| Summary: | 碩士 === 國立宜蘭大學 === 生物機電工程學系碩士班 === 107 === In this study, a hybrid control system is proposed as the main architecture to design and implement an autonomous guided vehicle (AGV) with mechanism of three-axis positioning motion control. This work used a programmable logic controller (PLC) as a control core unit of the AGV, and five laser distance sensors, three ultrasonic sensors, a RGB digital fiberoptic sensor, a smart camera and proximity sensors were outfitted in the AGV to form an combined sensing device to detect the environmental variation. By integrating an analog to digital converter (ADC) and the built-in comparator in a PLC, analog signals from the combined sensing device were respectively digitized and coded into according multi-bit digital input signals to form plural finite states for increasing the resolution of detecting environmental variations. The controller of the AGV uses Boolean algebra algorithm combined with the mixed logical dynamic system (MLDS), which integrated physical laws, logic rules and operating constrains to deduced logical determination when the mechanism of three-axis positioning motion control works, to construct the finite state automaton of the vehicle and control rules of corresponding execution. The function test to this controlled vehicle was implemented in the 21th TDK robot competition, including four procedures on holding a pen, optical character recognition (OCR), written on the whiteboard and placing a pen. Trial results reveal that technical methodology utilized by this research is feasible. This research also provides a case of design and application for integrating an AGV and the mechanisms of three-axis positioning motion control.
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