The Key Technology Research On Magnetic Guided And Double Wheels Differential Speed Automated Guided Vehicle

The key technologies of AGV include two aspects of the walking unit's design and the navigation control system's design.This design,starting from the actual functional requirements of magnetic guided AGV,determines the function and design of indicators that the AGV should satisfy,and mainly studied the following content:(1)Designed a walking driver model with the integration of magnetic guided,double wheels differential speed driving,station recognition,shock absorption and automatic lifting,that is the walking unit with the integration of navigation and driver.Designed the automatic lifting hook,whick is used for the automatic connection and taking off between AGV and the material car.(2)Designed the whole structure model of magnetic guided and double wheels differential speed AGV,the entire model included many function modules.such as power supply..collision prevention,control box,etc.(3)Analyzed the function requirements of the hardware circuit and designed each functional interface circuit,finally maked the PCB control board of the control system.(4)Based on drawing the logic flow chart of AGV control system,deeply researched the navigation model of line and fork guided of AGV,and expounded the navigation algorithm of PD corrective control,researched on factors that can cause the navigation error and put forward the measures to improve the stability of navigation.(5)Made an experimental test on the prototype,the test content included differential speed adjustment and magnetic navigation test,choice of fork in the road test,the basic function test,collision test and load test,summarized the problems found during the test and put forward solutions.Experimental results shows that the design scheme of magnetic guided and double wheels differential speed AGV whick was studied in this paper is feasible and has good reference value.