Laser-guided Agv Control System Design

Manufacturing will enter a new phase in the 21st century, while agile manufacturing will became the main model of factory. Automated Guided Vehicle(AGV) is the important device of the logistics system in the modern manufacturing company, in which AGVs are used to preserving and transporting all kinds of material. AGV systems ensure the flexibility, integration and high efficiency of the logistics system. In this paper, laser assisted guidance together with the motor dead-reckoning are used to realize the automated guidance of AGV. Then, the mobile control theory is described and experiment involved are made.The main work in the dissertation is arranged as follows: 1 . A two-wheeled differential steering AGV system is designed, based on which the kinematicequation are found. It's convenient to model the AGV, design the structure, verify theintensity, rigidity of vehicle based on this equation.2. The theory for calculating the position and heading of a vehicle assisted by laser scanning systems is detailed. Combined with the motor dead-reckoning, the intelligent navigation system assisted by laser is used to realize the automatic guidance of AGV.3. The hardware of the mobile control system are designed. The principle of step motor and its control are introduced. A counter circuit for rotary encoder based on single-chip microcontroller is presented. It includes frequency and direction recognition of pulse supplied by encoder. A serial communication between the PC and MCU are designed.4. The driving program of step motor are designed. The MSComm ActiveX control and the serial communication programs are detailed. The serial communication protocol are designed.5. Mobile control experiments are made with this vehicle, it provides theoretic and experiential basement for the ahead research of laser guidance.Finally, main results and conclusions of this dissertation are summarized, then the prospects and study emphases of the future research work are discussed and forecasted.