基于超声波传感器的AGV避障模块设计与实现  

Design and implementation of AGV's obstacle avoidance module based on ultrasonic sensor

作　　者：杨芳沛 李伟光[1] 郑少华[1] 刘维民[1] 

机构地区：[1]华南理工大学机械与汽车工程学院,广东广州510640

出　　处：《电子设计工程》2015年第22期56-60,63,共6页Electronic Design Engineering

基　　金：广东省数控一代机械产品创新应用示范工程专项资金项目(2013B011301026)

摘　　要：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Matlab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。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.

关 键 词：超声波 CAN总线 避障检测 AGV 分布式控制 

分 类 号：TN709[电子电信—电路与系统]