Design And Development Of AGV And AGV Controller

AGV (Automated Guided Vehicle) is an unmanned carrier equipped with an independent power source and automatic guidance system. This subject is an industrial scientific research project in the Department of Science and Technology of Zhejiang Province and the vision-based AGVS distribution system is designed for the assembly line of manufacturing enterprises which are application objects with a great potential. Their main function was according to the need of the production line, receiving the necessary materials from the warehouses, and along designated routes, distributing a specified amount of accessories to the appointed positions. It had completed automatically that they sent the required amount whenever and wherever needed. Semi-finished and finished products were carried back to the warehouses. The system had saved resources, avoided wasting and achieved the automated production line.The main work and innovative points are listed as follows:1. Design the overall structure of the AGVS distribution system and AGV structure. The vision-based AGV used had a lot of characteristics such as: good flexibility, automation of a high degree, high-level intelligence, and agility to change routes based on the changes of storage requirements and production processes and so on. AGVS distribution system responded faster, achieved monitoring the various status of AGV, and fully prepared for the expansion of the system. In terms of the AGV structure, four-wheels structure of front wheels steering and rear wheels driving mechanism was used and appropriate control can make the AGV to move anywhere.2. Design and develop hardwares of the AGV controller. The AGV controller was one of key parts which made AGV operate smoothly in accordance with the system requirements. AGV controller was modularized according to the functions, and each module completed one or two monitoring and control functions. Function modules of AGV controller had included the driving monitoring and control module (divided into the driving mechanism module and the speed control module), the steering monitoring and control module (divided into the steering mechanism module and the steering angle measurement module), the state showing module, the voice alarm module, the obstacle avoidance module, the manual module, the communication module and so on. Design and develop hardwares of these modules to coordinate operation of modules and achieve AGV control requirements very well.3. Design and develop softwares of the AGV controller. Operations including regular timer interrupt, serial interrupt, I/O data transmission, timers and so on, achieved the functional requirements for the AGV automatic control. Matching with hardwares of AGV controller, the corresponding control softwares were designed and debugged.Experiments results showed that, AGVS distribution system operated effectively and the AGV structure had better driving stability and larger front-wheel steering angle. The controller could transmit the control signals of expectant routes accurately to modulars, and controller did well.