本文選題：ARM　切入點(diǎn)：AGV　出處：《南京航空航天大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：近年來(lái),隨著物流倉(cāng)儲(chǔ)效率的加快和企業(yè)自動(dòng)化水平的提高,市場(chǎng)競(jìng)爭(zhēng)、減輕勞動(dòng)強(qiáng)度、適應(yīng)批量生產(chǎn)等需求動(dòng)力使生產(chǎn)自動(dòng)化成為主流趨勢(shì),自動(dòng)引導(dǎo)小車(AGV)正是在這種需求下產(chǎn)生的。AGV憑借其安全可靠、高效靈活的特點(diǎn),適應(yīng)了物流自動(dòng)化發(fā)展的最新要求,得到了廣泛的工業(yè)應(yīng)用。本文針對(duì)工業(yè)生產(chǎn)需要,設(shè)計(jì)了一種基于ARM的AGV控制系統(tǒng),實(shí)現(xiàn)AGV沿指定路徑行駛、安全避障、緊急停車等功能。根據(jù)控制系統(tǒng)要求,本文以ARM微處理器為控制核心進(jìn)行控制系統(tǒng)設(shè)計(jì)。主要研究了AGV控制系統(tǒng)的硬件實(shí)現(xiàn)方案,設(shè)計(jì)了基于實(shí)時(shí)嵌入式系統(tǒng)的軟件控制。論文主要進(jìn)行了以下幾方面工作:首先,進(jìn)行了AGV機(jī)械結(jié)構(gòu)設(shè)計(jì),并分析了AGV在不同運(yùn)動(dòng)狀態(tài)下的運(yùn)動(dòng)模型。其次,進(jìn)行了AGV控制系統(tǒng)硬件設(shè)計(jì)。主要包括上下位機(jī)芯片選擇、電機(jī)驅(qū)動(dòng)器選擇、無(wú)線通信模塊選擇、磁導(dǎo)航傳感器設(shè)計(jì)及安全避障模塊設(shè)計(jì),為控制系統(tǒng)軟件實(shí)現(xiàn)搭建好基礎(chǔ)平臺(tái)。再次,進(jìn)行了AGV控制系統(tǒng)軟件設(shè)計(jì)。主要包括軟件開(kāi)發(fā)環(huán)境搭建、上下位機(jī)通信設(shè)計(jì)及上下位機(jī)軟件設(shè)計(jì)。最后,在軟硬件設(shè)計(jì)的基礎(chǔ)上進(jìn)行了實(shí)驗(yàn)驗(yàn)證和分析。主要包括磁導(dǎo)航模塊、電機(jī)控制模塊、安全避障模塊及AGV系統(tǒng)聯(lián)調(diào)實(shí)驗(yàn),并對(duì)實(shí)驗(yàn)數(shù)據(jù)進(jìn)行了分析總結(jié)。實(shí)驗(yàn)證明,本文設(shè)計(jì)的基于ARM的磁導(dǎo)航AGV能沿著規(guī)定路徑精確行駛并能實(shí)現(xiàn)安全避障、緊急停車等功能,具有運(yùn)行行程長(zhǎng)、智能靈活、安全可靠等優(yōu)點(diǎn)。
[Abstract]:In recent years, with the acceleration of logistics storage efficiency and the improvement of enterprise automation, market competition, reducing labor intensity, adapting to mass production and other requirements, automation has become the mainstream trend. It is under this demand that AGV can meet the new requirements of the development of logistics automation by virtue of its safety, reliability, high efficiency and flexibility. This paper aims at the need of industrial production. A AGV control system based on ARM is designed, which realizes the functions of AGV driving along the specified path, avoiding obstacles safely and stopping in an emergency, etc. According to the requirements of the control system, In this paper, the ARM microprocessor is used as the control core to design the control system. The hardware implementation scheme of the AGV control system is studied, and the software control based on the real-time embedded system is designed. The main work of this paper is as follows: first, The mechanical structure of AGV is designed, and the motion model of AGV in different motion state is analyzed. Secondly, the hardware design of AGV control system is carried out, including chip selection, motor driver selection and wireless communication module selection. Magnetic navigation sensor design and safety obstacle avoidance module design, for the control system software implementation to build a good basic platform. Thirdly, the AGV control system software design, mainly including the software development environment, Finally, based on the design of hardware and software, the experiment verification and analysis are carried out. It mainly includes magnetic navigation module, motor control module, safety obstacle avoidance module and AGV system joint adjustment experiment. The experimental data are analyzed and summarized. The experiment proves that the magnetic navigation AGV designed in this paper based on ARM can drive accurately along the prescribed path and can realize the functions of safe avoiding obstacles and emergency parking. It has the advantages of long running distance, intelligent and flexible, etc. The advantages of safety, reliability, etc.
【學(xué)位授予單位】：南京航空航天大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP23

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