| AGV is an automated material handling equipment.It has high degree of automation, flexible, safe,reliable,unattended operation, simple construction and easy maintenance and many other advantages,thus widely used in automobile manufacturing, tobacco industry, construction machinery industry, airports and other transport properties of materials. AGV is also widely used in flexible manufacturing systems (FMS), the flexible handling systems and automated warehouses. AGV is the key equipment of modern logistics system, it has important significance for improving the degree of production automation and production efficiency.Automatic milking systems is a device consists of a controller, vacuum systems, liquid storage systems, milk cup group and many kinds of sensors. The equipment to follow the standardization milking process, can realize the bionic pulsing milking, reduce bacterial infections, ensure the quality and safety of dairy products.Firstly,this paper through access to information of domestic and international to analyze the development status and trends of AGV technology and automatic milking equipment, proposes a technology combined automatic milking system and the AGV,and analyzed the key technology AGV system and automatic milking systems. Then the paper designs an automatic AGV system, and introduces the classification of body structure of AGV, and discusses differences and similarities both the three wheeled AGV and four wheeled AGV.And the paper decides to select four wheeled AGV to design experiment platform, and added automatic milking equipment in it.Then this paper focuses on the analyzed of AGV kinematics and motion and deduce the equation of state of AGV.Secondly, this paper study the key technology of automatic milking AGV control system involved, including laser positioning, main control system, motor drive control,information collection, etc. In terms of hardware,the paper select to battleship STM32 development board as the main controller based on STM32F103ZET6,and using a variety of functional modules combined into a complete control system to meet the control requirements. In terms of software,this paper introduces the system application development environment, then designs program of each module. finally, used the embedded operating system uC/OS-? complete real-time control.Finally, this paper conduct milking AGV experimental testing and analysis. According to test results show, automatic milking AGV control system is reasonable and effective. |
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