Bao Cao NCKH

1
PHN M U
L Do Chn Ti
t nc ta ang trong giai on cng nghip ha v hin i ha. tin
kp cc nc trong khu vc v trn th gii, nn cng nghip nc nh cn tip
cn cc cng ngh v thit b hin i. Cc cn b k thut cn c trang b cc
kin thc mi, nh vy mi c th y nhanh cc qu trnh pht trin ca t
nc.
K thut robot v ang c ng dng rng ri trong nhiu lnh vc
nhiu nc, n em li hiu qu to ln trong sn xut cng nghip, trong
quc phng, y t, x hi, thm him v tr. Tuy nhin, tnh hnh s dng robot
trong sn xut ca chng ta cn him hoi. Vic ng dng robot cng nghip hin
vn cn l lnh vc mi m i vi nn cng nghip nc nh. Trong xu hng
pht trin chung vic nghin cu v s dng robot Vit nam chc chn s pht
trin.
AGV l mt loi robot c s dng ti nc ngoi trong cc ngnh cng
nghip dng chuyn ch t ng. Tuy nhin i vi Vit Nam th cng ngh
ny vn cha c p dng nhiu trong thc t.
Hin nay, hu ht cc ngnh cng nghip nc ta u c quy m ln
nhng cht lng cha cao do nhng hn ch v khoa hc k thut, my mc
thit b cn th s nn nng sut lao ng ch t mc trung bnh v li nhun
gim do phi thu mn mt lng cng nhn rt ln, Changshin cng khng
trnh khi tnh trng .
THIT K V CH TO XE AGV
- V th trong thi gian tip cn

vi quy trnh sn xut trong cng ty
Changshin Vit Nam, chng ti nhn
thy quy trnh vn chuyn xe Last
dc theo chuyn sn xut ca phn
xng NOS 1 ca cng ty l mt quy
trnh ht sc nng nhc i vi
ngi cng nhn. ng thi vi yu
cu ca cng ty mong mun a t
ng ha vo sn xut gii phng
sc lao ng chn tay v nng cao
nng xut lao ng. Qua , nhm
xut v vic thay th sc lao
ng trong quy trnh vn chuyn xe
last v c bn pha cng ty ng
Xe ch last
h v to iu kin cho nhm nghin

cu.
Do ti ca chng ti c mang tn NGHIN CU, CH TO XE T
HNH VN CHUYN HNG HA.
Mc ch Nghin Cu
- a t ng ha vo khu sn xut giy ca cng ty changshin v thay th
cng nhn trong mt s cng on nng nhc v mt vi ni nguy him.
- Thit k v to ra mt chic xe c kh nng d ng nh mt robot t ng
v phi trnh c cc chng ngi vt nh vo cc cm bin v phi kt ni t
ng c vi xe ch last v t n s thay th cng nhn lm nhng cng vic
nng nhc v phi gii quyt c cc yu cu:
- Nng cao nng sut lao ng, thi gian v s chuyn vn chuyn sn phm
tng ln v em li li nhun cho cng ty.
- ti gm nhiu mn hc chuyn ngnh lin quan v vy qua ti gip em

hiu r, nm su hn v nhng kin thc c hc.
Ni Dung V Phm Vi Nghin Cu

Ni dung:
Nghin cu v to ra mt kt cu c kh hp l v vng chc cho
AGV.
Thit k b driver iu khin ng c dng mch cu H v kt hp
vi b PID iu khin mt cch chnh xc v tr, tc .
Thit k cc module cm bin gip xe xc nh ng i, vt cn v
nhn nh chnh xc xe Last khi kt ni.
Thit k module giao tip RFID gip xe nhn din c v tr chnh
xc cc bn giao nhn xe, v tr t xe v v tr sc bnh t ng.
Thit k mch o dung lng ca Acquy, kt hp lp trnh to nn
mt xe AGV c kh nng sc bnh t ng nhm m bo nng lng
cho xe hot ng.
Cch kt ni cc mch li vi nhau to mt AGV hon chnh.
Phm vi nghin cu:
Trong nc ni chung v thc hin chy thc nghim trong xng
NOS 1 ca cng ty Changshin ni ring.
Ngha Khoa Hc
Mang n nhng bc tin vt tri trong vic p dng khoa hc cng ngh
hin i vo trong quy trnh sn xut, l nn tng c s xy dng nhng
quy trnh t ng ha vi nhng thit b my mc tt nht trong tng lai.
Bn cnh n cn th hin bn lnh cng nh tm hiu bit ngy cng c
nng cao ca sinh vin khi c th nm bt nhng kin thc v khoa hc k
thut v vn dng mt cch sng to, c hiu qu vo thc tin cuc sng.
Ngha Thc Tin

T ng ha trong sn xut hng ha v nng cao nng sut lao ng, ci
thin cht lng sn phm, mang li li nhun trc tip cho cng ty
Changshin Vit Nam.
V ngha nhn vn, thay th con ngi nhng v tr nguy him, d gy tai
nn lao ng trong qu trnh lm vic.
Nhim V Nghin Cu
AGV trong ti nghin cu l cc xe ch hng cng nghip khng ngi
li. N c kch thc khc nhau mang cc ti trng t mt vi kg n ti
trng hng trm tn.Tuy nhin v trong khun kh ca mt n tt nghip
vi kinh ph v kh nng hn hp, nn ti c tnh kh thi cao, nhm
chng em ra cc nhim v trong vic thit k v ch to xe AGV nh
sau:
Ch to kt cu kt cu c kh cho xe AGV l loi xe ch c khay
hng vi ti trng l 150kg (khng tnh trng lng ca xe).m bo
c c vng chc ca xe v hng ha trong qu trnh di
chuyn, to s n nh v thun li cho phn iu khin.
Thit k c mch in t cho AGV hot ng n nh.
Lp trnh iu khin cho AGV chy bm theo vch kim loi vi tc
n nh 25m/pht. Thit k cho AGV c kh nng pht hin c
vt cn trong qu trnh di chuyn ng thi a ra cnh bo an ton
thng qua ci bo v n bo.
Tm hiu v thit k ngun nng lng cho xe l ngun mt chiu
DC.
Phng Php Nghin Cu

Phng php quan st thc t: Nhm c thi gian tip cn vi quy
trnh sn xut trong cng ty Changshin Vit Nam t tm ra nhng cng
on cn ci tin v my mc nng cao nng sut lao ng nht l
khu vn chuyn last.
Tm hiu thng qua sch, bo, cc bi vit chuyn v thng qua mng
internet nhm rt ra nhng m hnh ph hp nht.
Hc hi nhng thy c nhiu kinh nghim trong lnh vc robocon c

hng gii quyt nhanh v tt hn.
Gii quyt tng Module nh v sau ghp thnh mch hon chnh.
Tnh ton v chy th nghim rt ra phng n ti u nht.
Thit lp m hnh xe, chy th nghim bn ngoi nhm tm ra nhng

phng n tt nht c th p dng
B Cc Ca Ti
Ngoi phn m u, kt lun, ni dung bo co gm 3 chng:
Chng 1: Tng quan
Chng 2: Nghin cu thc nghim v l thuyt
Chng 3: Kt lun
Phn cui ca bi bo co l danh mc ti liu tham kho
Thi Gian Biu Thc Hin Ti

