Development Of Automatic Material Transfer Trolley Dispatching System

With the development of science and technology,industrial automation technology has developed rapidly,and it has become possible to replace some workers with robots to carry out some complicated and heavy work.Among them,AGV(Automated Guided Vehicle)is the application of automatic material transfer trolley in flexible production lines and logistics and warehousing in factories.It can greatly promote the technological upgrading of enterprises,reduce the employment demand of enterprises,solve the problem of labor shortage,at the same time,it can improve the working environment and conditions of workers,greatly improve the production efficiency of enterprises and reduce the production and transportation costs of enterprises.At present,the domestic demand for AGV is gradually increasing.In the use of automated warehousing logistics and flexible production lines,not one AGV can do it.What is needed is a system consisting of multiple AGVs and a back-end scheduling system.Among them,the background scheduling system directly affects the working efficiency of the AGV.A good scheduling system can perform good scheduling and path planning for multiple AGVs,which is of great significance for improving the operational efficiency of the entire AGV system.In view of the problems that AGV needs to solve in the actual production environment,a set of background scheduling system was developed with reference to the design of AGV dispatching system at home and abroad and consulting related literature.The main research contents of the these are as follows:This paper studies the current global path planning algorithm,scheduling theory and scheduling strategy,introduces the overall design of the AGV scheduling system,including the general introduction of the software and hardware of the AGV ontology and the software structure of the AGV scheduling system,and introduces the research and implementation of each functional module.(1)The management function module mainly includes: map management function,site management function,AGV management function and human-computer interaction function.(2)The he scheduling function is mainly to improve the scheduling efficiency and divide the tasks into different priorities.Combined with the real-time running status of each AGV,the scheduling task is modeled by considering various factors,and an efficient scheduling strategy is proposed to realize the task.The best match with AGV to achieve a reasonable distribution.(3)The path planning function is mainly based on grid map.Compared with the advantages and disadvantages of Dijkstra and A* algorithms,an improved A* algorithm is proposed to implement multi-AGV collision-free path planning and routing control strategies.It effectively avoids the routing conflicts generated by multiple AGVs when performing tasks.The AGV's dispatching system communication function and status monitoring function are mainly realized through the network interface based on the WebSocket network communication protocol.Based on Linux+ROS+Tomcat to build a scheduling system,and based on HTML5+CSS+JavaScript to establish an interactive interface,combined with three AGVs with autonomous positioning and mapping functions for the actual test of the scheduling system and the comparison of related algorithms.Finally,the scheduling and control of the multiple AGV car was successfully realized.