- 學位論文
自動導航貨車之導航與控制系統研究與建置
Developing a Navigation and Control System for Automatic Guided Cargo Vehicle
摘要
隨著科技進步先進國家紛紛利用電子、電機、控制、通訊技術投入先進自動化設備開發，發展無人生產技術已減少對人力的依賴、提升品質。自動化設備包含眾多領域及系統，物流更是不可或缺的一環，無人搬運的需求因應而生。伴隨著半導體科技發展，使得嵌入式系統日新月異，運算速度大幅提升、應用範圍相對廣泛。過去的自動導航貨車系統往往採用工業電腦架構，該架構效能高卻相對笨重，不利於機電系統極小化的發展趨勢，因此萌生使用嵌入式系統組成自動導航貨車的念頭，以提供自動導航貨車應用上一種新的選擇。 本研究目標在於開發一套雷射自動導航貨車之控制系統，藉由雷射測距儀提供相對位置資訊，透過演算法使車體自動行走於既定路徑。在演算法的部分將比較現行採用的導航方法，並以路徑跟隨曲率修正法為本研究之基礎，並提出割線比例路徑跟隨修正法改善路徑跟隨曲率修正法無法快速收斂之特性，可達較佳之航行效果。 在驗證上，本研究採用合作廠商提供之自動導航貨車車架，加以雷射定位儀、可程式控制器、嵌入式系統及無線通訊模組等商業設備，來獲得定位資訊，透過運算法則調整車速及航行姿態，達成自動搬運之任務。
並列摘要
As technologies progress very much, the developed countries have taken advantages of electronic, electrical, control, communication technologies into advanced automation equipment development. The development of unmanned production technology has reduced the reliance on manpower and improved the quality of production. Automation equipment involves numerous fields and sophisticated systems, the logistics is also an important part of automation. Thus the demand of LGV has emerged. The development of semiconductor technology change embedded systems rapidly, and significantly enhance the computing speed, broad their applications. PC-Based architecture is for automated guided freight system, which has often used high performance but is relatively bulky. An idea is proposed to develop a automated guided vehicles using embedded systems, as a new choice. This research aims to develop a automatic control system of laser guided vehicle. This study has developed a algorithm to make the vehicle follow the established path automatically, with the laser scanner providing relative position information. Compared with other current navigation methods, and adopt a new path-following guidance weighted vector correction method as the foundation to create a path-following guidance correction which can improve the path-following guidance weighted vector correction method in which the convergence is not quick enough. With this new approach, the developed LGV can get a better results for navigation. In the experiment of verification, this research adopts the frame of a automated guided truck provided by our cooperative company, and equips with a laser scanner, programmable logic controller (PLC), embedded system radio communication module and other business equipment etc. By tuning the parameters in the developed algorithm according to the velocity and direction to obtain positioning information, this new algorithm has been proved to do the automated transport task successfully.