| A(iV Master system is an auto--contro1 system dimed to di spatch thc ciIrr l crsacc()rding to the conveying task, to fulfill the task efficiently along ther()ut e under inte1lectual ized traffic management, and schedule the c%lrri ersfor auto--charging. To cover the shortages as 1ow flexibi l ity, long imp l eInc'n[tcrfn, di fficult commercial ization, an AGV Master contro1 system thdt ckln beappl ied in varies condit ion is establ ished adopt ing ()hjccl --()ri en[ L.(ltechnoIogy after studying the software frameworks and AGV systems ()1' ()t hurcomPany. Main achievements in this thesi s are as fo1l ows f(l ) A tota1 solut ion framework is put forward based on s()l'twtlre p1 i1t f'()rmprl nc ipl e. Thi s frame, which involves perf()rm platform and develop P l ilt I'()rm,Supr)orts system 1ayout, s imu1ate, control and diagnose. A 1'unct i()na l ll1()du Iis established, in which the perform platform includes AGV milster c()nt r()lsystem, mdster moni tor system, carrier control system and s imu 1 at i ng systt'l1l.*rhe deve lopping p1atform inc1udes system layout uti l ity, mdster nr()griln1del'ini t ion uti l ity and vehic1e program defini t ion uti l ity.(2) The AGV perform platform structure 1s estab1 ished on the bi1sls ()I'software layering technology, model--view separate technology, messdge bustechnol ogy and di str ibuted techno l ogy. The system i s sepdrdted i nto represunt1ilyer, fi eld ohject layer, service layer and data st()rage ld}cr. l t isc()nveni cnt to deve1op and organi ze. An a] ternat ion mode betwoen l nt ert'iI()ttIilyer and fie1 d object layer is designed on mode1--v iew separdt e techno1 ()g}',in which re--use of field object is highly improved. A message bus bi1sed onorder--issue model is designed for object alternation in fi eld layer, whi chgi ves the system good expansibi l ity. A distributing model i s desi gnc(l ()nilgc'nt--de's ign mode so the system can be organized in d i fferent c()InpLltc un l [ s.(3 ) The system software is designed in UML model ing 1anguage. 'l'he syst emstLl1 i c model is designed in category structure, and dynamic model is designcdin ()bject a1ternating structure- Thi s thesis also states the subsysl emst ruc ture and pr inc iple of task mandger, cdrrier manager, traffic lnilni:tgt.I-,I () lllilnager, communlcat ion manager, dnd path mandger i n cle1i[ i l s. 'l.heS l llltl l il t l ng tlnd mon i t()ring suhsys tem are tlI so presented.II(4 ) An AGV dispatching technique is put forward based on genet iciiIg()ri thms. A matbemat ic model combi ni ng task manager and carri er mdnklgerl s establ ished to improve the di spatching efficiency. A rckI l ll1()dc lca1 cu ldt ing val idates that genetic algori thm is dn et'fect ive meth()d l'()r A(i\/d i s pkl t c h i ng.Combinat ing the development practice of A(;V in my comDany, resuitrchresults show the design and technique for AGV master system in this thesi si s correct and dependab1e. It not only have great practi cal val ue in A(;V syst omdes ign, but a1so have vast appl icat ion perspect ive in designi ng the di spilt c,hm()n itor ing system of intel1 igence carry equiprnent.
|
PDF Full Text Request