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基于ARM Cortex-A9的智能AGV控制器设计

发表时间:2018-04-28  浏览量:1200  下载量:297
全部作者: 周凌侃,肖献强
作者单位: 合肥工业大学汽车与交通工程学院;合肥工业大学机械工程学院
摘 要: 随着智能制造的快速发展,自动引导车(automated guided vehicle,AGV)广泛应用于工厂自动工件的搬运和工装配合。针对智能制造对AGV移动路径的柔性配置和高精度需求,研究设计基于ARM Cortex-A9的智能AGV集成控制器的硬件架构、电路系统及关键控制算法移植。控制器集成了动态栅格二维码地图扫描、差速电机控制、轮速及惯性导航传感器数据读取、动态网络配置及AGV运行环境监测报警。实车试验表明,本文设计的智能控制器能够实现AGV纵向误差10 mm,侧向误差8 mm,角度偏差1°,不仅降低了AGV控制系统硬件设计成本,还大幅提高了控制器的智能化和集成化水平,对研究制造高性价比的智能AGV有着重要的工程意义。
关 键 词: 公路运输;自动引导车;集成控制器;硬件架构;通信接口
Title: Design of intelligent AGV controller based on ARM Cortex-A9 processor
Author: ZHOU Lingkan, XIAO Xianqiang
Organization: School of Traffic and Transportation Engineering, Hefei University of Technology; School of Mechanical Engineering, Hefei University of Technology
Abstract: With the rapid development of intelligent manufacturing, automated guided vehicle (AGV) is widely used in handling and automatic assembly of workpieces in factories. The flexible configuration and high precision requirements of AGV mobile paths for intelligent manufacturing are studied to make the hardware architecture, circuit design and key control algorithm transplantation of the intelligent AGV integrated controller based on ARM Cortex-A9. The controller integrates dynamic raster QR code map scanning, differential motor control, wheel speed and inertial navigation sensor data reading, dynamic network configuration and AGV operating environment monitoring alarm. The actual vehicle tests show that the intelligent controller designed in this paper can achieve AGV vertical error of 10 mm, lateral error of 8 mm and angular deviation of 1°, which not only reduces the hardware design cost of the AGV control system but also greatly improves the intelligentized and integrated levels of the controller. The level of research on the manufacture of cost-effective smart AGV has an important engineering significance.
Key words: road transport; automated guided vehicle; integrated controller; hardware architecture; communication interface
发表期数: 2018年4月第8期
引用格式: 周凌侃,肖献强. 基于ARM Cortex-A9的智能AGV控制器设计[J]. 中国科技论文在线精品论文,2018,11(8):826-833.
 
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