Photoelectric guided AGV based on MC9S12XS128MAL

LIU Bo, WANG Yuchen, LIANG Weijian, YE Bo, ZHOU Jie

(School of Mechanical Engineering, Chongqing University, Chongqing 400030, China)

Abstract: Aiming at the drawbacks that automatic guided vehicles (AGV) are bulky and expensive, a system based on Freescale micro processor MC9S12XS128MAL was used to design the economic photoelectric guided AGV system with the sophisticated intelligent car racing of the Freescale cup and the cheep electric wheelchairs. Experimental study on the ultrosonic sensors was carried out on a test rig. The obastacle distance in emergency was measured experimentally. The LCD module was introduced to display the real time velocity with using photoelectric encoders. Two brushless DC motors were used to drive the wheels, the deviation accumulated algorithm was proposed, The function was realized that the brushless DC motors successfully drive the AGV forward and to turn through differential control. At last, the control method was validated in the experiment. The results indicate that the AGV system is of quick dynamic response and stable operation, and the automatic control of the AGV is excellently realized.

Key words: automatic guided vehicle(AGV); MC9S12XS128MAL chip; photoelectric guided; ultrasonic obstacle avoidance