自动引导车AGV视觉导航的研究
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密 惠 保
摘 要
随着工厂自动化、计算机集成制造系统技术的逐步发展以及柔性制造系统、自动化立体仓库的广泛应用，AGV(AutomatieGuidedVehiele)即自动导引车作为联系和调节离散型物流系统以使其作业连续化的必要的自动化搬运装卸手段，其应用范围和技术水平得到了迅猛的发展。
AGV是以微控制器为控制核心、蓄电池为动力、装有非接触导引装置的无人驾驶自动导引运载车，其自动作业的基本功能是导向行驶、认址停准和移交载荷。作为当代物流处理自动化的有效手段和柔性制造系统的关键设备，AGV已经得到了越来越广泛的应用，对AGV的研究也具有十分重要的理论意义和现实意义。
[来源：http://think58.com]
本文设计了一台固定路径自动引导车，采用了红外反射式光电传感器作为AGV的寻航检测装置，蓄电池和直流马达作为驱动装置，舵机作为方向控制装置，使用单片机作为控制器来控制各个模块协同工作，以实现自动导航。
[资料来源：www.THINK58.com]
关键词：单片机 ，AGV，红外传感器，PID
Abstract
As the factory automation, computer integrated manufacturing systems technology, as well as the progressive development of flexible manufacturing systems, AGV(AutomatieGuidedVehiele) is automatically guided vehicle as an associate and regulation of discrete logistics system to make it necessary for continuous operation automated transport loading and unloading means, its scope of application and level of technology has seen rapid development.
AGV is a micro-controller to control the core, 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, key equipment, AGV has been more and more widely used, the study of the AGV is also of great theoretical and practical significance. [版权所有：http://think58.com]
In the article,a fixed route automatic guided vehicle, using an infrared reflective photoelectric sensor as AGV's search flight testing devices, batteries and DC motor as the drive, steering gear as the directional control device, the use of intelligent control to control all modules work together to achieve the automatic guided vehicle automatic navigation.
[资料来源：www.THINK58.com]
[来源：http://www.think58.com]
Key words: microcontroller, AGV, infrared sensors, PID [资料来源：http://think58.com][来源：http://www.think58.com]