Research And Realization Of AGV Control System On-board Based On Modularization

With the coming of Industry 4.0 era and the implementation of “Made in China 2025” strategy,Intelligent manufacturing has become the theme of manufacturing industry.Automated Guided Vehicle(AGV)is an advanced intelligent logistics equipment,it has been developing rapidly in recent years as it contributes to Intelligent manufacturing.For now,AGV has been applied in more and more fields,so market requirement has been increasing greatly.However,most of AGV control system on-board at present is just suitable for AGV applied in some specific field or a certain type of AGV,the versatility and expansibility of which is disappointing,thus AGV will be redesigned when customer demands change,which will cost much time and money.To adapt such dynamic,various and rising market demand,it is needed to develop AGV products rapidly in a short time.The key is to develop control system on-board of AGV rapidly which can satisfy different kinds of customer demands.Modular design is based on standardization principle,product or system designed will be divided into several modules by this design method and general modules will be designed as well,so that different products can be obtained by combining these modules,which saves a lot of time.And therefore,it is a very effective way to achieve rapid development of AGV control system on-board and lower production cost to modularize AGV control system on-board.Considering the feature of AGV control system on-board,some research on module partition principle,module partition method,interface form of modules and so on has been done in this paper.A modularized AGV control system on-board with good versatility and expansibility was designed,which can meet various customer requirements.AGV can be developed rapidly by choosing different modules and combining them.The main research contents are as follows:(1)Proceeding from modular technology,research on module partition principle and method of AGV control system on-board was done.Module partition criterions were set by analyzing the feature of AGV control system on-board,including function criterion,control technology criterion and demand criterion.All these criterions were quantified and Analytic Hierarchy Process(AHP)was introduced to help distribute the weight among these three criterions.Module partition matrix can be established based on module partition criterions,then fuzzy cluster analysis was adopted to realize module partition,finally the result of module partition was evaluated by coupling degree of modules.Therefore,basic method of module partition of AGV control system on-board was obtained.(2)Based on basic method of module partition of AGV control system on-board,this paper studied the process of module partition.The function of AGV control system on-board was determined by analyzing control system demand,which was decomposed accoding to function-behavior-control technology-structure separation model.According to module partition principle,relation matrix of system components was established,whose fuzzy equivalence matrix can be solved to realize cluster analysis,AGV control system on-board was divided into different modules by getting an appropriate cutoff threshold.Referring to IDEF0 modeling approach,the relation between modules was described,and also module combination plan was discussed aiming at satisfying different customer needs.On the basis of communication relationship between modules,communication interface of modules were designed by comparing the performance and characteristics of several communication modes,so that the structure of AGV control system on-board was determined.(3)The hardware of modularized AGV control system on-board was designed,which provide an example of modular design.According to function requirement,AGV control system on-board was divided into five modules and they are top-level control module,navigation and location module,bottom-driven module,man-machine interaction module and battery management module,all these modules are connected by CAN bus except for top-level control module.All modules were controlled by ARM processor,a detailed design of hardware structure and hardware circuit of these modules has been completed.Extension interface was reserved,so it is convenient for customers to use existing modules.(4)Magnetic tape navigation AGV with two independent wheel driving was developed,this paper tested the performance of AGV control system on-board.The results show that system can be built quickly and conveniently,which can work effectively and stably.