基于到達時間差異的超聲波AGV精確定位.pdf

1、大連理工大學碩士學位論文基于到達時間差異的超聲波AGV精確定位姓名：劉大維申請學位級別：碩士專業(yè)：機械設(shè)計及理論指導教師：梁延德20061201基于到達時間差異的超聲波AGV精確定位AGVUltrasonicNavigationSystemBasedonTDoATheoryAbstractAGVisakindofautomatictranspoaingrobotwhichincludingnavigationtechnologycont

2、roltechnologyinformationtechnologysystemtechnologyandartificialintelligencetechnologyAGVhasmanyadvantagessuchasefficiency，reliabilityflexiblemanufacturingagilityandsoOilNavigationsyst鋤isthekeypartofAGV，therefiabilityanda

3、ccuracyoftheAGVnavigationsystemarethetwomainmetewandTheexistingAGVhavesomeproblemsinnavigationsyetem：shortofagilityhighcost，andsoOILCombiningwiththemodernizationplanoftheEngineeringTrainingcenterofDLUTdesignsakindofAGVni

4、trasoalcnavigationsystembasedonTDoAmethodCarriesoutthesystemdesignsystembuildandexperimentsThemainresearchworksofthepapcrareshownasbelow：(1)ExpatiatestheimportanceofnavigationsystemforAGV，investigatesthedevelopingtrendof

5、AGVathomeandabroadandestablishesthetargetandrequestofthepaper(2)Byreadingalotofliteratures，丘ndsoutsomecharacteristicsofthepresentnavigationsystems，studiestheTeA&TDoAmethodandultrasonicmetricaltheory，andfinally，bringsouta

6、newkindof111仃鹋0nicnavigationsystemwhichbasesonTDoA(3)EmphasizesonhowtodesignthehardwareoftheultrasonicnavigationsystemThehardwaredesignincludestheultrasonicnavigationmodule，themovementControlmoduleandsoouMakesanAGVmodelw

7、hichisneed鰣inthetestsoptimizesthestructureandchassisoftheAGVStartingfromthedifferentwheelsdistributionresearchesseveralkindscontrolmethodsofrobotusingonmidirectinnalwheels(∞Calliesoutsomeexperimentsonnavigationsystemofth

8、eAGVmodelTheresultsindicatethatthisnavigationsystemcansatisfyAGVrequirements，andthemaxlocatingprecisionofthesystemis35mmwhichisexcelledotherultrasonicnavigationsystemTheresultsareaccordwiththeorywhichcOnf婦thisnavigations