目录
摘 要 ............................................................................................................................................................1
目 录 ............................................................................................................................................................2
绪 论 ............................................................................................................................................................4
1 设计任务 ....................................................................................................................................................5
1.1 设计要求 ............................................................................................................................................5
1.2 总体设计............................................................................................................................................6
2 方案比较与论证 ......................................................................................................................................7
2.1 中央处理器的选型............................................................................................................................7
2.2 动力及转向系统 ................................................................................................................................8
2.3 AGV 引导方式的设计方案与论证.....................................................................................................8
2.4 装卸货物点的检测 ............................................................................................................................8
2.5 障碍物的探测 ....................................................................................................................................9
2.6 装货和卸货系统对 AGV 的监测 ........................................................................................................9
3 系统硬件设计 ..........................................................................................................................................10
3.1 装货和卸货模块设计 ......................................................................................................................10
3.2 电路设计..........................................................................................................................................11
3.2.1 AGV 的中央处理单元..............................................................................................................11
3.2.2 黑白线信息采集和停车标识识别模块设计.........................................................................12
3.2.3 自动循迹控制模块设计.........................................................................................................13
3.2.4 智能充电模块设计.................................................................................................................14
3.2.5 障碍物检测模块设计.............................................................................................................15
3.2.6 声光报警模块设计.................................................................................................................16
4 系统软件设计 ..........................................................................................................................................17
4.1 AGV 主程序控制流程图..............................................................................................................17
4.2 装卸货模块流程图 .......................................................................................................................17
4.3 自动充电模块程序设计 ...............................................................................................................18
5 系统测试 ...................................................................................................................................................19
5.1 系统的各项指标测试......................................................................................................................19
5.2 系统的测试方案..............................................................................................................................19
5.3 测试结果..........................................................................................................................................19
6 结论 ..........................................................................................................................................................20
7 参考文献 ................................................................................................................................................21
附录 ..............................................................................................................................................................22
