摘要
以KEA128作为主控制器,AT89C52作为副控制器,设计了一辆基于铝膜引导的AGV小车.详细设计了小车的路径信息检测系统、电机驱动系统、速度采集系统、超声波测距系统及声光报警系统.采用PID算法实现了对小车前轮的速度及方向控制.结果表明:设计完成的AGV小车可以按照预定的设计路线自动行驶,并能实现避障报警、运送货物等功能.
An AGV car based on aluminum film guidance is designed by taking KEA128 as the main controller and AT89C52 as the sub-controller.The path information detection system,motor drive system,speed acquisition system,ultrasonic ranging system and acoustooptic alarm system of the car are designed in detail.The speed and direction control of the front wheel of the car is realized by using the PID algorithm.The results show that the designed AGV car can be driven automatically according to the predetermined design route,and can realize the functions of obstacle avoidance alarm and cargo transportation.
作者
赵耕云
张龙飞
拜赟
程丽
王佳
ZHAO Geng-yun;ZHANG Long-fei;BAI Yun;CHENG Li;WANG Jia(School of Automotive Engineering,Lanzhou Institute of Technology,Lanzhou 730050,China)
出处
《兰州工业学院学报》
2020年第1期68-72,共5页
Journal of Lanzhou Institute of Technology
基金
2019年度国家级大学生创新创业训练计划项目(201911807006)
2019年度甘肃省省级大学生创新创业训练计划项目(DC1911807-18)
2019年甘肃省陇原青年创新创业人才项目(38)
2018年度兰州工业学院青年科技创新项目(18K-004)
兰州市人才创新创业项目(2019-RC-48)
关键词
AGV
PID算法
自动行驶
避障报警
AGV
PID algorithm
automatic driving
obstacle avoidance and alarm
