计算机控制自动导向小车(AGV)的设计与实现

上海交通大学硕士学位论文计算机控制自动导向小车（AGV）的设计与实现姓名：卢冬华申请学位级别：硕士专业：计算机技术指导教师：谢康林;周乃恒20060701IAGVAutomatedGuidedVehicleAGVFMSAGVAGVAGVAGVAGVAGVAGVAGVAGVAGVAGVAGVAGVAGVAGVAGV,AGVAGVAGVAGV,,,,,IIAbstractTheAutomatedGuidedVehicle(AGV)isakindofautomaticmaterials-carrierwhichpossessestheadvantagessuchashigh-degreeofautomation,flexibleapplication,goodsafetyandreliability,unmannedoperation,simpleconstruction,convenientmaintenance,etc.,therefore,ithasbeenwidelyusedinmaterialstransportationsystemsinvehiclefactories,tobaccoindustry,mechanicalengineeringindustryandairports.AGVhasalsobeenusedinflexiblemanufacturingsystem(FMS),handlingsystemsandautomaticwarehouses.Asthekeyequipmentinmodernlogisticssystem,AGVplaysasignificantroleinimprovingtheautomationlevelandproductionefficiencyofmanufacturingprocesses.ThispaperanalyzedvarioustechnologiesforAGVnavigation,gyroscope,motioncontrolandwirelesscommunication.MathematicalmodelofAGVmovementwassetupandAGVtrackcalculatingequationwasderived.Aninnovativenavigationdesignmethodwasproposedwhichcombinedthegyroscopedirectionindicator,thedistancefeedbackofencoderandthephotoelectricpositionsensors.ThreemainalgorithmsinAGVdesignweregiven:AGVmovementdirectionanglecalculationthroughthesignalofangularvelocitygyroscope,deviationrectificationalgorithmforAGVstraightmovement,andalgorithmforgettingtheAGVmovementcommandstringfromapathgivenatAGVdigitalmap.Inthispaper,thedesignschemeforAGVcontrolsystemandAGVdriving/turningsystemwasalsoincluded.ThesoftwaresystemsforAGV’smaincontrolcomputer,in-vehiclecomputeranditscontrolsystemweredeveloped.Furthermore,detaileddesignandimplementationforAGV’smainsoftwaremodulessuchasgyroscopesignalprocessing,pathplanning,digitalmapandwirelesscommunicationprotocolweretherebyexplained.TheAGV’shardwaresystemwasstudiedanddesigned.TheimplementationmethodsforproperAGVoverallhardwarelayout,thereliablethree-levelprotectionmechanismIIIandthesimplebutpracticalwirelesscommunicationprotocolwerealsodiscussed.TheexperimentsforAGVstraightmovementdistancedeviationandrevolvingmovementangledeviationwerecarriedout,andtheexperimentresultsweregivenandanalyzed.AnexamplewasgiventoexplaintheintegratedapplicationeffectofAGVsystemandmodernlogisticstrainingsystem.AGVisaninnovativeapplicationprojectintegratedwithmulti-disciplinaryandadvancedtechnologies,andpossesseshigherpracticalvalueofapplication.TheAGVdevelopedaccordingtothedesignandimplementationofthispapermetwellthedesignrequirements,arrivedattheexpectedobjective,andhasbeensuccessfullyappliedinmanymodernlogisticstrainingsystems.KeyWordsAGV,positioning,gyroscope,wirelesscommunication,digitalmap,systemintegration20067820067820067811.1AGVAGVAutomatedGuidedVehicleAGV[3]AGVAGVFMSAGVAGVAGV1.2AGVAGV[5]1.2.1AGV1913AGV1953BarrettElectric206070AGV1955AGV1959AGV1973VOLVO2KALMARSKOVDEAGV19821983330AGVAGV39001990NDCAGV2000Egmin[4][6]AGVAGV30%AGV1.2.1AGVAGVAGV1980AGV199652AGV1976AGV1988AGV1991/AGV1992AGVAGVAGVAGV/AGV[6]AGVAGVAGVAGVAGVAGVAGV3AGV1.3AGVAGVAGVAGVAGVAGVAGV1.4AGVAGVAGVAGVAGVAGV2004PLCAGVAGV2005AGVAGV4AGVAGV1.5AGVAGVAGVAGVAGVAGVAGVAGV1.6AGVAGVAGV,AGVAGVAGVAGVAGVAGVAGVAGVAGVAGVAGVAGV5AGVAGVAGVAGVAGVAGVAGVAGVAGVAGVAGV,AGVAGV6AGV2.1AGVAGVAGVAGVAGVAGVAGVAGV2-12-1Table2-1Principlesandfeathersofvariousnavigationtechniques530KHZAGVAGV,72-1AGVAGVAGVAGVAGVCCDAGVAGVGPSGPS2-1AGVAGV82.210-6510-4/h10-410-1/h10-1/h[7]MEMSMicroElectroMechanicalSystems/80AGVCoriolis2-12-1Fig2-1CoriolisEffect92-1rrvrv,2v,M2Mv2-22-2[8]Fig2-2TheprinciplediagramofQuartzMicromachinedGyroscopes10kHzΩCoriolis2-210DC2.32-3112-3Fig2-3TheprinciplediagramofmotionservocontrolsystemPC2-3PCPCPC2-4122-4Fig2-4TheprinciplestructureofmotioncontrolCard2-310242.4AGVRS232RS485AGVPLCAGVPCIPCCPUPCII/O13RS-232RS-485UARTTTL3RS-485UART2-5RFICMCU(PC,MCU,RS485)2-5Fig2-5Theapplicationprinciplediagramofwirelessdatatransmissionmodule2.5AGVAGVAGV14AGV3.1AGVAGVAGV1.5AGVAGVAGV1.5AGV3.2AGVAGVAGVAGVAGVAGVAGVAGVAGV3.2.1AGVAGVAGVAGVAGVAGV3-1153-1AGVFig3-1ThesketchmapofAGVmovementmodel3-1OLORAGVO0OLOROLORBVLVRV0O0XOYO0XOYa,b,AGVXV0(ab)AGVXOY3-1V0O0V020RLVVV+=(3-1)AGV•θBVVRL−=•θ(3-2)3-13-2AGVOlORVlVRV0BO0YY16−=+=•BVVVVVRLRLθ203-3(3-3)VL=VR•θAGVVLVRAGV3.2.2AGV3-2AGVFig3-2ThesketchmapofAGVnavigationAGVAGVAGVXOY3-2AGVXOY(X0,Y0)(0,0),AGVX090,AGVXOYYAGVX1,Y13-4AGVXOYX1Y1∗+=∗+=++++++)180/()180/(111111πθπθiiiiiiiiSindYYCosdXXni...10=(3-4)YXO(X0,Y0)1d1(X1,Y1)(X2,Y2)d22017(3-4)di+1XiYiXi+1Yi+1(lMC)(LMcPerDistance)(3-5)ceLMcPerDislMcditan1÷=+(3-5)(3-4)i+1AGVXAGVXi(3-6a)(3-6d)AGViiαθ=+1(3-6a)AGV−=+=++180180!1iiiiαθαθ3601801800≤≤iiαα(3-6b)AGV−+=+=++36011ααααααiiii3603601803603601801800+∩+∩∪≤≤αααααααiiiii(3-6c)AGV+−=−=++36011ααααααiiii0180036018001800−∩∪−∩≤≤αααααααiiiii(3-6d)AGV(3-4)(3-6d)AGVXOY3.3AGVAGVAGVAGVAGVAGVAGVAGVAGV18AGVAGVAGVAGVAGVAGVAGVAGVA3-34AGVAGV3-3Fig3-3ThelayoutofphotoelectricitysensorBAGVAGV60AGV860AGVAGVAGV13-3AGV193.4AGVAGVAGVAGVAGVAGVAGVAGVAGVAGVAGVPLCAGV(PC)PCPCPLCPCUSBPCPCPLCVBVCC++BuiderPCPCAGVPC20AGVAGVAGVAGV3-43-4AGVFig3-4TheprinciplediagramofAGVcontrolsystem3.5AGVAGVAGVAGV3-521(1)(2)(3)3