Structural Design And Control Method Of AGV Based On Embedded Control System

In the industry of warehouse logistics,automated guided vehicle(AGV)is able to reduce the workintensity of workers,cut production cost and increase productivity,to the most extent.Aimed at the process of material transport in industrial production,an AGV based on embedded control system has been designed.We have realized the site error identification and revision,the driver control,navigation control,data communication and so on.In this paper,we have applied the embeddedkernel of ARM processor as the car controller,and designed the control system of AGV.The main research contents includehardware composition of the car controller of AGV and software of the car controller of AGV,based on small size embedded real-time operation system.The main work consists of the following aspects:(1)Completedthe structure design,measure and control program design,which is including site identification,error detection and revision plan,navigation control scheme;(2)Finished the hardware equipment selection of AGVand the communication method introductionbetween equipments;(3)Builded the software development environment,and completed the softwaredesign of the car controller;(4)A series of experimental tests were carried out to verify the control plans described above.We confirmedsome key parameters,performance of AGV,and the aspects to be optimized in the research.Besides we specified the follow-up main work content and direction.Research shows,with the control plan and hardware and software system design proposed in this paper,AGV is able to reach the target site correctly from the start site,and we got the following performance parameters of AGV system: 1.The measurement accuracy of site location errorwithin based on QR code is±0.2cm(Measuring range is 22.5cm×16.9cm);2.The operating error between adjacent sites(The maximum distance between adjacent sites does not exceed 3.0m)is ±1.2cm;3.The measurement accuracy of site rotation within 90°is ±1.0°;4.The measurement accuracy of yaw based on IMU within ±0.3°.