Research On Intelligent Warehouse AGV Control And Scheduling System

The rapid spread of the Internet and its applications in China has increased the demand for online shopping,which has led to a surge in express delivery and means that logistics capacity is becoming saturated.Each link of traditional logistics is basically completed by manual,repetitive work,machinery and labor intensity,so ‘smart logistics’ will be the future development trend of logistics industry.Nowadays,many enterprises are actively introducing advanced intelligent mobile robots into factories,hoping to improve logistics efficiency.However,existing smart mobile robots are expensive and not compatible with practical logistics applications.They usually consume a lot of computing resources to ensure autonomous decision-making ability,and use advanced navigation and positioning methods,such as laser SLAM,visual SLAM,etc.In static logistics warehouses with known environment,these features will increase the uncertainty of mobile robot operation.In order to realize the autonomy and controllability of the key core technologies in this field,this paper designs and implements AGV on-board control system and dispatching management system software for intelligent warehousing.The main research contents are as follows:(1)Design and implementation of vehicle embedded control system.Intelligent storage AGV adopts the composite navigation mode of ‘visual QR code + inertial navigation system’,builds the hardware platform of the vehicle control system based on the ARM architecture microcontroller,develops the supporting power architecture,and designs the hardware circuit board.The software of the vehicle real-time control system is based on Free RTOS system,which uses several tasks to compose the driving and control process of the bottom of the vehicle.The motion control of servo motor is realized by CANOpen protocol.In the aspect of upper and lower computer communication,the network architecture of client-server mode is set up,and the detailed data transmission specification is formulated.(2)Research on multi-AGV scheduling management system.The multi-AGV scheduling problem focuses on task allocation,path planning and conflict prevention.A multi-objective task allocation model is constructed,and the steps of population initialization,fitness calculation and genetic manipulation are improved so that the genetic algorithm can output a better task allocation scheme.An improved ant colony algorithm based on bidirectional search mechanism is proposed to solve the problems of slow convergence and easy to fall into local optimality in AGV path planning.A conflict prevention strategy based on time window is proposed to deal with the problem of cross direction conflict and intersection conflict during multi-AGV operation.(3)Scheduling management system software design and experimental testing.After confirming the software development framework and corresponding technical architecture,various functional modules of the software are realized,such as user management,vehicle management,task management and corresponding human-computer interaction interface,etc.A mobile terminal control system suitable for Android devices is developed,and a simulation experiment platform supporting multi-AGV sorting system is designed.The software verification process includes the interactive function test of the application interface and the control function test of AGV entity object.