Research On The Design And Control Method Of A Magnetic Navigation AGV

AGV(Automated Guided Vehicle)is an unmanned automatic truck that is widely used in large warehouses,production workshops,docks,etc.,it is an important member of logistics equipment and an indispensable part of enterprise automation equipment.At present,AGV mostly adopts navigation methods such as magnetic navigation,electromagnetic navigation,laser navigation,inertial navigation,etc.,and magnetic navigation has been most widely used and has the largest market share due to its many advantages such as high flexibility,high reliability,and simple construction method.Therefore,the research on magnetic navigation AGV has important practical significance.Based on the LabVIEW and Arduino platforms,the development threshold has been reduced and the whole process from hardware design to software development has become smooth and efficient by making full use of the simple graphical programming of the LabVIEW platform and the openness,ease of use,and communication of the Arduino platform in this study of this thesis.The main research contents of thesis are as follows:(1)Based on current mainstream AGV mechanical and control system components,the AGV verification model vehicle was designed and manufactured,and the mechanical structure and control system of the AGV was designed;the mechanical walking part adopted the six-wheel differential driving method,and the control system adopted the modular design solution,at last,the construction of the AGV platform wascompleted.(2)The speed and direction control of AGV under multi-station is realized by combining magnetic track and RFID tag.The discrete PD algorithm is transplanted to Arduino MCU to realize the stable tracking control of differential drive AGV by Arduino MCU.RFID site labels are arranged in a specific path.Vehicle control system realizes speed switching,direction control and site location of AGV by reading labels' informationand executing label instructions.(3)Combining the current mainstream AGV system local wireless network structure,the various wireless communication technologies were analyzed;a wireless LAN was built by using the US DIGI Zigbee Xbee S2 C module;by using XCTU software to carry out multi-point communication distribution network for monitoring computer,calling device and AGV car,the monitoring function of the monitoring computer to the AGV car and the remote calling function of the calling device to the AGV car were realized at last.(4)A detailed software program was written for the key parts of the monitoring computer,AGV car,and calling device based on the LabVIEW and Arduino software platforms;the PD algorithm,the RFID command algorithm,the remote monitoring function and the remote call function were verified through experiments.