+ Ngy 30-7 nhn ti giao t cng ty.
+ T 1 n 15-8 thit k m hnh xe hon chnh, m phng h thng trn
my tnh bng phn mm Solidworks.
+ T 16 n 31-8 lm m hnh thc t cho xe AGV.
+ T 1 n 15-9 thit k b driver iu khin ng c.
+ T 16 n 30-9 tm hiu v b cm bin siu m v phng php d line
kim loi bng cm bin cm ng t.
+ Trong thng 10 kt ni tng module nh li thnh xe hon chnh.
+ u thng 11 bt u vit bo co d kin hon tt trong thng 11
chun b bo co cp khoa.
CHNG 1
TNG QUAN
1.1 Cc D Kin Khi Kho St Thc T :
Yu cu vn chuyn:
Da vo tnh hnh thc t sn xut cng ty a ra cc yu cu v vn chuyn, s
lng hng ha v thi gian p ng. Vn chuyn lin tc cc xe last dc theo
line sn xut giy ti xng Nos 1, cng ty Changshin Vit Nam. Qua kho st
thc t thu thp c nhng s liu
1
K hoch sn xut mt ngy
3.000
Pairs
S lng Last vn chuyn m i chuyn
48
Pairs
Khong cch vn chuyn i v v
188
Metter
S chuyn xe phi i hng ngy
62.5
Chuyn
S met phi i hng ngy
11.750
Metter
Thi gian yu cu cho AGV
461
s/chuyn
Thi gian lm vic m i ngy
Ting
Vn tc bt buc p ng k hoch
0.41
m/s
Kch thc AGV(di x rng x cao)
520x420x430
mm
10 Trng lng xe ch last
49
kg
11 Trng lng ca tng s last v xe ch
120
kg
Hnh 1.1 Bng s liu thu thp qua kho st thc t

Yu cu t ra:
Thay th c sc lao ng ca ngi cng nhn hin ti trong khu vn
chuyn xe last vi qung ng di dc theo line sn xut trong phn xng.
p ng c yu cu ca cng ty trong vic vn chuyn, m bo thi gian
hon tt cng vic.
Hnh 1.2 ng i thc t v mi trng lm vic
1.2 Xe AGV L G ?
Khi nim xe t hnh AGV (Automated Guided Vehicle) l mt khi nim chung
ch tt c cc h thng c kh nng vn chuyn m khng cn ngi li. Trong cng
nghip AGV c hiu l cc xe chuyn ch t ng c p dng trong cc lnh
vc:
-
Cung cp sp xp linh kin ti khu vc kho v sn xut.
Chuyn hng gia cc trm sn xut.
Phn phi, cung ng sn phm, c bit trong bn bun.
Cung cp, sp xp trong cc lnh vc c bit nh bnh vin, siu th, vn

phng.
Qua tt c cc ng dng trn, AGV th hin rt r hiu qu ca mnh nh: Gip

gim thit hi trong kim k, sp xp sn xut linh hot hn, gim thiu ngun nhn
lc v.v
AGV cn gip gim chi ph ch to, tng hiu qu sn xut. Chng c th c ch
to chuyn hng, ko hng, nng hong cp pht cho mt s v tr lm vic nht
nh.
Hnh 1.3 Xe agv ang vn chyn hng
1.3 Lch S Pht Trin Ca AGV

H thng xe dn hng t ng (AGVS) tn ti t nm 1953 bi Barrett
Electronics Of Northbrook, bang Illinois USA, nay l Savant Automation
of Walker, bang Michigan USA. Mt nh pht minh vi mt gic m sng
ch ra mt phng php t ng ha con ngi trn chic xe ti ko m
c s dng trong cc nh my trong nhiu nm. Lc u ch l mt chic
xe ko nh chy theo mt ng dn. H thng hng dn u tin c to
ra khi xut hin cc cm bin d theo mt t trng. AGV tn ti mc ny
cho n gia nhng nm 70. Cng ngh lc ny iu khin cc h thng
m rng kh nng v tnh linh hot. Xe khng ch cn c dng ko
r moc trong kho, m cn c s dng trong qu trnh sn xut, lm vic,
v cc h thng lp rp t.
Qua nhiu nm, khi cng ngh tr nn tinh vi hn, th ngy nay cc AGV
ch yu c nh v bi h thng Lazer LGV (Lazer Guided Vehicle).
Trong qu trnh t hnh, LGV c lp trnh giao tip vi cc robot khc
nhm m bo sn phm c chuyn qua cc trm, kho ni m sau
chng c gia li hoc chuyn n mt v tr khc. Ngy nay, LGV ng
vai tr quan trng trong thit k cc nh my v nh kho, a hng ha n

ng a im mt cch an ton.
1.4 Phn Loi AGV

1.4.1 Phn loi theo chc nng: th c 4 kiu AGV
Xe ko (Towing Vehicle)
Xe ko xut hin u tin v bay gi vn cn thnh hnh. Loi ny c th ko
c nhiu loi toa hng khc nhau v ch c t 8000 n 60000 pounds.
u im ca h thng xe ko:
- Kh nng chuyn ch ln.
- C th d on v ln k hoch v tnh hiu qu ca vic chuyn ch cng
nh m bo an ton.
- Tng tnh an ton.
Hnh 1.4 AGV ko xe hng
10
Xe ch (Unit Load Vehicle)

Xe ch c trang b cc tng khay cha c th l cc nng, h chuyn ng
bng bng ti, ai hoc xch. Loi ny c u im :
- Ti trng c phn phi v di chuyn theo yu cu.
- Thi gian p ng nhanh gn.
- Gim h hi ti sn.
- ng i linh hot.
- Gim thiu cc tc nghn giao thng chuyn ch.
- Lp k hoch hiu qu.
Hnh 1.5 AGV ch hng

Xe y (Cart Vehicle)
Xe y c cho l c tnh linh hot cao v r tin. Chng c s dng
chuyn ch vt liu v cc h thng lp rp.
Xe nng (Fork Vehicle)
C kh nng nng cc ti trng t trn sn hoc trn cc bc cao hay cc
khi hng t trn gi.
11
Hnh 1.6 M hnh xe nng

1.4.2 Phn loi theo dng ng i : th AGV chia lm cc loi nh sau
Loi chy khng chy theo ng dn (Free path navigation)
C th di chuyn n cc v tr bt k trong khng gian hot ng. y l loi xe
AGV c tnh linh hot cao c nh v v tr nh cc cm bin con quay hi
chuyn (Gyroscop sensor) xc nh hng di chuyn, cm bin laser xc nh
v tr cc vt th xung quanh trong qu trnh di chuyn, h thng nh v cc b
(Local navigation Location) xc nh ta tc thi,Vic thit k loi xe ny
i hi cng ngh cao v phc tp hn so vi cc loi AGV khc.
12
Loi chy theo ng dn (Fixed path navigation)

