固定路径自动引导车(AGV)的控制系统设计(1).doc

固定路径自动引导车（AGV）的控制系统设计摘 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，AGVA(utomatieGuidedVehiele)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。发展现状作出综述，系统地分析了自动导引车的特点、类型和技术组成，并对关键技术加以进一步的说明。本课题设计了一辆自动导引车，进行了系统总体设计，利用反射式光电红外收发管作为AGV(Automated Guided Vehicle)寻航检测装置,蓄电池和直流马达作为驱动装置,舵机作为方向控制装置,用单片机作为控制器来控制各个模块协同工作,以实现自动导引车自动导航。关键词：单片机 ，AGV，红外传感器，PIDA fixed path Automatic Guided Vehicle (AGV) control system design AbstractAs the factory automation, computer integrated manufacturing systems technology, as well as the progressive development of flexible manufacturing systems, automated warehouse extensive use, AGVA (utomatieGuidedVehiele) is automatically guided vehicle as an associate and regulation of discrete logistics system to make it necessary for continuous operation automated transport loading and unloading means, its scope of application and level of technology has seen rapid development. AGV is a micro-controller to control the core, battery-powered, equipped with a non-contact guiding devices, unmanned automatic guided transport vehicles, its automatic operations basic function is to guide traffic and identifying potential sites and the transfer of load to stop. As a contemporary and effective logistics process automation tools and flexible manufacturing system, key equipment, AGV has been more and more widely used, the study of the AGV is also of great theoretical and practical significance. Overview of the status quo to make the development of a systematic analysis of the characteristics of automatic guided vehicles, type and technology components, and key technologies to be further clarification. This topic has designed an automatic guided vehicle, conducted a systematic overall design, the use of reflective photoelectric infrared transceiver tube as AGV (Automated Guided Vehicle) seeking flight testing devices, batteries and DC motor as a drive unit, steering gear, as the direction of control unit, with MCS as a controller to control the various modules work together to