Research On AGV Control System Based On ARM

In recent years,with the improvement of the logistics storage efficiency and enterprise automation,market competition,reduce labor intensity,mass production and other needs make production automation become the main stream trend.Automatic guided vehicle(AGV)is generated in this demand.AGV has been adapting to the latest development of logistics automation requirements and been widely industrial applications with its features of safe,efficient and flexible.To meet the needs of industrial production,an AGV control system based on ARM is designed to run along the specified path,avoid the obstacles successful and shutdown in the emergency.According to the requirement of control system,the ARM microprocessor is used as the control core for the control system design.The hardware implementation of AGV control system is mainly studied,and the software control based on real-time embedded system is also designed.The main work of this paper is as follows:Firstly,the mechanical structure of AGV is designed,and the motion model of AGV under different motion states is analyzed.Secondly,the hardware of AGV control system is designed which includes the choice of host and slave machine chip,the selection of motor driver and wireless communication module,the design of magnetic navigation sensor and safety obstacle avoidance module,so as to build the basic platform for control system software.Thirdly,the software of AGV control system is designed which includes the build of software environment,the communication and software design of host and slave computer.Finally,the experimental verification and analysis are made on the basis of hardware and software design.The debugging of the magnetic navigation module,the motor control module,the safety obstacle avoidance module and the AGV system,and the experimental data are analyzed and summarized.Experiments show that the designed AGV can run along the specified path and can realize the function of safety obstacle avoidance and emergency stop,so that the advantages of long running stroke,intelligent and flexible,safe and reliable is proved.