Xe AGV thuc loi ny c thit k chy theo cc ng dn nh sn gm
cc loi ng dn nh sau:
- ng dn t: L loi ng dn c cu to l dy t (Magnetic wire)
chn ngm di nn sn. Khi di chuyn, nh c cc cm bin cm ng t
m xe c th di chuyn theo ng dy dn. Loi ng dn ny khng nm
bn trn mt sn nn c m quan tt, khng nh hng n cc cng vic
vn hnh khc. Tuy nhin khi s dng phi tiu tn nng lng cho vic to
t tnh trong dy, ng thi ng dn l c nh v khng th thay i
c.
- ng ray dn: Xe AGV c chy trn cc ray nh trc trn mt sn.
Loi ny ch s dng i vi nhng h thng chuyn dng. N cho php
thit k xe n gin hn v c th di chuyn vi tc cao nhng tnh linh
hot thp.
- ng bng k trn sn: Xe AGV di chuyn theo cc ng bng k sn
trn sn nh cc loi cm bin nhn dng vch k. Loi ny c tnh linh hot
cao v trong qu trnh s dng ngi ta c th thay i ng i mt cch d
dng nh k li cc vch dn. Tuy nhin khi s dng, cc vch dn c th b
bn hay h hi gy kh khn cho vic iu khin chnh xc xe.
1.5 Tnh Hnh Nghin Cu Trong V Ngoi Nc

Qua tm hiu trn sch bo, internet v cc phng tin thng tin, truyn thng,
chng em thy rng ti ch to xe t hnh l mt ti mi, rt t c
cp n trong nn cng nghip nc ta, c th l:
1.5.1 trong nc:
Ngnh t ng ha trong nc mi ch nhng bc khi u nn vn ch c
rt t nhng nghin cu v xe t hnh (AGV). Do vic ng dng AGV trong
cng nhgip nc ta vn cn rt hn ch.
13
1.5.2 ngoi nc:

Hin nay vi trnh khoa hc k thut pht trin nht l v lnh vc t ng
ha, ti Automatic Guided Vehicle (AGV) c nhng nghin cu v ng
dng vo thc t. AGV gp mt trong hu ht cc ngnh cng nghip thay th
sc lao ng ca con ngi trong cc lnh vc khc nhau nh y t, nh xng,
kho hng. AGV xut hin vi mi hnh dng, kch thc t nh b n to
ln.
1.6 Mc Tiu Hng n Ca Ti

u tin l thit k ra xe AGV l mt robot khng ngi li ko xe ch last,
nhm to ra bc ci tin trong quy trnh sn xut giy ca cng ty changshin
v thay th mt phn cng vic no cho cng nhn m bo an ton lao
ng. Th hai l a t ng ha vo sn xut gim lao ng chn tay v
em li li nhun cho cng ty gp nhiu ln khi thay th ngi cng nhn.
14
CHNG 2
NGHIN CU THC NGHIM V L THUYT
2.1 Cc Thnh Phn Ca Xe AGV
T yu cu lm vic thc t trong cng ty, nhm la chn phng n thit k xe
AGV ph hp vi yu cu lm vic v c s chp thun ca cng ty. Qua
nhm a ra tng th ca xe AVG nh sau:
B truyn chuyn ng: C nhim v truyn ng nng t ng c qua cc
b gim tc n bnh xe gip xe di chuyn mt cch linh hot v t c vn tc
cng nh lc ko ph hp, p ng c yu cu cng vic.
B nh v khp kt ni: C nhim v gip xe nh v xe ch last pha sau xe
nhm n ng v tr thc hin kt ni, ghp ni xe ch last v AGV. Cht gi cho
phn kt ni chc chn v to khp xoay gip cho vic chuyn ng gc cua linh
hot hn.
Bnh xe ch ng ln, dy v c bm ng tt nhm m bo xe khng
b trt trn ng di chuyn khi phi ko theo trng lng ca xe last.
Bnh xe v hng gip cho vic d tm ng linh hot hn, gip AGV di
chuyn linh hot trong cc khc cua hay quay u.
H thng cc loi cm bin gip AGV nhn bit line chy, xe last cng nh
pht hin cc chng ngi trn ng di chuyn ca xe.
B ngun gm c acquy 12V/100A v b chuyn i ngun 5V cho vi iu
khin hot ng.
B Driver iu khin ng c c nhim v thay i chiu quay v tc ca
ng c ng thi kt hp vi lp trnh PID lm cho ng c dng chnh xc hn.
B board mch ch iu khin mi hot ng xe AGV thng qua giao
tip vi cc b driver.
15
Hnh 2.1 Cu to AGV
2.2 Quy Trnh Hot ng:

Mt ca lm vic s bt u ti v tr bi xe khng ti cui line sn xut, l v tr
t AGV ban u. AGV s n bn khu vc ch xe c hng, thc hin kt ni vi
xe Last c cht y hng ri ko xe Last n u line sn xut. AGV s thc
hin th xe Last vo cc v tr nh sn ti bn xe c hng. Tip tc, xe s n khu
vc ch xe khng hng, thc hin kt ni vi xe last c d ht cc last ri ko
xe v cui line sn xut, th xe vo khu vc xp xe khi vn chuyn v. AGV s tip
tc tin v khu vc ch xe c hng v tip tc thc hin cng vic.
Hnh 2.2 H thng line v qui trnh hot ng ca AGV
16
2.3 La Chn V Thi Cng C Kh

2.3.1 Phn Khung Xe
Phn khung xe l mt phn rt quan trng ca AGV, nng ton b cc b
phn ca xe. V vy, khung phi m bo p ng mi iu kin v cng
vng tuy nhin phi nh gn ph hp vi iu kin mi trng lm vic nh hp
ni phn xng sn xut.
Hnh 2.3 Khung xe thit k

Khung xe c ch to bng vt liu inox, l loi thp khng r, c sng
bng v rt cng vng nhm m bo bn cho khung xe.
Hnh 2.4 Khung xe thc t
17
2.3.2 Phn Bnh Xe

Bnh xe l mt b phn cc k quan trng, gip ton b kt cu xe c th di
chuyn trn tru. ng thi cng l b phn nng kt cu xe.
Trong AGV s dng hai loi bnh xe:
Bnh xe ch ng: L loi bnh xe chc chn c ng knh ngoi 200mm, b
rng bnh l 50mm. Lp ca bnh c ng bng cao su nhm em li bm
ng tt nht khi m xe phi ko theo mt khi lng hng khng nh (120kg).
Hnh 2.5 Bnh xe ch ng thit k
Hnh 2.6 Bnh xe ch ng trong thc t
18
Bnh xe v hng: xe c th b li v thc hin d line mt cch linh

hot th bnh trc ca AGV c thit k s dng bnh v hng, c th xoay
theo bt c gc no.
Hnh 2.7 Bnh xe v hng thit k v thc t

