Design And Research Of Forklift AGV Control System Based On Magnetic Navigation

AGV is widely used in modern factories because of high flexibility and automation.Aiming at the problems of single tag action instruction and poor reusability of motion control algorithm in magnetic navigation AGV,the control system of AGV forklift is researched and designed according to the actual needs of enterprises.The specific work content is as follows:(1)Through the analysis and research on the work flow and operation mode of the control system,the overall architecture of AGV forklift control system is designed and determined.The backstage algorithm program is written in C++ language,the human-computer interaction interface is built by configuration software,and SQLServer is taken as the system database platform.The forklift truck-mounted AGV system is designed,and the hardware equipment is configured and selected.The AGV forklift truck system is completed through the electrical connection between the equipment.(2)Based on the analysis of the original process route layout and work station of the workshop,the operation mode and work flow of forklift AGV are established.This paper proposes a general label layout method for production lines under complex path environment.The data of production lines are abstractly summarized into three types of information:lines,stations and labels.The label layout and label coding of stations and lines are designed in turn to complete the construction of driving maps.Design production line related data information table,store production line data in database,reduce the workload required for repeated path planning.(3)Based on the overall structure of the control system and the layout of the designed production line,a motion control algorithm suitable for magnetic navigation AGV forklift truck is proposed,which decomposes the system tasks into the minimum sub-tasks of the out-of-station,line driving and in-station processes,so as to realize the modular design and reusability requirements of the algorithm.The electronic tag is used as position identification,and the action instructions are generated by the motion control algorithm and stored in the vehicle-mounted control system,so that the vehicle can execute different action instructions when passing through the same electronic tag in the process of executing different tasks.(4)Carry out verification and analysis in the laboratory test environment in combination with the actual situation,realize the task scheduling and on-site monitoring functions of AGV forklift control system,respectively carry out the AGV forklift motion control experiment and production line change experiment.The actual vehicle test proves that the production line layout principle and motion control algorithm proposed in this paper realize the function of executing multiple different instructions at one label,have universality for different production line planning and layout,and have been applied in an electric power company’s industrial site,and have achieved the expected design requirements and effects.