System Design On Vehicle Communication And Ground Control Of AGV

AGV is the core equipment for scheduling and distributing discrete logistics systems and is widely used in logistics and automation.This project,based on the project requirements,analyzes and adopts advanced laser guidance as the guiding method of AGV and software PLC as the main vehicle controller.For the problem of communication and remote ground monitoring in laser-guided AGV systems,this article has conducted the research as the following aspects.First,complete the overall system design: aiming at the problem of high communication pressure in the system,propose a solution for adding a vehicle-mounted communication system and analyze the software architecture of the AGV system;for the needs of the system's long-distance communication,compared with common wireless communication technologies,the 802.11 g standard was selected to set up the system of WLAN;design the overall work flow of AGV system.Secondly,complete the vehicle communication system design : for the communication requirements of the three communication objects,design the detailed communication protocol,instruction set,and information coding structure respectively;use the multi-threaded and automatic locking technology to achieve multi-objective parallel communication of the system;realize the communication between the vehicle communication system and the laser head and the ground control system based on non-blocking The Socket communication technology;realize the read-write of the PLC internal variables of the vehicle-mounted communication system based on the ADS communication protocol;complete the development of each module of the system in the C++ and QT programming languages.Then,complete the design of some modules of the ground control system: realize the monitoring management function by multi-thread scanning and event notification;design the attribute structure of the vehicle and the order object,analyze the state transition process,and manage the vehicle and the order by establishing various states queue container;system electronic map design modeling based on the extension modeling method,and add the concept of cut-in angle and cut-off angle,improve the smoothness of AGV work and walking;use the Xml technology characteristic,user-defined mark,to realize the functione of lectronic map: Adding,deleting,changing and checking.Finally,combined with other unit modules of AGV developed by the research group,set up an experimental platform,design an experimental program,conduct field tests,and verify the feasibility of the research results of this paper.The experimental results show that normal communication can be performed between each unit of the system and AGV can manage the path and complete the normal operation according to orders and remote monitoring.