Research On Control System Of Mobile Robot Based On Ground Vision And Development Of Vehicle Management Dispatching System

Based on the hot topic of mobile robot in the area of warehouse-store transportation,this paper adopts a navigation method based on ground vision,and realizes the motion control of robot through PID control method.Meanwhile,the problems that automated guided vehicle(AGV)in vehicle scheduling may meet during motion are studied and analyzed,and put forward solutions to improve the efficiency of transportation and cost saving,and achieve a great breakthrough in other aspects.The main research contents of this paper are as follows:(1)In order to improve the cost-effective of AGV positioning module,this paper proposes to use yellow and black parallelogram ribbon for guiding AGV,and design a ribbon guided AGV vision detection system using OpenMV.In order to calculate the offset distance and offset angle of AGV relative to the ribbon,a method is proposed to find the linear equation of the ribbon by dividing the shooting regiond.The template matching method is used to find the coordinates of the parallelogram feature in the camera coordinate system,and then solve the calculation problem of the motion displacement of the guide trolley.In order to improve the tracking performance of AGV driving along the guide line,the omnidirectional AGV decoupling PID algorithm is proposed for the characteristics of omnidirectional AGV,and the tracking of AGV guide driving is then realized through the control of the offset distance and offset angle.The experimental results show that the method has lower laying cost and stronger tracking performance.(2)Aiming at the problem that the working position of omnidirectional AGV in some road sections requires the vehicle to be reached by traverse,and the path movement attributes in the OpenTCS map are only forward and backward,the OpenTCS is used as the base map model to study how to use the existing map elements to realize the traverse path expression in the constraint,and the angular constraint of two endpoints on a certain section of the path is proposed to express the traverse path..Based on this,the dijkstra algorithm is used to plan the shortest path from point to point and generate the required actions on each segment of the path.In order to verify the above method,the virtual AGV simulation experimental system is developed using the processing development environment.The simulation architecture of the virtual AGV is similar to that of the real AGV,and the virtual AGV system experiments show that the method proposed in this paper is feasible.(3)In response to the problems of traditional central dispatching system,such as large communication volume and easy blockage,this paper considers map path features such as intersections as resources that need to be competed during multi-AGV driving,and proposes a resource dispatching method based on "application-response" mechanism,in which vehicles first apply to the DMS before obtaining competing resources,and can only drive into the competing resource area after obtaining The vehicle can only drive into the competitive resource area after receiving an answer,and then the vehicle releases the competitive resource after passing.Based on this method,a vehicle management scheduling module and the corresponding vehicle,vehicle management and MES communication architecture and communication protocols are developed for an intelligent manufacturing production system,and the project operation results show that the above method is feasible and effective.