基于ROS架构的叉车型AGV控制系统设计开发研究

Design and Development of Forklift AGV Control System Based on ROS Architecture

针对叉车型AGV开发成本高、系统封闭、可拓展性差的问题,该文基于开源机器人操作系统(ROS),设计了一套新的控制系统。该控制系统采用双层控制架构,通过模块化的设计思想实现了控制平台的搭建。其中,上层控制器采用装有Linux操作系统和ROS的嵌入式工控机实现叉车型AGV的即时定位与建图(SLAM)及路径跟踪功能;下层控制器采用西门子PLC实现对I/O信号的采集,以及通过CAN网络实现对舵轮的行走与转向控制及信息采集、对电源系统实现监控、对货叉起升高度检测,同时可以与车间调度计算机通过无线网络进行AGV调度与在线监控。

Aiming at the problems of high development cost,closed system and poor scalability of forklift AGV,this paper designs a new control system based on open-source robot operating system(ROS).The control system adopts two-layer control architecture and realizes the construction of control platform through modular design idea.Among them,the upper layer controller adopts the embedded industrial computer equipped with Linux operating system and ROS to realize the functions of SLAM and path tracking of forklift AGV.The lower controller adopts Siemens PLC to collect I/O signals,and realizes the walking and steering control and information collection of the steering wheel through CAN network,monitors the power system and detects the lifting height of the cargo fork.At the same time,AGV scheduling and online monitoring can be carried out with the shop scheduling computer through wireless network.