CAJ | 학술논문

设计了一种基于超声波传感器的AGV避障模块,利用实验得到超声波传感器对障碍物检测的数据,结合Mat-lab处理得到其波束角,并由此规划超声波传感器在AGV上的布局.以AVR单片机为控制核心,结合语音提示功能、CAN总线技术, 针对包含多个超声波传感器的AGV避障模块进行硬件和软件上的开发. CAN总线技术的应用使AGV避障模块能够将预警状态和检测数据上传到AGV总控制器,实现分布式控制. 实验应用表明,该模块具有运行稳定、工作可靠等特点,达到了设计要求.
설계료일충기우초성파전감기적AGV피장모괴,이용실험득도초성파전감기대장애물검측적수거,결합Mat-lab처리득도기파속각,병유차규화초성파전감기재AGV상적포국.이AVR단편궤위공제핵심,결합어음제시공능、CAN총선기술, 침대포함다개초성파전감기적AGV피장모괴진행경건화연건상적개발. CAN총선기술적응용사AGV피장모괴능구장예경상태화검측수거상전도AGV총공제기,실현분포식공제. 실험응용표명,해모괴구유운행은정、공작가고등특점,체도료설계요구.
This paper presents an AGV's obstacle avoidance module based on ultrasonic sensor. Experimentally measures obstacle detection data of ultrasonic sensors, combined with Matlab processing to get its beam angle, and thus achieve the design of ultrasonic sensors' layout on AGV. With AVR microcontroller as the control core, combined with voice alarm function and CAN bus technology, performs the development of hardware and software of the AGV's obstacle avoidance module that contains multiple ultrasonic sensors.The application of CAN busallows the AGV's obstacle avoidance module to send alarm state and detected data to main controller of AGV, which has realized distributed control. The experiment and application show thatthis module has good performances, and achieve the design requirement.