Development For Prototype Of Laser Guided AGV

Automatic Guided Vehicle is a kind of wheeled mobile robot with security and protection which can drive along a predetermined path, and widely be used in warehousing, manufacturing and other industrial fields. From the current situation of development at home and abroad, with the development of flexible manufacturing system, flexible assembly system, computer integrated manufacturing system, auto-stereoscopic warehouse, the gap between domestic and abroad AGV system is gradually narrowing, the laser guided AGV which be used in all walks of life will become the mainstream of domestic, and replace manual material handling. Therefore, developing laser guided AGV is of great significance for intelligence, automation, flexibility of industry.After analyzing the AGV's development of the present situation and trend both at home and abroad, the laser guidance is selected as the main guidance way of AGV, and the single wheel forklift is selected as the body of AGV, on the basis of these conditions, we focus on the design and research of the laser guided AGV vehicle control system and PC system, the main contents include:On the basis of the structure of single wheel forklift, we design the hardware structure of AGV control system. First we choose the motion controller and DC servo system, the motion controller receives the signal of sensor and encoder as input, and uses analog and pulse which can control dc servo system as output. Then we design AGV's electrical system, include hydraulic, servo motor circuit, input and output circuit of the motion controller, DC servo system circuit and so on.On the premise of completing the vehicle system hardware wiring, debugging the main hardware of system, debugging current loop, velocity loop, position loop of the DC servo system ensures smooth and precise running of the motor; input and output of the motion controller, laser navigation device, laser anti-collision system and so on ensure the stable operation of the system hardware.According to the requirements of the AGV automatically operation, C# language is used to design the AGV system software, and programs are written with modular idea, programming blocks include software interface, initialization program, motion control program, fuzzy control program, path planning program, debugging program of laser navigation and so on, system software designing ensures that AGV can automatically run as required.Eventually, laser guided AGV prototype can automatically find the shortest path which makes AGV reach the destination node according to the operator instructions, and accurately drive along the shortest path.