基于ARM嵌入式AGV的避障系统设计  

Design of Embedded AGV Avoidance System Based on ARM

作　　者：马平[1] 张勇[1] 苏攀杰 刘胜旺 MA Ping;ZHANG Yong;SU Panjie;LIU Shengwang(School of Electro?mechanical Engineering,Guangdong University of Technology,Guangzhou Guangdong 510006,China)

机构地区：[1]广东工业大学机电工程学院,广东广州510006

出　　处：《机床与液压》2019年第5期61-64,71,共5页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(50775043);粤港关键领域重点突破项目(TC08BE33-2)

摘　　要：为了解决自动导引小车在搬运过程中的安全可靠性问题,提出采用超声波传感器和红外传感器的数据融合,与单传感器相比,信号采集更加精准;以及采用意法半导体32位ARM Cortex-A8芯片作为小车的控制单元,与传统的单片机相比处理速度快、实时性好、信号处理更精确。并在Linux环境下软件编程实现数据的实时采集、I/O操作以及对直流伺服电机的运动控制,保证了小车的无碰撞运行。In order to solve the safe reliability of the AGV in the course of handling, ultrasonic sensor and infrared sensor data fusion was presented. Compared with single sensor, signal collection was much more accurate. STMicroelectronics 32-bit ARM Cortex-A8 chip was used as the control unit of the vehicle. Compared with traditional MCU, it had high processing rate, good real-time performance, much more accurate signal processing. Programming in Linux environment, real-time data collection, I / O operation and moving control to DC servo motor were come true, to ensure the collisionless operation of the vehicle.

关 键 词：AGV 避障系统 多传感器数据融合 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]