5G Communication Architecture Construction Of AGV And SLAM Technology Application Of Multi-sensor Fusion

With the continuous progress of computer technology and communication technology and the continuous development of sensor equipment,the traditional manufacturing in the industrial field is continuously transformed into intelligent manufacturing.Among them,the development of material handling system and communication system in the industrial field is an important part of the intelligent transformation.The traditional material handling system generally uses AGV as the transportation tool,but the traditional AGV has many problems,such as the large amount of state data monitoring data,can not be real-time environment building map and poor sharing.To address these problems,this paper designs a high-performance Io T communication architecture based on 5G data transmission through Ali cloud platform,ROS and Kafka,and realizes the data transmission and display function of AGV status and each sensor.And based on multi-sensor fusion,the experimental platform is completed,and the environment building and optimization based on 2D SLAM and 3D SLAM algorithms are realized.The main research contents of the thesis are as follows.(1)Design and implementation of the overall high-speed communication architecture of the workshop system based on 5G data transmission and multiple data communication.A three-layer communication architecture is designed,including device layer,transmission layer and reception layer,and the communication architecture of each layer is built by using ROS-based communication mechanism,Kafka topic communication mechanism,MQTT and AMQP communication mechanism of Ali cloud platform and TCP/IP-based socket communication mechanism.Through the development of the back-end and front-end of the server,the data reception,parsing and display functions are completed,and the high-speed data transmission and remote monitoring functions are realized;the data transmission functions,data monitoring functions,cloud control functions and communication performance of each part of the communication architecture and the overall are tested.(2)The secondary development of the device and the implementation and optimization of the SLAM algorithm for multi-sensor fusion are completed based on C#,C++ and Python hybrid programming.The development of LIDAR,inertial sensor and camera use and data acquisition program is completed in Ubuntu 16.04 by C++ and Python;the Cartographer algorithm and Lio-mapping algorithm are completed.The construction of 2D SLAM and 3D SLAM environment maps integrating IMU and LIDAR is completed,and the optimization of these two algorithms is completed through the optimization configuration of algorithm parameters to improve the construction effect of environment maps.(3)The AGV system was improved,and the overall deployment,operation and testing of the hardware and software platform was completed.Completed the software development of AGV control and status monitoring under Win10 through C# and AGV coding format parsing.Integrate the hardware and software of the whole system,complete the hardware equipment connection,operation sequence and the deployment and operation of the overall software architecture;test the functionality of the complete system,and the overall system can realize the preset functions and can run stably.