Design And Implementation Of General AGV Central Control System Kernel

Robots are the key equipment to implement intelligent manufacturing,and the carrier of artificial intelligence application in industry and manufacturing.As an important branch,automated guided vehicle(AGV)has been widely used in all walks of life and continues to develop rapidly.The central control system is the brain of the AGV fleet,which realizes scheduling,routing,dispatching,charging management,etc.,is the key to the flexibility and intelligence of the AGV system.At present,the domestic AGV central control system is generally difficult to be universal,and needs to customize development according to specific projects,resulting in inefficient development,poor stability,and difficult maintenance,which greatly restricts the application and development of AGV.This thesis is based on the universality of the system and the high efficiency of AGV scheduling.taking software engineering theory as the main line of design,through system architecture design,data structure design,scheduling algorithm design,and communication design,gradually realize the general AGV central control system kernel.The main work is as follows:(1)The business process of AGV system is combed,and the requirements of AGV central control system kernel are analyzed in detail.(2)The modular and loosely coupled design of the system is realized based on the three-tier architecture.The database of system is implemented based on My SQL,and the RESTful API of the system is implemented.(3)A general map model is designed and implemented based on graph theory model.By improving A* algorithm,combining time window model and deadlock detection and recovery,routing and dynamic scheduling of multiple AGV are designed and implemented,and the planning parameters are automatically adjusted according to the map size.The task allocation algorithm is designed based on the 0-1 integer programming model and the Hungarian method,and implement the adaptive matching of the algorithm parameters and the map model.By decoupling the device control and communication protocol,and adopting the general MQTT protocol,the device compatibility is enhanced.(4)Using flow chart,class diagram,sequence diagram,etc.,each module of the system is designed in detail,and implemented based on.NET Core.This thesis has developed a general AGV central control system kernel,which realizes the convenient deployment of the system,safe and efficient scheduling,and intuitive monitoring.Through testing,the function and performance of the system meet the design requirements,and the application has been deployed in the factory production environment.