2.3.3 Phn Chn ng C V Phn Phi T S Truyn
2.3.3.1 Chn ng c :
i vi c cu di chuyn ca xe, lc cn tnh ph thuc vo khi
lng chuyn ch v khi lng ca xe, trng thi ng i (cong,
thng, g, dc..). Do vy lc cn c tnh theo cng thc sau:
F
(G G x )g
( .rct f )k ms [ N ]
Rb
(3.1)
Trong :
G khi lng chuyn ch, kg;
Gx khi lng ca xe, kg;
Rb bn knh bnh xe, m;
-h s ma st trt,(8.10-415.10-4)
rct bn knh c trc bnh xe, m;
f h s ma st ln(5.10-4);
kms h s c tnh n ma st gia mp bnh xe v ng ray (1,21,5);
M men ca ng c sinh ra thng lc cn chuyn ng bng:
19
F.R b
[ N .m]
i.
(3.2)
Trong :
F lc cn chuyn ng, N;
i t s truyn t trc ng c n bnh xe;
hiu sut ca c cu;
Cng sut ca ng c khi di chuyn c ti bng:
P
F.v
.10 3 [kW ]
(3.3)
Thc t ta c c:
G khi lng chuyn ch (bao gm xe ch hng v thng hng): 150 (kg);
Gx khi lng ca xe: 50 (kg);
Rb bn knh bnh xe: 100 (mm) = 0.1 (m);
-h s ma st trt: 8.10-4
rct bn knh c trc bnh xe: 5 (mm) = 0,005 (m);
f h s ma st ln: 5.10-4;
kms h s c tnh n ma st gia mp bnh xe v ng ray: (1,3);
F
(G G x )g
( .rct f )k ms [ N ]
Rb
(100 15 50)9,81
(8.10 4.0,005 5.10 4 )1,3 =10,6 [N]
0.1
Vi:
F lc cn chuyn ng = 10,6 [N]
i t s truyn t trc ng c n bnh xe = 24
hiu sut ca c cu = 0,9
M men sinh ra thng lc cn chuyn ng:
M
F.R b 10,6.0,1
0,065 [N.m]
i.
18.0,9
Vi vn tc 1,5 (m/s) = 5,4 (km/h)
20
Cng sut cn thit ca ng c khi di chuyn c ti trong ch xc lp

bng:
P
F.v
.103[kW ] =
10,6.5,4 3
.10 =0,0715 [Kw] = 71,5 [W]
0.8
Cng sut ng c c la chn da trn cc thng s ln nht do yu cu

t ra.
Trong lc hot ng xe chu nhiu nh hng bi cc lc cn bn ngoi (a
hnh, khng kh).
V vy m bo cng sut cho xe AGV nn chn loi ng c c cng
sut 100 (W), 24 (V). Va p ng c yu cu v tc cng nh kh nng chu
qu ti i vi xe AGV nhng vn m bo tnh kinh t cho cng ty.
Dng in cn thit cp cho ng c:
I
Pm 100
4,16 [A]
U m 24
Hnh 2.8 ng c servo

Thng s k thut:
ng c Servo 100w - 24VDC
Current : 5.5 A.
Tc : 2500 rpm
Encoder: 1000 xung
21
ng c DC servo 55ZYTD51 l ng c servo nam chm vnh cu c chi

than. ng c c dng cho cc ng dng i hi s chnh xc. ng c c gn
mt encoder km theo phn hi v tr cho b iu khin.
Cc u im:
Tnh nng k thut cao.
Chi ph thp.
Nhiu tp nh.
Km theo encoder (1000 xung), l i v tr c th c gii hn n mt xung.
2.3.3.2 Phn phi t s truyn:
Vi ti trng m=120kg chn loi ng c DC 24V/100W vi s vng
quay l 2500 vng/pht.
Tc ca bnh xe l:
nct
60.1000V 60.1000.1.1
104.16 (vg/ph)
D
.200
T s truyn chung l:
i i 1 .i 2
n dc
2500
24
n 104.16
Vi ti trng khng ln v vn hnh vi vn tc thp nn ta s dng b

truyn ng bng xch ng con ln.
i vi cp nhanh:
Chn s rng a xch dn l Z1= 10 rng
Chn s rng a xch b dn l Z2=Z1.i1=10.4=40 rng
i vi cp chm:
Chn s rng a xch dn l Z1= 10 rng
Chn s rng a xch b dn l Z2=Z1.i2=10.6=60 rng
22
Hnh 2.9 Buli chia gim tc thit k
Hnh 2.10 Thit k b gim tc 2 cp
Hnh 2.11 Bnh rng thc t
23
Hnh 2.12 B truyn gim tc thc t lp rp

2.3.4 Phn Thit K Bi
Trc I v II c lc tc dng dc theo trc nn ta chn bi chn.
Trc I chn bi theo tiu chun k hiu: 6000 vi ng knh ngoi 26mm,
ng knh l l 10mm.
Trc II chn bi theo tiu chun k hiu: 6200 vi ng knh ngoi 37mm,
ng knh l l 12mm.
Hnh 2.13 Bc n s dng cho xe AGV
24
2.3.5 La Chn V Thi Cng Mch in
Hnh 2.14 S kt ni phn iu khin ca xe agv

Trong xe AGV mch iu khin ng vai tr quan trng khng km g phn c kh,
n c xem nh l CPU iu khin mi hot ng ca xe. B iu khin bao gm
mch x l trung tm, tip nhn cc d liu thng qua cc cm bin a v sau
phn tch v a ra phng n iu khin AGV mt cch ti u.
2.3.6 Acquy V Khi Ngun 5V
Chn acquy : m bo yu cu chy trong cng ty xe AGV phi
p ng c qu trnh s dng bnh c quy trong thi gian 4h lm
vic. Cng thc tnh thi lng dng c quy c tnh nh sau:
25
Ah.U.pt
[gi]
P
(3.5)
Trong :
T thi gian cn c in trong h thng, gi;
Ah dung lng bnh c quy, Ah;
U hiu in th ca c quy, V;
pt hiu sut ca h thng: 0,8
P cng sut tiu th ca ti, W;
Vy i vi loi bnh c quy 12VDC p ng c yu cu lm vic 8h
th dung lng c quy cn thit s l:
Ah
T.P
8.50
20,8 [Ah]
U.pt 24.0,8
Hnh 2.15 Acquy kh 12V/100Ah

Mch Ngun 5V
Ngun c ly t acquy 12V/100Ah vo mch chuyn i in p
xung 5V ri a vo vi iu khin nu ngun khng n nh th vi
iu khin s b treo v dn n xe ngng lm vic. Trong phn ny
em s dng LM2596 l chnh v n chu dng cao ln n 3A. sau y
l mch ngun dng LM2596.
26
Hnh 2.16 S mch ngun 5V

