Research Of Robot Control System Based On Logistics Terminal

As a kind of wheeled mobile robot used in intelligent storage and logistics system, automated Guided Vehicle(AGV) is mainly used for the automatic transportation of materials, which is a highly automatic product which integrates mechanical, electronic, wireless communication and other technologies. Robot technology and related industries have been included in the development planning of breakthroughs in key areas, which is vigorously promoted by country,which is pointed out in the “China manufacturing 2025” released by the State Council. However, the current domestic technology of AGV is not mature, especially for accurate navigation and positioning of AGV, China is still not grasp its key technology, there is a clear gap with international level. In this background, it is important to study the AGV control system with high accuracy, high stability and high efficiency. Based on the above present situation, this paper studies the AGV control system based on logistics terminal.(1) In this paper, the control system of AGV is analyzed, and the function of AGV navigation and positioning module, motion servo control module, and cargo fork shift load control module are analyzed. Based on the development of AGV control system in China and abroad, the laser guided AGV control system is focus studied.(2) This paper first studies the technical performance, technical parameters and main functions of AGV system. The paper summarizes the guiding principle,the principle of control system and the control mechanism of AGV. Complete the hardware and software design plan of AGV control system.(3) The hardware of the AGV control system is designed. The working principle of the drive controller and the steering controller is introduced. The principle and hardware configuration of the electric control system and the hardware configuration of the control system are completed, according to the functional requirements, the technical parameters and the hardware design of the AGV control system. With industrial computer as the core, through the CAN bus technology to realize communication between AGV and motion servo control module, through WLAN technology to realize the communication between AGV and the control room.(4) In this paper, as the functional requirements and technical parameters of the AGV system for reference, on the basis of the hardware design, the software design of the AGV control system is accomplished, and the AGV hand / automatic control, communication and fault alarm are realized. According to the functional requirements of wheeled mobile robot AGV, the Visual Studio 2010 software is used to design and implement the industrial control computer interface. The interface including the state display, manual control, reloading map, task setting, and laser anti-collision are completed.(5) The laser guided positioning technology and the tracking guidance strategy based on single wheel motion model is studied, the new target reference point selection method is put forward to improve the accuracy of path tracking, and finally the automatic navigation of AGV is achieved.(6) Finally, the debugging and performance analysis of the wheeled mobile robot AGV are carried out, and the error of the path is not more than 10 mm, the angle error is kept at 0.3°. The results show that the control system of the wheeled mobile robot meets the design requirements.The robot control system adopts advanced laser guiding technology to realize high precision positioning, innovation to introduce can bus to realize the communication between main controller and the single wheel driven, and puts forward a new path tracing method, enhance AGV running accuracy. The application of the control system AGV has a good economy, with the continuous development of China’s logistics industry, its application will be more extensive.