基于ARM11的自动导引车系统设计与实现  

Design and Implementation of Automated Guided Vehicle System Based on ARM11

作　　者：武一[1] 渠振州 马树宇 

机构地区：[1]河北工业大学信息工程学院,天津300401

出　　处：《测控技术》2014年第10期112-115,共4页Measurement & Control Technology

基　　金：河北省自然科学基金项目(E2010000072)

摘　　要：阐述了基于S3C6410的自动导引小车系统,在Linux环境下进行系统开发,完成了驱动程序和应用程序开发。通过研究图像采集与处理的多线程处理模式,实现了自动导引小车实时图像导引,进而编写了测速传感器、避障传感器、直流电机驱动器的驱动、PWM驱动。通过网络通信模块实现了AGV与客户端信息交互,实现QT远端监控。实验表明,图像处理采用多线程处理方式,效率提高了100%,自动导引小车系统具有良好的图像导引功能,PWM和PID联合使用使小车运行平稳,转弯灵活。Automated guided vehicle system based on the S3C6410 is elaborated. This system is designed in Linux environment, the driver and application development are completed. The multi-threaded processing modes of image acquisition and processing are studied, real-time image guided AGV is achieved. Speed sensor, obstacle avoidance sensors, drives for DC motor driver, PWM drives are programmed. AGV information interaction with the client is realized through the network communication module, remote monitoring of QT is achieved. Experiments shows that the efficiency of image processing is improved by 100% using multiple threads, automatic guided vehicle system has very well image guidance function, the car smoothly runs, flexibly turns with the combined using of PWM and PID.

关 键 词：AGV S3C6410 PID PWM QT 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]