(shè)計(jì)　出處：《中國(guó)計(jì)量學(xué)院》2015年碩士論文　論文類(lèi)型：學(xué)位論文

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【摘要】：AGV(自動(dòng)導(dǎo)航車(chē))能夠適應(yīng)室內(nèi)外各種環(huán)境的物料搬運(yùn)工作,因?yàn)槠潇`活、高效、適應(yīng)性強(qiáng)等特點(diǎn),被廣泛應(yīng)用于制造、倉(cāng)儲(chǔ)、分揀、物流、搬運(yùn)等領(lǐng)域。本文經(jīng)過(guò)對(duì)國(guó)內(nèi)外AGV發(fā)展現(xiàn)狀的調(diào)查,對(duì)于磁條導(dǎo)引的自動(dòng)導(dǎo)航車(chē)(AGV)進(jìn)行了研究。首先結(jié)合具體的設(shè)計(jì)要求,進(jìn)行了AGV的整體設(shè)計(jì),并分別介紹了AGV的各個(gè)模塊;確定開(kāi)發(fā)一款磁條導(dǎo)引的具有差速轉(zhuǎn)向、RFID站點(diǎn)停車(chē)等功能的AGV;然后結(jié)合叉車(chē)式AGV的特點(diǎn),進(jìn)行了自動(dòng)導(dǎo)航車(chē)整體的結(jié)構(gòu)設(shè)計(jì),并對(duì)于其驅(qū)動(dòng)模塊和速度編碼器的安裝結(jié)構(gòu)進(jìn)行了重點(diǎn)介紹,開(kāi)展了驅(qū)動(dòng)電機(jī)選型分析和導(dǎo)航車(chē)差速結(jié)構(gòu)的運(yùn)動(dòng)學(xué)分析;在以上AGV結(jié)構(gòu)設(shè)計(jì)的基礎(chǔ)上,進(jìn)行了AGV主控電路板設(shè)計(jì)和主控電路板控制程序的開(kāi)發(fā);主控電路板以C8051F410單片機(jī)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(dòng)器進(jìn)行電機(jī)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(shí)現(xiàn)AGV的行走轉(zhuǎn)向控制、安全控制、站點(diǎn)識(shí)別停車(chē)控制等功能;之后則對(duì)開(kāi)發(fā)出的AGV進(jìn)行了各種性能測(cè)試,測(cè)試結(jié)果表明本設(shè)計(jì)總體方案是可行的,達(dá)到了預(yù)期的效果。論文的最后,對(duì)磁條導(dǎo)引自動(dòng)導(dǎo)航車(chē)主體系統(tǒng)的設(shè)計(jì)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(xué)位授予單位】：中國(guó)計(jì)量學(xué)院
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2015
【分類(lèi)號(hào)】：TP23

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本文編號(hào)：1368496