The Design And Realization Of Automatic Guided Vehicle

AGV(Automatic Guided Vehicle) is an unmanned carrier equipped with an independent power source and automatic guidance system. With the growing of Factory Automation,Computer Integrated Manufacture System and extensive application of Flexible Manufacture System,Automatic Warehouse, the application field and technical level of AGV which contact and adjust the discrete logistics system, make the mission continuous, has greatly enlarged and improved.A control system was designed based on the analysis of the features of Automated Guided Vehicle in the past and a careful study of the characteristics of the research object. The main work is this dissertation was arranged as follows: First designed and developed the system hardware structure. The controller was modularized according to the functions. The system is composed of control core module (MCU), power management module, path recognition module, wheel motor drive module, servo control module, speed detection module. Next designed and has developed system's software part, achieved the functional requirements for the AGV automatic control.The system, with the Freecale 16-bit single-chip MC9S12DG128 as its control microprocessor, used the camera to obtain lane image information, then abstracted the black line on the contest lane by edge-detection method and calculated the position difference between the vehicle and the black line with which we combined the PID and fuzzy logical to control on the steering angel. The vehicle also used a speed-sensor made by ourselves to obtain the real time speed which be used in a speed feedback that adopted increment PID control method. Finally, the Automated Guided Vehicle worked rapidly and steadily along the guide line.