Design And Implementation Of AGV Based On STM32 And Machine Vision

In recent years,as the technological competition in the tobacco industry has intensified,various tobacco companies have continuously increased their technical investment.As a century-old factory,Shifang Cigarette Factory has faced the continuous intensification of competition in the tobacco industry.Through continuous improvement of technological processes,reduction of production costs,and fine manufacturing,the purpose of improving the automation and flexibility of the production process has been achieved.At present,the logistics and transportation of the plant is still the traditional way of logistics transportation,that is,by manual driving forklift.This method has the defects of large traffic volume,high safety risk and high labor cost,especially in the cigarette factory.After the technical upgrading,the flow rate of the production site of the tobacco factory is doubled,the transportation link is more complicated,the flexibility and the demand for leanness are higher.The traditional logistics transportation can no longer meet the high-quality and efficient production of the plant demand.In response to the above problems,an AGV(Automated Guided Vehicle)is designed in this paper.Firstly,this paper summarizes the development and key technologies of AGV,and analyzes the characteristics and deficiencies of existing technical solutions.Combined with the actual site requirements of Shifang Cigarette Factory,the overall function of lightweight AGV is designed.Secondly,according to the function,the overall scheme design of the AGV is completed and the function modules of the system are selected and designed.The highperformance embedded processor STM32F103ZET6 is selected as the main controller of the system;the special brushed DC motor driver and the high-power DC gear motor are used.The driving unit is constructed,the AGV kinematics model is established and analyzed,and the motion control method is summarized.The linear CCD camera is used as the visual feedback unit,and the cascade closed PID control strategy is used to realize the AGV speed closed-loop control and path tracking.The HC-SR04 ultrasonic system realizes the positioning and obstacle avoidance function of the system;the communication unit is composed of the E61433T30 D data transmission module to realize the scheduling of the AGV by the console.Finally,the system test platform is built,the reasonable test plan is designed and the system test is carried out.The test results show that the designed AGV can realize various functions such as autonomous navigation,obstacle avoidance and alarm.