2.3.7 Khi d line dng cm bin kim loi
Cm bin kim loi lm nhim v d line kim loi, xut tn hiu v b vi x l trung
tm. B vi x l trung tm nhn tn hiu x l v xut tn hiu iu khin tc
hai ng c chy ng theo ng line. Nhm la chn cm bin tim cn
(Proximity Sensor) loi t cm (Inductive). Chn loi E2A-M30KN30 c kh nng
pht hin i vi vt th kim loi.
Hnh 2.17 Mt s loi cm bin kim loi

Thng s khi la chn cm bin kim loi :
- Khong cch pht hin vt
- in p ng vo
- Ng ra cm bin (NPN hay PNP)
- Tn s p ng
27
Cm bin
kim loi
Hnh 2.18 Thit k c cu gn cm bin

Mch d line bng cm bin kim loi l 1 gii php mi trong phn d
ng, thng thng trc kia th ta dng cm bin quang th kh nng n
nh khng cao do nhiu nhiu, s khc bit v cng nh sng gia cc
vng v robot rt d b lc ng. Mch d line bng cm bin cm ng t
c u im l chng nhiu tt trong mi trng cng nghip, vic s dng
cm bin tim cn gip cho mch t b nh hng bi yu t bn ngoi. V l
do , mch d line cm ng t tr thnh xu hng v l la chn hng u
cho vic d ng ca AGV trn th gii.
Mch hot ng theo nguyn l chuyn i tn hiu nhn c t dy bao
gm bn cm bin xp thnh hng ngang vi khong cch hp l so vi b
rng ca line. Khi cm bin nhn c line s xut tn hiu +24VDC gi v
mch chuyn. Mch chuyn gm cc opto s chuyn tn hiu +24VDC thnh
tn hiu +5VDC sau s gi v board ch phn tch v thc hin iu
khin vic di chuyn ca AGV.
28
Hnh 2.19 Mch chuyn i tn hiu 24V xung 5V
Hnh 2.20 Mch in board chuyn i tn hiu

2.3.8 Phn m Bo An ton
SRF05 l mt bc pht trin t SRF04, c thit k lm tng tnh linh
hot, tng phm vi, ngoi ra cn gim bt chi ph. SRF05 l hon ton tng
thch vi SRF04. Khong cch l tng t 3 mt n 4 mt. Mt ch hot
ng mi, SRF05 cho php s dng mt chn duy nht cho c kch hot v
phn hi, do tit kim c gi tr trn chn iu khin ca bn. Khi chn ch
khng kt ni, SRF05 cc hot ng ring bit chn kch hot v chn hi
tip, nh SRF04. SRF05 bao gm mt thi gian tr trc khi xung phn hi
mang li iu khin chm hn chng hn nh b iu khin thi gian c bn
29
Stamps v Picaxe thc hin cc xung lnh.
Hnh 2.21Cch kt ni chn cho cm bin siu m SRF05

Ch 1 tng ng SRF04 tch bit kch hot v phn hi
Ch ny s dng ring bit chn kch hot v chn phn hi, v l ch
n gin nht s dng. Tt c cc chng trnh in hnh cho SRF04 s lm
vic cho SRF05 ch ny. s dng ch ny, ch cn chn ch
khng kt ni - SRF05 c mt ni dng trn chn ny.
Ch 2 Dng mt chn cho c kch hot v phn hi
Ch ny s dng mt chn duy nht cho c tn hiu kch hot v hi tip, v
c thit k lu cc gi tr trn chn ln b iu khin nhng. s dng
ch ny, chn ch kt ni vo chn mt. Tn hiu hi tip s xut hin trn
cng mt chn vi tn hiu kch hot. SRF05 s khng tng dng phn hi cho
n 700uS sau khi kt thc cc tn hiu kch hot. Bn c thi gian kch
hot pin xoay quanh v lm cho n tr thnh mt u vo v c pulse o m
ca bn sn sng. Lnh PULSIN c tm ra v c dng ph bin hin
nay iu khin t ng.
Tnh ton khong cch
Gin nh thi SRF05 th hin trn y cho m i ch . Bn ch cn cung cp
mt on xung ngn 10uS kch hot u vo bt u o khong cch. Cc
SRF05 s gi cho ra mt chu k 8 burst ca siu m 40khz v tng cao dng phn
hi ca n (hoc kch hot ch dng 2). Sau ch phn hi, v ngay sau khi
30
pht hin n gim cc dng phn hi li. Dng phn hi l mt xung c chiu rng
l t l vi khong cch n i tng. Bng cch o xung, ta hon ton c th
tnh ton khong cch theo inch / centimt hoc bt c iu g khc. Nu khng
pht hin g c SRF05 gim thp hn dng phn hi ca n sau khong 30mS.
SRF04 cung cp mt xung phn hi t l vi khong cch. Nu rng ca pulse
c o trong h uS, sau chia cho 58 s cho khong cch theo cm, hoc chia cho
148 s cho khong cch theo inch.
Khong cch(cm)=Thi gian xung ln(us)/58
Khong cch(inches)=Thi gian xun ln(us)/148
SRF05 c th c kch hot nhanh chng vi mi 50mS, hoc 20 ln m i giy.
Bn nn ch 50ms trc khi kch hot k tip, ngay c khi SRF05 pht hin mt
i tng gn v xung phn hi ngn hn. iu ny l m bo cc siu m
"beep" phai m v s khng gy ra sai phn hi ln o k tip.
Trong cng ty vn m bo an ton lao ng c u tin hng u. Do vy
khi ta tnh ton c thi gian tn ti ca xung (mc 1) trn chn echo th ta s
tnh c khong cch t xe agv n cm bin c th ra lnh iu khin hp
l cho xe chy tip hay dng li.
Hnh 2.22 Mch giao tip vi cm bin siu m SRF05
31
Lu thut gii
Hnh 2.23 Lu thut gii ca mch siu m

2.3.9 Khi Driver iu Khin ng C
Diver nhn tn hiu t b vi x l trung tm, xut tn hiu iu khin
tc chy ca ng c. Diver cho php hm dng ng c mt cch
nhanh chng.
Qua tm tm ti nghin cu ti liu cn thn k lng, nhm s dng
chip vi iu khin h AVR atemega 8 thit k b driver iu khin
tc ng c theo phng php PID vn tc. S dng chun truyn
USART (ni tip khng ng b) truyn d liu thay i tc
ng c.
32
Hnh 2.24 Cu trc b iu chnh tc ng c

