【摘要】 农用自动引导小车(AGV)作为农业作业的通用运载平台,是针对具体应用环境而设计的特定用途机器人,已经成为农业自动化的一个重要发展方向.根据农用AGV的特点,以ARM7为核心,内嵌μC/OS-II操作系统,设计了差速转向农用AGV控制系统.针对目前电磁导引式AGV的导引线上的信号频率都是固定的情况,提出了一种可编程导引系统,可任意更改导引线上的导引频率,使AGV的控制更加灵活.航向控制采用计算量小的分区PID算法,提高了AGV行走精度.设计的差速转向的农用AGV已经成功应用于某试验田.更多还原

【Abstract】 As a common platform for agricultural operations,agricultural automatic guided vehicle(AVG) is a kind of robert that is particularly designed for a specific application environment.It is very important in agricultural automation.According to the characteristics of agricultural AGV,a kind of differential turning agricultural AGV control system is designed based on ARM7 core and embedded μC/OS-II operating system.For the current,the signal frequency of electromagnetic guidance line is fixed.A programmable guidance system is put forward and implemented.It can guide any changes to the guide line frequency and bring more flexible control of AGV.Heading control by PID partitioning algorithm is used to improve the accuracy of AGV travel.The design of differential steering agricultural AGV is applied to test field successfully.更多还原