Design And Implementation Of Automatic Guided Transport Platform

Automatic guided transport platform is a kind of mobile robot which can automatically transport goods according to the planning path. And there are different technologies used in it, including sensing and detection, signal processing, motion control and so on. To provide the automation degree in the industrial production and the production efficiency It is very necessary in our country at present to improve the automation degree in the industrial production and the production efficiency. There is a big market for the mobile robot. So it is necessary to improve the mobile robot and make it to can be managed by the scheduling software.I have completed and realized path navigation subsystem, the main control board subsystem and user scheduling subsystem in the subject.In the design of path navigation subsystem, I choose the way of magnetic navigation mode as the navigation mode after the analysis of the characteristics of different navigation modes. I proposed a new circuit mode about the magnetic field detection circuit, and finished the circuit and software design of path navigation subsystem with the technologies of RL oscillation circuit, signal processing, filter design technology and so on. The subsystem can detect and track the path accurately. I got a patent about the magnetic field detection circuit.In the design of the main control board subsystem, firstly I analyzed the characteristics of the open-loop control, semi-closed loop control and closed loop control, through the calculation of the mechanical structure and the actual debugging, we selected the closed loop control and proportional control to improve the response speed. The main control board subsystem includes the main function modules of the touch screen control module, RFID module, wireless communication module. The user can interact with the automatic guided transport platform through the touch screen, and read the information of the site and path information with the RFID reader. Automatic guided transport platform can communicate with the scheduling software by the wireless communication module. The main control board subsystem includes power supply isolation and photoelectric isolation technology which bases on the ARM core STM32F107 microcontroller. We also completed the program design.In the design of user scheduling subsystem, the scheduling software is completed, and according to the Dijkstra algorithm it can complete shortest path in complex path analysis, the user can monitor and dispatch the automated guided transport platform through it.Finally, after the debugging and actual design product test we completed the research and design of the subject.