Phng php iu chnh:
H thng iu chnh tc xe AGV thc hin iu chnh tc xe thng
qua iu chnh tc ca ng c truyn ng cho hai bnh pha sau.
Cu trc h thng iu chnh tc cng l mt h kn. Tc ca xe
AGV c o nh b Encoder. u ra ca Encoder l lng xung pht ra
t l vi s vng quay hay vn tc u vo. Gi tr tc phn hi m
encoder o c a ti b iu khin. B iu chnh ny s tnh ton v
cho gi tr u ra c gn vo b iu xung. Xung t b iu khin s
thc hin ng ct van bn dn to ra gi tr in p u ra U thay i cp
cho ng c. Nh vy i vi h thng iu chnh tc phn hi mch
kn th gi tr vn tc lun n nh v bm theo gi tr lng t.
Vic nghin cu v thit k driver iu khin ng c l mt qu trnh quan
trng, nh hng rt ln n qu trnh lm vic ca xe AGV cng nh tnh
kinh t ca cng ty.
Nhm s dng vi iu khin atemega 8 lm chp x l tn hiu phn hi t
ecoder ca ng c, t truyn d liu lm thay i tc ng c (xem
phn nh km code driver ng c).
Diver gm c hai phn:
Mch iu khin:
Bao gm khi ngun, b to dao ng, cng vi chp vi x l atemega
8 xut tn hiu iu khin ng c.
Mch ng lc
33
Hnh 2.25 S nguyn l b iu khin khin ng c.
Hnh 2.26 Mch in board driver
34
2.3.10 H Thng RFID
Hnh 2.27 Cu to bn trong th RFID

RFID (Radio Frequency Identification) l mt phng php nhn dng t
ng da trn vic lu tr d liu t xa s dng thit b th RFID v mt u
c RFID.
Thng tin c th c truyn qua nhng khong cch nh m khng cn mt
tip xc vt l no c.
Nhn dng t ng (Automatic Identification) hay gi ngn gn l "ID t
ng" l mt thut ng ch cc cng ngh ch dng gip cc my nhn
dng cc i tng. Nhn dng t ng thng c thc hin bng t ng
thu thp d liu. l phng php cc cng ty dng nhn dng vt
hay hng ha, thu thp thng tin v chng v nhp d liu a vo my tnh
m khng cn lm th cng. Mc tiu ca "ID t ng" l tng tnh hiu qu,
gim l i d liu u vo v s dng lao ng d tha cho cc chc nng gi
tr gia tng nh cng cp dch v cho khch hng. Cc cng ngh ch c
xp vo nhm "ID t ng" gm c: m vch (Bar Codes), th thng minh,
nhn dng ting ni, mt s cng ngh sinh trc hc (biometric), nhn dng
35
c trng quang hc (Optical character Recognition - OCR) v nhn dng

tn s v tuyn (Radio Frequency Identification RFID).
H thng RFID gm hai thnh phn: Th nht l nhng chic th nh (c vi
cm) c gn chip silicon cng ng ten radio v th hai l b c cho php giao
tip vi th nhn v truyn d liu ti h thng my tnh trung tm.
Hnh 2.28 H thng RFID

Thnh phn ca mt h thng RFID:
1.Th RFID
2. Thit b c th Reader
3. My ch
4. Thit b ngoi vi Server
Cc thit b c ny lun pht nng lng bc x quanh n, th RFID hp

th nng lng ny v trao i thng tin vi thit b c. Sau y ti xin
trnh by Board nhn v s l tn hiu RFID thit k.
Mch s dng chp atemega 8 nhn tn hiu t board RFID thng qua
chun truyn thng ni tip RS232 t xut tn hiu v b x l trung tm.
36
Hnh 2.29 Board mch x l RFID thit k

H thng RFID c s dng AGV c th nhn bit c cc khc cua hay v tr
cc bn xe, v tr sc bnh t ng.
2.3.11 Khi Nt Nhn V Khi Hin Th
2.3.11.1 Nt nhn :
Nt nhn l mt loi kh c in ng ngt t xa cc thit b in t khc,
cc dng c bo hiu, v cng chuyn i cc mch in iu khin tn hiu, lin
ng, bo v mch in mt chiu in p n 440V v in p xoay chiu in
p n 500V, tn s 50- 60Hz.
Nt nhn thng c dng khi ng, dng v o chiu quay ca ng
c in bng cch ng v ngt cc mch cun dy ca contactor, khi ng t mc
mch ng lc ca ng c.
37
Hnh 2.30 Mt s nt nhn trn th trng

Thng s la chn
-
Dng in i qua cc cp tip im
ng knh nt nhn
Mu sc nt nhn
2.3.11.2 Khi hin th
Hnh 2.31 LCD 16x2

LCD l khi hin th thng dng thng tin cho ngi s dng bit l xe ang
ch hot ng no v nng lng bnh ra sao kp thi quay v vi tr sc t
ng c thit k trn mt sn.
38
2.3.12 Khi X L Trung Tm

Gii thiu chung v AVR
Hnh 2.32 Vi iu khin AVR

AVR l mt h vi iu khin do hng Atmel (Hoa K) sn xut. AVR l chip
vi iu khin 8 bits vi cu trc tp lnh n gin ha. H vi iu khin AVR l h
vi iu khin c cu trc hin i.
So vi cc h vi iu khin 8bits khc, AVR c nhiu tnh nng hn hn, y
v chc nng v rt d s dng:
Gn nh chng ta khng cn mc thm bt k linh kin no khi s dng
AVR, thm ch khng cn to ngun xung clock cho chip (thng l cc khi dao
ng nh thch anh).
Thit b lp trnh (mch np) cho AVR rt d lm, c loi ch s dng vi
in tr l c th lm c hoc AVR c th h tr lp trnh on-chip bng
Bootloader khng cn mch np
Bn cnh lp trnh ngn ng my hay cn gi l ASM, cu trc AVR cn
c thit k tng thch vi ngn ng C.
Ngun ti nguyn v ti liu, source code, cc ng dng chng ta c th tm
kim rt nhiu trn internet.
Mt ngi c th khng cn bit v cu trc AVR vn c th lp trnh cho
AVR bng cc phn mm nh CodeVisionAVR (C), AVRStudio
39
Tc x l ca AVR nhanh hn cc h vi iu khin khc t 4 n 12 ln,

v vy m AVR c xem l dng vi iu khin kh mnh sau vi iu khin ARM.
Hu ht cc AVR c cc tnh nng sau:
C th s dng xung clock ln n 20MHz, hoc s dng xung clock
ni ln n 8MHz (sai s 3%).
B nh chng trnh Flash c dung lng ln v c th lp trnh li
rt nhiu ln, c SRAM (Ram tnh) ln v c bit c b nh lu tr lp trnh

c EEPROM.
Nhiu ng vo ra (I/O PORT).
C timer/counter 8bits, 16 bits v tch hp vi PWM.
Cc b chuyn i Analog Digital phn gii 10 bits, nhiu knh.
C chc nng Analog Comparator.
Giao din ni tip USART (tng thch chun ni tip RS 232).
Giao din ni tip Tw WireSerial (tng thch chun I2C) Mater v
Slaver.
Giao din ni tip Serial Peripheral Interface (SPI).
Tm Hiu V Atmega64
Hnh 2.33 S chn Atmega64
40
Atmega 64 l b vi x l RISC vi kin trc Harvard thuc h AVR c

sn xut bi cng ty ATMEL vi nhng tnh nng mnh m, c 130 lnh x l hu
ht trong mt chu k xung nhp.
Nhng c im v tnh nng ca Atmega 64

