毕业论文：自动导引小车（AGV）系统的设计

自动导引小车（AGV）系统的设计

摘  要

 随着工厂自动化、计算机集成制造系统技术的逐步发展以及柔性制造系统、自动化立体仓库的广泛应用，AGV(Automatic Guided Vehicle)即自动导引车作为联系和调节离散型物流系统以使其作业连续化的必要的自动化搬运装卸手段，其应用范围和技术水平得到了迅猛的发展。

    AGV是以微控制器为控制核心、蓄电池为动力、装有非接触导引装置的无人驾驶自动导引运载车，其自动作业的基本功能是导向行驶、认址停准和移交载荷。作为当代物流处理自动化的有效手段和柔性制造系统的关键设备，AGV已经得到了越来越广泛的应用，对AGV的研究也具有十分重要的理论意义和现实意义。

    本文介绍了AGV在国内外的发展现状和应用情况，在此基础上，结合毕业设计的课题要求，设计了红外导引AGV小车。其研究内容主要包括以下几个方面:

    1.论述了AGV系统的组成、路径导引方式及原理，结合课题要求，选择“红外导引”作为该系统的导引方式。

    2.介绍了AGV车体机械结构的设计，并根据小车的驱动方式和工作要求，对底盘、电机、蓄电池等进行了设计和选型。

    3.根据AGV系统的控制和工艺要求，确定了控制系统的总体框架结构。硬件方面，选择合适的传感器、单片机以及电机驱动器，对传感检测电路和单片机控制系统硬件电路进行了设计:软件方面，采用模块化的编程方式来实现系统的各种功能，并实现了单片机与电机控制器之间的串口通信。

    4.在总结全文的基础上，对AGV小车的设计和研究提出了展望。

 关键词:红外导引；AGV；单片机；驱动控制电路；行走策略；控制策略；串口通信。 

THE DESIGN OG AGV SYSTEM

ABSTRACT

With the growing of Factory Automation, Computer Integrated Manufacture System and extensive application of Flexible Manufacture System、Automatic Warehouse, the application field and technical level of AGV which contact and adjust the discrete logistics system, make the mission continuous, has greatly enlarged and improved.

    AGV is the unmanned driver automatic guided vehicle which has its untouched guided equipment, its control center is the microcontroller and storage battery is driving power, its basic function of automatic action is guided driving, recognizing the address to stop precisely and remove the load. As the valid measure of contemporary logistics processing automation and the key equipment of flexible manufacture system, the AGV has already got more and more extensive application, so that the research on AGV has very important theory meaning and realistic meaning.

    The dissertation introduced the applications and developments of AGV at home and abroad. Combining with the request of this graduation project topic, we designed a whole infrared rays guided vehicle.

The main work in this dissertation was arranged as follows:

    1. The constitution of AGV system, the path guided means and their principles were discussed. According to the requests of the topic, infrared rays guided method was used in the AGV system.

    2. The design of AGV mechanical structure was introduced, in terms of driving manner and working requests, the type of the chassis, electrical motor and storage battery etc. was chosen and designed.

    3. According to the control and the craftwork requests of the AGVS, the total frame structure of control system was designed. About hardware, the right sensor, MCU and motor controller had been chosen, the sensing circuits and MCU controlling hard circuits was designed, about software, to achieve many system functions, and to realize serial communication between the MCU and motor controller, blocking programming method was employed.

    4. On the base of summarizing the dissertation, the development prospect of AGV research was put forward.

Key words: Infrared rays guided; AGV; MCU; Drive and control circuit; Running strategy; Control strategy;Serial communication.  

目  录

摘 要………………………………………………………………………………

ABSTRACT…………………………………………………………………………

目 录………………………………………………………………………………

第1章 绪论………………………………………………………………………

1．1 概述……………………………………………………………………

1.1.1国外研究状况……………………………………………………

1.1.2国内发展情况……………………………………………………

1.1.3 AGV系统技术研究方向…………………………………………

1．2 AGV系统的构成与AGV的结构…………………………………………

1.2.1 AGV系统的构成……………………………………………………

1.2.2 AGV的结构…………………………………………………………

1．3 AGV导航系统……………………………………………………………

1.3.1固定路线方式……………………………………………………

1. 4研究课题的提出…………………………………………………………

1. 5本章小结…………………………………………………………………

第2章 AGV的总体设计……………………………………………………………

2. 1总体设计…………………………………………………………………

2. 2小车运动分析……………………………………………………………

2. 3 传感器的选用……………………………………………………………

2.3.1 红外传感器寻迹原理……………………………………………

2.3.2红外寻迹方案选择………………………………………………

2.3.3具体设计与实现…………………………………………………

2.3.4超声波传感器避障原理…………………………………………

2.3.5超声波测距模块实物图片………………………………………

2.3.6超声波模块具体功能简介………………………………………

2.3.7规格参数…………………………………………………………

2. 4 本章小结…………………………………………………………………

第3章 AGV机械结构和驱动转向系统的设计……………………………………

3. 1 AGV机械结构的设计………………………………………………

3.1.1 车体尺寸结构设计………………………………………………

3.1.2  驱动方式的选择和车轮的选择………………………………

3.1.3 传感器的布置…………………………………………………

3. 2驱动系统部件的选择与校核………………………………………

3.2.1电机的选择………………………………………………………

3.2.2行走系统的驱动装置…………………………………………

3.2.3  AGV行驶阻力的计算…………………………………………

3.3  主减速比的选择………………………………………………

3.4  电源部分选择………………………………………………………

3.5 本章小节………………………………………………………………

第4章控制系统与行走策略…………………………………………………

4.1控制系统…………………………………………………………………

4.1.1驱动芯片模块………………………………………………………

4.1.2电源模块……………………………………………………………

4.1.3光电耦合器…………………………………………………………

4.2电路的设计…………………………………………………………………

4.3行走策略……………………………………………………………………

4. 4传感器采样………………………………………………………………

4. 5控制策略…………………………………………………………………

4. 6动作类型………………………………………………………………

4.6.1直线路径行走……………………………………………………

4.6.2特殊路径的行走……………………………………………………

4.6.3左转弯………………………………………………………………

4.6.4右转弯………………………………………………………………

4.6.5停车………………………………………………………………

第5章 总结与展望……………………………………………………………

5.2研究展望………………………………………………………………

5.1全文总结………………………………………………………………