摘要
自动导引车(AGV)的主要作用是搬运货物等工作,其广泛地应用于制造业、物流等行业,是实现工业自动化、智能制造的重要研究课题。本文设计了一套以视觉传感器导引,STM32F4系列芯片为控制器,利用AGV的坐标偏差值、前行方向的角度偏差值和二维码来实现循迹的AGV控制系统方案。并从AGV的引导路径信息设计、结合PID的巡线控制算法的设计、运动模型等方面进行详细分析,最后通过AGV运行、遇到障碍物、到达目的地等三个实验来验证实验效果,实验表明该方案的AGV系统能实现较好的循迹效果。
Automatic guided vehicle(AGV)is widely used in manufacturing,logistics and other industries.It is an important research topic to realize industrial automation and intelligent manufacturing.This paper designs an AGV control system with vision sensor guidance,STM32F4 series chips as controller,using AGV coordinate deviation value,forward direction angle deviation value and two-dimensional code to realize tracking.The AGV guidance path information design,combined with PID line inspection control algorithm design,motion model and other aspects are analyzed in detail.Finally,the experimental results are verified by three experiments of AGV running,encountering obstacles and reaching the destination.The experiments show that the AGV system can achieve good tracking effect.
作者
任斌
冯继和
REN Bin;FENG Jihe(School of Electrical Engineering & Intelligentization,Dongguan University of Technology, Dongguan 523808,China)
出处
《东莞理工学院学报》
2021年第3期27-32,共6页
Journal of Dongguan University of Technology
基金
广东省基础与应用基础研究基金区域联合基金重点项目(2020B1515120095)
广东省企业重点实验室项目(2020B1212020012019)。