Atmega64 c 64 chn trong c 53 chn I/O, in p hot ng: 2,7V 5,5V vi dng ATmega64L, 4,5V - 5,5V vi dng ATmega64.
32x8 thanh ghi thng dng v thanh ghi iu khin.
C th hot ng ln ti 16 triu lnh/1giy (16 MIPS) - nu s dng thch
anh 16MHz.
64KBytes b nh Flash cho chng trnh.
2KBytes EEPROM.
4KBytes SRAM ni.
C th m rng ln ti 64KBytes b nh ngoi.
Ghi/Xa: 10.000 Flash / 100.000 EEPROM.
Giao tip SPI cho vic lp trinh trn chp - In-Sytem Programming. (Mch
np AVR910 - s dng SPI np chng trnh cho chp)
2 b Timer/Counter 8-bit ch Separate Prescalers, Compare Modes.
2 b Timer/Counter 16-bits ch Separate Prescalers, Compare Modes
and Capture Mode.
2 knh iu xung PWM 8-bits.
6 knh iu xung PWM c th lp trnh c t 1 ti 16 bits.
8 knh ADC 10 bits.
2 b giao tip UART.
Master/Slaver thng qua giao tip SPI.
Lp trnh Watchdog Timer vi b giao ng trn chp.
Dao ng thch anh ngoi: 0-8MHz vi dng ATmega64L, 0-16MHz vi
dng ATmega64.
B x l trung tm l phn iu khin chnh, l b no ca xe AGV n s ly tn
hiu t cc cm bin bn ngoi x l v a ra cc phng n iu khin cho xe
41
quo tri, quo phi, chy hoc dng. Board Master s dng chp x l Atmega64,
l vi iu khin h AVR.
Hnh 2.34 Mch Mater Atmega64
CHNG 3
KT LUN
3.1 H Thng Xe AGV
Hin ti xe hon thnh v i vo chy th nghim, thay th cho vic vn chuyn
bng sc ngi. Tng nng sut t 2 n 3 ln so vi trc y. Khng ch th, vic
ng dng xe AUTO AGV vo sn xut cn gip cng ty tit kim c khon chi
ph ng k so vi khi s dng quy trnh sn sut c.
m bo an ton vi mi trng, d vn hnh s dng cng nh bo dng.
Thay th c 1 n 2 nhn cng trong 1 ca sn xut.
My hot ng trong vng 6 thng s hon li vn.
3.2 nh Gi V Nhn Xt
3.2.1 u im
Xe AGV kt ni vi xe last ch hng mt cch linh hot v kim sot c
dung lng ca bnh. Xe AGV s thay th c cng nhn trong vn chuyn
last ln xung trong NOS 1 mt cch lin tc v nhanh chng t nng
sut c th tng ln t 2 n 3 ln.
42
3.2.2 Nhc im
Do s dng ngun acquy nn vic hot ng lin tc trong thi gian i hi
phi c bn cao v thi gian lu tr nng lng lu. Nn ta phi thit k
ni xe sc t ng khi ht in v vy s lm gin on vic vn chuyn.
3.3 Kt Qu Qu Trnh Th Nghim

Xe AGV sau hon thnh xong p ng nhng yu cu t ra tc lm
vic th gn bng 0.5m/s, xe chy th linh hot v dng ng ni quy nh ngoi ra
n c th kt ni t ng c vi xe ch last.
3.4 nh Gi Hiu Qu Kinh T

Xe sau khi c giao em li li nhun cho cng ty rt nhiu ln gp
phn a cng ty ngy cng pht trin v i ln.
Hng Pht Trin
3.5
Thit k kt cu c kh, chn loi ng c v ngun thch hp gip AGV c

kh nng ti trng cao hn, c th n vi tn.
Thit k trm np c quy t ng cho AGV ng thi vi h thng nh v GPS cc
b trong nh xng hoc nh my kim sot chnh xc hnh trnh, trng thi ca
AGV.
Hon thin giao din iu khin trn my tnh, pht trin nhng tnh nng
chy t ng theo l trnh t trc, hoc theo thi gian t trc.
Nng cao hiu sut s dng (tng thi gian vn hnh, tit kim nng lng.. ), kim
sot chnh xc v tr cng nh tc hot ng ca xe.
Xy dng xe AGV tng thch vi chu trnh t ng trong h thng nh
xng, cp pht phi t ng p ng yu cu trong cng nghip, kt hp
cng nhng h thng t ng khc nh robot scada
Chun ha cc modul pht trin, ch to AGV theo m hnh cng nghip,
sn xut trn quy m ln.
Nghin cu nhng cng ngh mi nht c p dng vo AGV nh LGV.
43
3.6 Giy Xc Nhn Chuyn Giao Cng Ngh
Hnh 3.1 Giy chuyn giao cng ngh
44
DANH MC TI LIU THAM KHO

-----Ting Vit :
[1] Phm ng Phc, Robot cng nghip , Nh xut bn xy dng H Ni,
2007.
[2] Trn Hu Qu (ch bin), V k thut c kh (tp 1,tp 2) , Nxb Gio dc,
2007.
[3] Nguyn Ngc Bo, H Vit Bnh, C s cng ngh ch to my ,Trng i
hc S phm k thut Thnh ph H Ch Minh, 2007
Ting Anh :
[1] Datasheet ATMEGA-8 ca ATMEL.
[2] Datasheet ATMEGA-64 ca ATMEL.
[3] Datasheet SRF05
[4] Datasheet IR2184
[5] Craig John J(1986). In troduction to ROBOTICs- Mechanics & Control.
Addison-Wesley Publishing Company .
Tham kho trang Web
[1] www.dientuvietnam.net
[2] www.hocavr.com
PHC LC NH KM
#include <mega8.h>
#include <delay.h>
#define left OCR1A
#define right OCR1B
#define sigf PORTD.5
#define sigr PORTD.6
#define dir PIND.3
unsigned char kp=10,ki=20,kd=20,giam=50;
45
signed int enc=0,err1=0,err2=0,pid=0;

