การพัฒนาระบบรถขนย้ายนำทางอัตโนมัติ

Abstract

This paper presents the development of  an automated guided vehicle system (AGVS) which its model is comprised of an automated guided vehicle (AGV) named “Punnopporn” and a plant floor.  The Punnopporn can be used to move unit loads along the selected shortest route from one station to another station.  There are nine stations located on the floor of AGVS layout.  Punnopporn is equipped with a control panel for the purpose of manual vehicle control and vehicle programming.  As a result, the dispatching of the AGV to a given station can be performed by the on-board control panel.  The input/output devices are keypad and LCD monitor which enable the user to follow the input and output of this AGV.   To perform the control and operation functions required, the AGV control system uses MCS-51 family of micro-controller with CPU-T89C51AC2 and CP-JR51AC2 V1.0 as main board. The vehicle programming was made and developed in C language.  Yellow and red strips taped on the black floor are used to define the vehicle pathways.  Eight infrared optical sensors mounted on the AGV detects the reflected light in the yellow and red strips.  To follow the selected pathway, the control of the direction and velocity of the vehicle is performed through the control of both independent left and right wheel rotations with IC L298 motor controller. Two 12-Vdc motors are used to independently drive this 2-wheel drive AGV.  The AGV is powered by means of an on-board 12-Vdc battery that allows operation for 6 - 10 hours between 4-hour recharging.  Load capacity of  Punnopporn is approximately 2.5 kilograms or less on the truck area of 210 x 300 mm.