非道路户外智能物流车导引系统设计

非道路户外智能物流车导引系统设计(任务书,开题报告,论文15000字)
摘  要
自动导引小车AGV(Automated Guided Vehicle)是以微控制器为控制核心，以蓄电池为动力的小车。AGV是装有非接触导引装置的无人驾驶自动导引运载车，它自动作业的最基本功能是认址停准、移交载荷和导向行驶。AGV作为当代柔性制造系统的关键设备和物流处理自动化的有效手段已经得到了很广泛的应用，因此对AGV的研究颇具理论意义和社会价值。
本毕业论文对自动导引小车发展现状作出综述，系统地分析了自动导引车的特点、 类型和技术组成，并对导引系统加以进一步的说明。本设计分别从硬件和软件两部分对系统进行了设计与测试。其中硬件系统按其功能进行模块化，主要功能模块可分为电源管理模块、速度检测模块、控制核心(AT89S52)模块、转向舵机控制模块、电机驱动模块、路径识别模块；软件部分依据系统要求实现了对小车的导引控制功能。
本系统以AT89S52芯片作为系统控制处理器，利用反射式光电红外收发管作为AGV寻航检测装置，利用边缘检测方法得到了轨道黑线，算出黑线与小车间的距离偏差，再采用PID和模糊算法相结合的方式对舵机的转向实行反馈控制；利用速度传感器获取小车的实时速度，然后采用增量PID控制方法形成速度闭环控制。最后实现自动导引小车能在标识线的引导下快速稳定的自主运行的目标。
关键词：AGV；单片机；红外传感器;PID

Abstract
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 operation s 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. The main work is this dissertation Was arranged follows： First designed and developed the systemhardware structure. The controller was modularized according to the functions. The system is composed of control core module， power management module，path recognition module，wheel motor drive module，servo control modulet speed detection module. Next designed and has developed system's software part，achieved the functional requirements for the AGV automatic control.
The system, with the Freecale 1 6-bit single—chip AT89S52 its control microprocessor, used the camera to obtain lane image information, then abstracted the black line on the contest lane by edge-detection method and calculated the position difference between the vehicle and the black line with which we combined the PID and fuzzy logical to control on the steering angel. The vehicle also used a speed—sensor made by ourselves to obtain the real time speed which be used in a speed feedback that adopted increment PID control method. Finally, he Automated Guided Vehicle worked rapidly and steadily along the guide line.
Key Words：AGV, microcontroller, infrared sensors，PID
 
目  录
第1章 绪论    1
1.1 研究目的及意义    1
1.2 国内外研究现状    2
1.3 研究内容说明    3
第2章 方案论证及选择    4
2.1 总体设计    4
2.2 硬件系统基本方案论证    4
2.3 传动方案的设计    6
第3章 硬件电路的设计    7
3.1 硬件部分的整体设计    7
3.2 单片机的硬件控制系统    7
3.3 电源电路设计    8
3.4 闭环PWM调速系统    9
3.5 红外反射式光电传感器    10
3.6 速度测量系统    12
3.7 电机驱动电路    13
3.8 舵机设计    15
第4章 软件设计实现    17
4.1 导引系统主程序设计    17
4.2 导引思路    18
4.3 PID控制的实现    19
4.4 中断系统设计    21
第5章 总结    22
参考文献    23
致谢    24