signed char ref=0;
// External Interrupt 0 service routine
#define RXB8 1
#define TXB8 0
#define UPE 2
#define OVR 3
#define FE 4
#define UDRE 5
#define RXC 7
#define FRAMING_ERROR (1<<FE)
#define PARITY_ERROR (1<<UPE)
#define DATA_OVERRUN (1<<OVR)
#define DATA_REGISTER_EMPTY (1<<UDRE)
#define RX_COMPLETE (1<<RXC)
// USART Receiver buffer
#define RX_BUFFER_SIZE 8
char rx_buffer[RX_BUFFER_SIZE];
#if RX_BUFFER_SIZE<256
unsigned char rx_wr_index,rx_rd_index,rx_counter;
#else
unsigned int rx_wr_index,rx_rd_index,rx_counter;
#endif
// This flag is set on USART Receiver buffer overflow
bit rx_buffer_overflow;
// USART Receiver interrupt service routine
interrupt [USART_RXC] void usart_rx_isr(void)
{
char status,data;
46
status=UCSRA;
data=UDR;
if ((status & (FRAMING_ERROR | PARITY_ERROR | DATA_OVERRUN))==0)
{
rx_buffer[rx_wr_index]=data;
if (++rx_wr_index == RX_BUFFER_SIZE) rx_wr_index=0;
if (++rx_counter == RX_BUFFER_SIZE)
{
rx_counter=0;
rx_buffer_overflow=1;
};
};
if(!PIND.1)ref=data;
}
#ifndef _DEBUG_TERMINAL_IO_
// Get a character from the USART Receiver buffer
#define _ALTERNATE_GETCHAR_
#pragma used+
char getchar(void)
{
char data;
while (rx_counter==0);
data=rx_buffer[rx_rd_index];
if (++rx_rd_index == RX_BUFFER_SIZE) rx_rd_index=0;
#asm("cli")
--rx_counter;
#asm("sei")
return data;
}
47
#pragma used#endif
// Standard Input/Output functions
#include <stdio.h>
interrupt [EXT_INT0] void ext_int0_isr(void)
{
// Place your code here
if(!dir)enc++;
else enc--;
sigr=!sigr;
}
interrupt [TIM0_OVF] void timer0_ovf_isr(void)
{
// Place your code here
TCNT0=0x00;
if(ref!=-128)
{
err1=ref-enc;
enc=0;
}
else
{
err1=(0-enc)/giam;
}
}
void main(void)
{
PORTB=0x00;
DDRB=0xFF;
48
PORTC=0x00;
DDRC=0x00;
PORTD=0xFF;
DDRD=0xE0;
TCCR0=0x03;
TCNT0=0x00;
TCCR1A=0x00;
TCCR1B=0x09;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;
ASSR=0x00;
TCCR2=0x00;
TCNT2=0x00;
OCR2=0x00;
GICR|=0x40;
MCUCR=0x02;
GIFR=0x40;
TIMSK=0x01;
UCSRA=0x02;
UCSRB=0x90;
UCSRC=0xB6;
UBRRH=0x00;
UBRRL=0x19;
49
ACSR=0x80;
SFIOR=0x00;
#asm("sei")
while (1)
{
while (1)
{
pid=kp*err1 + kd*(err1-err2)+ ki*(err2+err1);
err2=err1;
if((err1-err2)<0)giam= 10*(0-(err1-err2));
else if((err1-err2)==0)giam=5;
else giam=10*(err1-err2);
if(pid>32000)pid=32000;
else if(pid<-32000)pid=-32000;
if(ref==-128)
{
kp=1;ki=0;kd=err1;
if(pid<0)
{
TCCR1A=0x23;//right
if(pid<-500)right=500;
else right=0-pid+20;
sigf=1;
}
else if(pid>0)
{
TCCR1A=0x83;//left
if(pid>500)left=500;
else left=pid+20;
50
sigf=0;
}
else TCCR1A=0x00;
}
else if(ref>0)
{
kp=10;ki=20;kd=20;
if(pid>=0)
{
TCCR1A=0x83;//left
if(pid>423)left=1023;
else left=pid+600;
sigf=0;
}
else
{
if(pid<-500)
{
TCCR1A=0x23;//right
right=100;
}
else TCCR1A=0x00;
sigf=1;
}
}
else if(ref<0)
{
kp=10;ki=20;kd=20;
if(pid<=0)
51
{
TCCR1A=0x23;//right
if(pid<-423)right=1023;
else right=0-pid+600;
sigf=1;
}
else
{
if(pid>500)
{
TCCR1A=0x83;//left
left=100;
}
else TCCR1A=0x00;
sigf=0;
}
}
else
{
TCCR1A=0x00;
}
}
}
}

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1

- V th trong thi gian tip cn

h v to iu kin cho nhm nghin

- ti gm nhiu mn hc chuyn ngnh lin quan v vy qua ti gip em

Ni Dung V Phm Vi Nghin Cu

Ngha Thc Tin

Phng Php Nghin Cu

Hc hi nhng thy c nhiu kinh nghim trong lnh vc robocon c

Tnh ton v chy th nghim rt ra phng n ti u nht.

Thit lp m hnh xe, chy th nghim bn ngoi nhm tm ra nhng

Thi Gian Biu Thc Hin Ti

K hoch sn xut mt ngy

S lng Last vn chuyn m i chuyn

Khong cch vn chuyn i v v

S chuyn xe phi i hng ngy

S met phi i hng ngy

Thi gian yu cu cho AGV

Thi gian lm vic m i ngy

Kch thc AGV(di x rng x cao)

10 Trng lng xe ch last

11 Trng lng ca tng s last v xe ch

Hnh 1.1 Bng s liu thu thp qua kho st thc t

Hnh 1.2 ng i thc t v mi trng lm vic

Cung cp sp xp linh kin ti khu vc kho v sn xut.

Chuyn hng gia cc trm sn xut.

Phn phi, cung ng sn phm, c bit trong bn bun.

Cung cp, sp xp trong cc lnh vc c bit nh bnh vin, siu th, vn

Qua tt c cc ng dng trn, AGV th hin rt r hiu qu ca mnh nh: Gip

Hnh 1.3 Xe agv ang vn chyn hng

1.3 Lch S Pht Trin Ca AGV

vai tr quan trng trong thit k cc nh my v nh kho, a hng ha n

1.4 Phn Loi AGV

Hnh 1.4 AGV ko xe hng

Xe ch (Unit Load Vehicle)

Hnh 1.5 AGV ch hng

Hnh 1.6 M hnh xe nng

Loi chy theo ng dn (Fixed path navigation)

1.5 Tnh Hnh Nghin Cu Trong V Ngoi Nc

1.5.2 ngoi nc:

1.6 Mc Tiu Hng n Ca Ti

Hnh 2.1 Cu to AGV

2.2 Quy Trnh Hot ng:

Hnh 2.2 H thng line v qui trnh hot ng ca AGV

2.3 La Chn V Thi Cng C Kh

Hnh 2.3 Khung xe thit k

Hnh 2.4 Khung xe thc t

2.3.2 Phn Bnh Xe

Hnh 2.5 Bnh xe ch ng thit k

Hnh 2.6 Bnh xe ch ng trong thc t

Bnh xe v hng: xe c th b li v thc hin d line mt cch linh

Hnh 2.7 Bnh xe v hng thit k v thc t

Vi vn tc 1,5 (m/s) = 5,4 (km/h)

Cng sut cn thit ca ng c khi di chuyn c ti trong ch xc lp

Cng sut ng c c la chn da trn cc thng s ln nht do yu cu

Hnh 2.8 ng c servo

ng c DC servo 55ZYTD51 l ng c servo nam chm vnh cu c chi

Vi ti trng khng ln v vn hnh vi vn tc thp nn ta s dng b

Hnh 2.9 Buli chia gim tc thit k

Hnh 2.10 Thit k b gim tc 2 cp

Hnh 2.11 Bnh rng thc t

Hnh 2.12 B truyn gim tc thc t lp rp

Hnh 2.13 Bc n s dng cho xe AGV

2.3.5 La Chn V Thi Cng Mch in