Reserarch On AGV Scheduling Management System Based On MQTT

Automated Guided Vehicle(AGV)is a typical representative of flexible intelligent logistics equipment.It is highly integrated with a number of advanced technologies and has the characteristics of automatic operation,high flexibility,high efficiency,high reliability,and parallel operation.All have been able to meet the needs of various modern logistics services in small batches and various types.Therefore,more and more manufacturing companies have begun to adopt mature AGV solutions for material distribution and loading and unloading in the production workshops,with multiple AGVs as the core.The constructed AGVs(Automated Guided Vehicles system)are gradually developing into the normal state of logistics automation and flexible distribution in manufacturing enterprises’ workshops.The unmanned application of AGVs can greatly reduce labor costs,and has obvious advantages in reducing human losses and improving logistics efficiency.It has played a huge role in realizing logistics informatization and improving enterprise economic benefits.Among them,the key issue is to ensure that multiple AGVs can run in the actual factory without conflict.This article will study this issue to make the multi-AGV system have faster task processing speed,higher transportation efficiency and ensure that multiple AGVs There is no collision and no deadlock in operation.First of all,the functional requirements of the AGV dispatching system are analyzed,and the overall system design plan is proposed.Based on the design principles of functional modularization and interface standardization,the scheme design of each functional module of the dispatching system is carried out,and the selection of software and hardware is carried out.In terms of software,AGV scheduling software is developed based on Open TCS,which is used with Redis database to obtain persistent data.In terms of communication,a scheme of introducing the MQTT protocol into the application layer of the AGV scheduling network communication system is proposed to solve the common problems of high concurrency and data flow congestion in multiple AGV systems.Finally,based on the publish and subscribe mechanism of the MQTT protocol,the communication logic of each client is established,and the scheme design of the AGV scheduling management system is completed.Then,based on the developed AGV scheduling management system,the AGV path planning algorithm is studied.First,it analyzed the point arrangement of the structured road in the unmanned factory environment,and constructed a topology diagram for AGV motion control;compared a variety of AGV static path planning algorithms,realized a single AGV path search based on the Floyd algorithm,and passed Numerical example simulation verifies the effectiveness of the algorithm.Based on the research of the single AGV offline path planning,the multi-AGV collision time window model is introduced to solve the collision and deadlock problems in the multi-AGV path planning.Finally,the effectiveness of the method is demonstrated through an example analysis.In order to further improve the working efficiency of the AGV system,thereby reducing the size of the AGV fleet and reducing the occurrence of collision and deadlock,this paper studies the multi-AGV task allocation algorithm.The multi-AGV task scheduling mode in the outdoor environment of the factory is analyzed,the constraint conditions,objective function and optimization model of task allocation are established,and the scheduling strategy based on dynamic priority is proposed.In addition,based on the task allocation problem of multi-load AGV,combined with the actual engineering application background,a multi-load task allocation strategy is proposed,and the technical implementation method of the task allocation strategy in the development of AGV scheduling management system is studied.Finally,on the basis of theoretical research,this article combines the needs of unmanned logistics handling in the new and old kinetic energy conversion project of a pharmaceutical company.Based on the outdoor heavy truck AGV platform,the integration of multiple AGV dispatching systems is carried out,and the engineering application verification of the AGV dispatching management system is carried out.The factory built a dual-redundant wireless network communication environment,and conducted a single AGV continuous operation test and a multi-AGV dynamic joint test on the developed AGV scheduling system.The results of multiple tests are good,no collision and deadlock phenomenon occurred,and the test results meet the AGV scheduling system The functional requirements of this article prove that the AGV scheduling strategy proposed in this article can be effectively applied in the actual factory environment.