Design And Implementation Of AGV System

Automatic Guided vehicles(Automated Guided Vehicle, AGV) include light, electricity, machine, computer, is a blend of advanced control theory and advanced technology such as electronic information, intelligence, flexibility, digital, network and information technology, and many other characteristics can satisfy the production requirements of modern logistics system.such as flexibility automation and high efficiency, etc. In the simple external environment, convenient, quick, safe and many other characteristics of the normal AGV logistics transportation, have more irreplacement advantages than other delivery equipment.But in the complicated external environment, Two degree of freedom common AGV's planar mobile cannot meet the various requirements of special logistics transportation.In order to solve the problem that the degrees of AGV freedom is not enough to cope with the complex environment, this paper studies the location inference of navigation method and using a new type wheel can achieve a variety of omni-directional mobile structure of AGV movement way, the key to solve the positioning and navigation technology.Specific job done as follows:1, By reviewing a large number of home and abroad related literature, sum up the AGV overview, the research background and the home and abroad development trend and expounds the research content and target of this article;2,AGV performance parameters and omni-directional AGV wheel type are introduced, the mechanical structure and principle of this article system design are carried on the overall summary, AGV control system hardware and software framework are designed;3, According to the requirements of the AGV system function, the reasonable selection of main control chip, and design the AGV system hardware circuit and the analysis of each module in detail;4, Based on the AGV system requirements on the normal work, the AGV software part are designed. Analyze uC/OS-II real-time operating system characteristics and working principle, design the Modbus protocol of touch screen's serial communication;5, The method based on relative coordinates is studied and position AGV in the global coordinate system modeling method, the kinematics equation and on the simulation platform compare the control effect of trajectory tracking by using the fuzzy control algorithm with using the traditional PID control algorithm;6, AGV system performance test and evaluation Mainly includes the AGV running stability and efficiency.In actual operation process, position precision of the AGV system can satisfy the requirement of logistics interactions.