Agv-based Embedded Control System Design And Realization

Material transport is a heavy and complicated work,the traditional mode of transportation required manual,it's a waste of human resources and high-risk factor.The AGV (Automated Guided Vehicle) as a new mode of transportation, can complete obstacle avoidance,loading and so on without people engaged in. AGVS(Automatic Guided Vehicle System) integrate both software and hardware, compatible with automatic control,image processing and other technology.As the technology develop rapidly,AGV play a significant role in shortening the production cycle,accelerating transportation,reducing costs,increaseing economic efficiency and so on,it will be more widely used.The development and research of AGV is introduced in this paper.AGVS and some related technologies are also introduced in detail.The design and implementation of AGVS which is based on embedded control system is given.The main research work is as follows:1,The overall structure of the AGVS is designed:The overall structure of the system,working principle and function of the component modules is analized,including the speed control of DC motor module,the shift control of stepper motor module,wireless communication module,etc.2,Hardware circuit design:A core board-bottom board design is used which is convenient in drawing board,debugging and expanding other function.The bottom board expands the peripheral functions,including the DC motor driver,stepper motor driver and so on.The power board completes the voltage conversion,the voltage detection circuit and automatic charging voltage.3,AGV control algorithm based on vision guidance is designed:The guided path and destination information is analized.Feature extraction and recognition of the guided road based on visual is studied.District guidance control algorithm is designed.4,Software system design:The embedded control system software and remote monitoring software is designed.Qt development environment is installed in Linux.Graphical user interface with Qtopia is designed.System initialization, auto charging algorithm,camera image processing,wireless communication,and the module driver of the hardware is realized.Finally,the debug of the system shows that the system achieves the desired performance.