Design And Experime Nt Of Automated Guided Vehicle Based On EtherCAT

In the traditional agricultural warehousing logistics transport,the handling of goods rely on artificial driving forklifts,and even hand-push,etc.,the efficiency is relatively low,and in some preservation of toxic substances,low-temperature,air-conditioned and other harsh environments,long-term operation will cause great harm to human health,with a certain risk,but also make labor costs higher,lower efficiency of logistics.In this paper,the independent mobile forklift solution is designed for the agricultural storage environment,and the platform design of the autonomous mobile forklift prototype is carried out.It provides hardware platform support for the development of the independent navigation and Intelligent identification and completes the development and design of a common hardware.Traditional mobile car control system more use of system integration methods,all the functions from the bottom of the hardware structures,different project vary widely,the development environment is more closed,do not have versatility,resulting in a longer development cycle and the difficulty of system development and other issues.In this paper,the idea of industrial automation,using the widely used in the industrial production line EtherCAT bus architecture,the platform equipment mounted on the bus to run,unified standard hardware framework and software development platform,so that all the work in an uniform environment to carry out,save the development of the bottom part of the time,so that researchers put more time into the autonomous navigation,SLAM,binocular vision and other more scientific research work,it provide a common solution for the agricultural warehousing intelligent forklift.This paper designs a mobile experiment platform based on EtherCAT field bus technology.The platform adopts the structure of car structure,the quad-core industrial computer is used as the controller of the mobile platform.The peripheral device is mounted on the EtherCAT bus to communicate with the controller.The shortest cycle time of the bus is 0.1ms,which ensures the real time of system data transmission requirements.The laser locating sensor is used to obtain the robot positioning information,and the laser radar sensor scanning the environmental obstacle information.The introduction of quad-core X86 architecture host as a controller,compared to ordinary single-chip + host computer model,computing capacity has been greatly improved to meet the real-time in the mobile platform of the path planning,image processing and other complex algorithms to deal with the needs of the robot autonomy.Using the PLC language to programmed the bottom of the mobile platform driver,including the platform environment awareness system,the implementation of the platform control system,the higher application calls the underlying hardware resources API management interface.The software system framework of the multi-core controller is designed to improve the real-time performance.The use of C # language development of the Human Machine Interface(HMI),you can achieve the platform running data real-time monitoring,platform trajectory record and the creation of the global map and other functions.Finally,the platform is tested and verified.The platform basically satisfies the simulation of the forklift operation,has high control precision,and has good portability and expansibility.