The AGV Independent Guidance Car Is Based On Visual Embedded

Along with the digital control technology and advanced control algorithm in AGV applications, which is heading for the development direction of a high-precision, integration, intelligence and network, thus there are more high performance requirements in the operation system. In order to realize the high-speed, high-precision and the trajectory tracking of AGV control, then the advanced control technology, control system and hardware system must ne depended on.In this paper, according to the requirements of control system, the AVR microprocessor is chosen as embedded system to design control system. Based on looking through a lot of domestic and foreign related research material, this paper has discussed the AGV control system with the hardware of realization scheme, which are designed and simulated using the embedded real-time system software, and adopted PWM regulation and fuzzy PID control technology to control motor speed. This paper is focusing on the following several aspects of the research work and results:1. It has given the control model of AGV, mainly including the general structure and performance index of AGV, analyzed the AGV mode of motion and motion states in theory, emphatically introduced movement model and the simulation model of DC motor for AGV, and finally deduced the related parameters affecting on DC motor.2. Expounds the experimental research carrier car RP6 hardware structure and function, introduced the embedded processors'composition and the function of tube foot in detail, and expansion function of each sensor. Making the most using each component of the embedded system, it has realized the expected function, and finally designed the electronic circuit diagram of hardware structure. Design results show that for an embedded system, the hardware is base to realize the system functions design, at the same time, the whole system performance also, so the hardware design is very important.3. It has introduced the visual image processing methods. Collecting images through the CCD camera did not often reach our experimental requirements, which namely can't let our computer exact recognition, therefore it requires us to get the processing image and disdill the the need image, to make the system run faster and more accurate.4. In industrial production, the traditional AGV mostly adopted the PID controller, but in the modern production, with the change of the production and environmental, the higher requirements were meet for performance, this makes us improve the PID controller. In recent years, the fuzzy control has successfully obtained applications in AGV and mobile robot, to solve this problem, this paper has introduced the design of fuzzy PID controller, which can reduce the difficulty of adjusting the PID parameters, also achieve the production requirements. So we put forward the fuzzy PID control method for AGV, apply the Matlab for its simulation, and compare and analyse the performance between the common PID and fuzzy PID.5. Finally, it has compiled the control program of AGV servo drive system, and done the simulation in the NiosⅡand Modelsim 6.0 for operation results and program execution. Simulation results show that the designed fuzzy PID controller is feasible.In a word, based on the hardware circuit design, the software of corresponding control model design and compiling the application program, it has not only achieved good experimental effects, but also provided a foundation platform for the future better design of AGV, so this paper has a strong practical significance.