图象识别自动引导车辆制动系统研究

The Brake System of Automatic Guided Vehicle Systems(AGVS) With Computer Vision

通过对自动引导车辆（ＡＧＶＳ）的结构分析及其制动过程中制动力的变化与制动距离的关系特性的研究，并对整个车辆系统进行了建模分析，确定几种制动过程的动力学特性，并进行仿真计算和试验验证，从而保证实现精定位停车。

Automatic guided vehicle systems (AGVS) are key facilities in flexible integrated production and materialflow automation of the AGVS working performances. The stopping function at a given position, which is an obvious symbol to be different from other automatic vehicle, is very important in practical application. An intellectual braking control system was developed to make AGVS stop at a given position. Dynamic performance test and theoretical analysis were done for the braking control system. With the analysis of the system dynamic performance ,the software of date processing and real time controlling was developed. In the aspect of theoretical analysis, the mathematical model between the vehicle’s initial velocity and the moving distance is established under the action of the braking force. The control strategy of the braking system is proposed according to the relationship among the braking force, the initial velocity and the expected braking distance. In computer simulation, the research project conducted the dynamic simulation between the braking distance and vehicle’s initial velocity by the model established above when the braking force is zero.