本文關(guān)鍵詞： 導(dǎo)航系統(tǒng) AGV STM32 射頻技術(shù)　出處：《武漢理工大學(xué)》2014年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著工業(yè)科技的發(fā)展以及工業(yè)生產(chǎn)的自動(dòng)化，倉庫的高度集成化，迅速準(zhǔn)確的搬運(yùn)產(chǎn)品，極大的提高生產(chǎn)效率，自動(dòng)引導(dǎo)小車（Automated GuideVehicle），簡稱AGV，越來越廣泛的應(yīng)用到現(xiàn)代化的工業(yè)生產(chǎn)中[1]。AGV是集光、電、磁及計(jì)算機(jī)等各種信息為一體的高科技產(chǎn)品，以蓄電池為能源，電機(jī)為動(dòng)力裝置，以磁阻傳感器或者其他導(dǎo)航方式為“方向盤”，以鋪好的地磁條為既定線路，智能運(yùn)輸物品的動(dòng)力裝置[2]。AGV，能夠降低工業(yè)生產(chǎn)為人力勞動(dòng)的依賴，提高生產(chǎn)效率，而且其安裝簡單，容易維護(hù)，空間占用率低，路徑變換簡單，在現(xiàn)代化的工業(yè)生產(chǎn)中收到極大的青睞[3]。 論文從硬件結(jié)構(gòu)和軟件設(shè)計(jì)兩個(gè)方面對AGV的導(dǎo)航系統(tǒng)進(jìn)行了詳細(xì)的介紹。基于STM32的自動(dòng)導(dǎo)航小車導(dǎo)航系統(tǒng)的硬件的核心是STM模塊。其他的功能模塊主要有采集模塊，電路放大模塊，轉(zhuǎn)換模塊。采集模塊只要是磁感電阻在磁場中運(yùn)動(dòng)，產(chǎn)生電壓，由于磁場強(qiáng)度的不同，，產(chǎn)生的電壓也有高低，經(jīng)過放大電路模塊，將采集的電壓信號(hào)進(jìn)行放大，再將放大的電壓信號(hào)經(jīng)AD轉(zhuǎn)換后送給STM32，以便于進(jìn)行下一步的比較。指令模塊是指射頻卡片。有射頻卡片采集到指令信息后，先輸給STM32，再有STM32給于電機(jī)相應(yīng)的轉(zhuǎn)向信號(hào)。 STM32是整個(gè)導(dǎo)航系統(tǒng)的核心，首先從放大電路獲得到放大后的電壓信號(hào)，對大眼信號(hào)進(jìn)行濾波去噪后，對數(shù)值進(jìn)行比較，來判斷AGV是否沿著既定的地磁路線進(jìn)行前進(jìn)。若出現(xiàn)偏差，則進(jìn)行相應(yīng)的調(diào)整。綜合軌道線路和小車在路口的信息，對電機(jī)進(jìn)行最優(yōu)化控制，讓AGV既能按照路線行進(jìn)又能再路口進(jìn)行相應(yīng)的選擇。供電電源模塊給系統(tǒng)提供穩(wěn)定可靠的工作電平。 基于STM32的AGV導(dǎo)航系統(tǒng)，能夠按照既定的路線行進(jìn)，當(dāng)AGV行進(jìn)路線和地磁線路出現(xiàn)偏差時(shí)能夠進(jìn)行及時(shí)的糾正并在路口處及時(shí)檢測到路口信息并進(jìn)行正確的選擇路線。這種導(dǎo)航系統(tǒng)簡易，安裝簡單，使用方便，成本低，使用領(lǐng)域廣泛，有很好的市場前景。
[Abstract]:With the development of industrial science and technology, the automation of industrial production, the highly integrated warehouse, the rapid and accurate handling of products, greatly improve the production efficiency. Automated guided vehicle (AGV) is more and more widely used in modern industrial production. AGV is a high-tech product with light, electricity, magnetism and computer information as a whole. The battery is used as energy source and motor as power device. With magnetoresistive sensors or other navigation methods as the "steering wheel" and laid magnetic stripes as the established line, the power device of intelligent transport goods [2] .AGV, can reduce the dependence of industrial production on human labor, improve production efficiency, and its installation is simple. Easy to maintain, low space occupancy, simple path change, in modern industrial production received great favor [3]. This paper introduces the navigation system of AGV in detail from two aspects of hardware structure and software design. The core of the hardware of automatic navigation vehicle navigation system based on STM32 is STM module. As long as the magnetic inductance resistor moves in the magnetic field to generate voltage, because of the different magnetic field intensity, the generated voltage is also high or low. After the amplifier circuit module, the collected voltage signal is amplified. Then the amplified voltage signal is sent to STM32 after AD conversion for further comparison. The instruction module refers to the RF card. After the command information is collected by the RF card, the signal is lost to STM32 first, and then the STM32 gives the corresponding steering signal to the motor. STM32 is the core of the whole navigation system. Firstly, the voltage signal is obtained from the amplifier circuit to the amplified voltage signal. After filtering and denoising the big eye signal, the numerical value is compared. To determine if AGV is moving along a given geomagnetic route. If there is a deviation, adjust it accordingly. Integrate the information of track lines and cars at the intersection to optimize the control of the motor. The power supply module provides a stable and reliable working level for the system. The AGV navigation system based on STM32 can follow the established route. When the AGV travel route and geomagnetic line deviate, it can correct the intersection information and select the correct route in time. This navigation system is simple, easy to install, easy to use and low in cost. Wide range of use, there is a good market prospects.
【學(xué)位授予單位】：武漢理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TN96

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