DEVELOPMENT OF CONTROL SYSTEM OF AUTOMATED GUIDED VEHICLE ABU HARFIZ BIN HASSAN

Transcription

1 DEVELOPMENT OF CONTROL SYSTEM OF AUTOMATED GUIDED VEHICLE ABU HARFIZ BIN HASSAN Thesis submitted in fulfilment of the requirements for the award of the degree of Bachelor of Mechanical Engineering with Automotive Engineering Faculty of Mechanical Engineering UNIVERSITI MALAYSIA PAHANG NOVEMBER 2009

2 ii SUPERVISOR S DECLARATION We hereby declare that we have checked this project report and in our opinion this project is satisfactory in terms of scope and quality for the award of the degree of Bachelor of Mechanical Engineering with Automotive. Signature: Name of Supervisor: Position: Date:

3 iii STUDENT S DECLARATION I hereby declare that the work in this report is my own except for quotations and summaries which have been duly acknowledged. The report has not been accepted for any degree and is not concurrently submitted for award of other degree. Signature: Name: ID Number: Date:

4 viii TABLE OF CONTENTS SUPERVISOR S DECLARATION STUDENT S DECLARATION DEDICATION ACKNOWLEDGEMENTS ABSTRACT ABSTRAK TABLE OF CONTENTS LIST OF TABLES LIST OF FIGURES LIST OF abbreviations Page ii iii iv v vi vii viii x xi xiii CHAPTER 1 INTRODUCTION 1.1 Background of the study Problem Statement Project Objectives Project Scopes 2 CHAPTER 2 LITERATURE REVIEW 2.1 Introduction History Instructional Robotics TeRK (Telepresence Robot Kit) LEGO Mindstorm Hardware and Software Microcontroller Stepper Motor Sensor Programming 2.5 Project Information Summary of literature review CHAPTER 3 METHODOLOGY

5 ix 3.1 Introduction Flow chart of methodology Literature review Design process Hardware and software preparation Fabrication System testing and refining 23 CHAPTER 4 RESULT & DISCUSSION 4.1 Introduction Design the AGV Control System of AGV Sketching and Viewing of Future AGV Features of AGV Hardware and Software Assembling EBox-877 Kit and Microcontroller Servo Motor Motor driver L294D Array of infrared sensors Chassis of AGV Code Downloader PIC C Compiler Relevant electronic components 4.4 Fabrication Soldering electronic components Assemble Programming the microcontroller 4.5 Tuning Relevant voltage Problem and Solution CHAPTER 5 CONCLUSION 5.1 Summary Conclusion Recommendations 52 REFERENCES 53 APPENDICES A GANTT S CHART 55

6 x LIST OF TABLE Table No. Title Page 4.1 Specification of servo motor Electronic components Voltage when detect line Voltage when detect no line 49

7 xi LIST OF FIGURES Figure No. Title Page 2.1 Qwerk Microprocessor TeRK Robot LEGO Mindstorm NXT Robotics Methodology expressed in flow chart Flow chart of hardware and software preparation Flow chart of programming Flow chart of fabrication Flow chart system testing and refining Control System of AGV Top view of AGV Side view of AGV Array of IR sensors Both motors are rotating when left and right motor detect no line at the same time Movement of AGV in case right sensor detects the line Movement of AGV in case left sensor detects the line EBox-877 Kit and Microcontroller Servo motor L294D The sensor should be placed in such a way that maximum distance of two sensors is equal to the width of the line Infrared sensor circuit Chassis of the AGV 34

8 xii 4.14 Chassis of the AGV Code downloader window PIC C Compiler window Cut the board Area of A for array of IR sensors Array of sensors Bottom front of AGV Motor and sensor part The finished circuit Modifying the chassis of AGV Mechanical and control system Place the circuit on chassis After assemble Program code in c language Connect the cable Open the hex file Download successful AGV on white line 48

9 xiii LIST OF ABBREVIATIONS AGV IR Automated Guided Vehicle Infrared Sensor