Research On AGV Control System Based On Internet Of Things

As an important tool of intelligent transportation,AGV needs to be combined with industrial robots to realize independent cargo docking and remote control.In this paper,combined with the project requirements of the pharmaceutical factory,the AGV control system has done research on multi device heterogeneous communication,path design,terminal task scheduling mechanism and network construction.The main research contents are as follows:First,the AGV control system is analyzed,and the control system is divided into two parts:local control and remote control.Then,the whole structure of the system is designed and built from two aspects: hardware and software.The control terminal,roller controller and network module are selected in hardware,and the equipment connection and network construction are completed.Using the MVC model for reference,a hierarchical software architecture is designed based on configuration software.The software is divided into UI layer,business layer and communication layer,which reduces the complexity of software research and development,and plans the software organization structure to realize functional decoupling.Secondly,the AGV local control system is designed.Based on the analysis of the local control function requirements of the AGV,the functions of terminal control module,parameter setting module,path and route design module are developed to solve the problems of poor human-computer interaction and difficult path design.The graphical path editing method is proposed to improve the efficiency of path design.After that,according to the demand of AGV and ground roller,the control program and man-machine interface are developed to realize the function of automatic loading and unloading at fixed point.Thirdly,the remote control system is designed in detail.The parallel communication mechanism of control terminal and scheduling system,PLC and AGV is designed,and the main-slave mode communication is adopted in the center of control terminal,in which the terminal and scheduling system can switch the main-slave relationship according to the function.According to the requirement,the communication protocol is formulated,the communication processing and real-time forwarding thread are designed,the communication between devices is realized,and the problem of multi-task parallel real-time communication is effectively solved.then,in order to improve the terminal performance,the task scheduling technology is studied,combined with the advantages of distributed and centralized control,and then according to the OSAL model,the partitioned hierarchical model and the concurrent task coordination model are designed to improve the task execution efficiency and reduce the terminal communication pressure.Finally,the control system is applied to the AGV,and the engineering verification is carried out according to the function module.During the experiment to verify the local control function,the AGV can drive along the planned line according to the control instruction,and cooperate accurately with the ground roller to complete the cargo docking when arriving at the station,which indicates that the communication of this process is reliable and the control function is effective.Can meet engineering needs.When verifying the system setting function,the control terminal is used to design and save the path online,and the transmission function of node information is tested.The results show that the transmission rate is fast and the transmission function is effective,stable and reliable.During the remote control experiment,the network communication function is turned on,the task information is sent to the control terminal,the AGV and roller table can complete the task according to the requirements,and the task execution is accurate and reliable,which indicates that the communication quality between the control terminal and the dispatching system is high,and the remote control task can be executed accurately and timely.