Development Of Omni-directional AGV Based On Vision Guidance

Automatic Guided vehicles(AGV)plays a more and more important role in the automated material handling system,the omni-directional AGV is a automated transport device that can move forward,backward,translation,rotation and others.The aim of this paper is to use visual guidance technology,take Mecanum wheel as the driving wheel,developed a highly intelligent,flexible,and reliable stability of omni-directional mobile AGV,to meet the growing demand for automated material handling system.Firstly,Based on the analysis of the demand for AGV system application in all walks of life and combination of Mecanum wheel movement characteristics,the paper completed the visual guidance of the overall design of omni-directional mobile AGV;According to the characteristics of the movement and structure of the Mecanum wheel,the paper conducted AGV chassis suspension structure design and optimization design of AGV system,and proposes a three balanced suspension structure,the front suspension using an independent suspension structure,supported by the center point,has the function of the deflection of left and right sides;Rear suspension uses independent suspension structure,with functions of bobbing around the point.This design not only meet the requirements of the AGV omni-directional motion,at the same time,also has good stability,good shock absorption effect of the target.Then,this paper established the Mecanum four-wheel drive mode of AGV kinematics model,developed the omni-directional mobile PID control algorithm,and use the MATLAB software control algorithm for the digital simulation;Completed real-time multitasking operating system for the development of the control unit based on UC/OS – II and the electrical system and transfer platform of the AGV combined with the actual application requirements.Finally,on the basis of research and development work in the early,this paper completed the independent development of the visual guidance of the omni-directional mobile AGV vehicle research and development,and has carried on the function test and core technical indicators experiment,the experimental results shows that the proposed overall technical scheme and the control algorithm is effective and feasible,AGV has the omni-directional mobile function,smooth operation,high path tracking precision.