無人搬運車之物聯網功能實現

NCU Institutional Repository > 資訊電機學院 > 電機工程研究所 > 博碩士論文 > Item 987654321/74919

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题名:	無人搬運車之物聯網功能實現
作者:	顏御軒;Yen, Yu-Hsuan
贡献者:	電機工程學系
关键词:	無人搬運車;ROS;物聯網;MQTT;雷射導引系統
日期:	2017-07-27
上传时间:	2017-10-27 16:11:59 (UTC+8)
出版者:	國立中央大學
摘要:	本論文主要目的為改善工廠現有的無人搬運車(Automated Guided Vehicle, AGV)通過結合物聯網通訊技術及雷射導引技術來增強系統。首先將原AGV 系統之狀態封包透過廠商所提供的SAGV-006 通訊協議進行解析，並利用Node.js 將解析後的訊息轉成低頻寬、低硬體需求的Message Queuing Telemetry Transport (MQTT)物聯網通訊協議，讓控制中心可以即時監控車身電量及車行速度以實現狀態監控系統。另外則是增強現有的導引技術，在原磁帶導引的車輛加上雷射測距儀，在主控板Jetson TX1 上安裝機器人作業系統(Robot Operating System，ROS)，並使用其中的室內導航技術，建立起室內座標系統，讓無人搬運車可以隨時知道自身位置與姿態，接著利用rosbridge 架設ROS 伺服器讓網頁伺服端能直接與在主控板的ROS 進行溝通，最後透過二維線性映射算法，將無人搬運車的位置點標示至相對應之平面圖於響應式網頁中即時顯示以實現位置監控系統。最後利用嵌入式開發板Raspberry Pi 3 架設網頁伺服器，將狀態與位置監控系統整合於人性化的操作介面並實現三項功能：(1)電池預警機制；(2)臨時任務指派；(3)切換工作區，使無人搬運車使用與監控上更為智慧與方便。;The purpose of this thesis is to improve the performances of Automated Guided Vehicle (AGV) by combining the IOT communication technology and the laser guidance system. First, using Node.js to translate the status packets of the original AGV system into Message Queuing Telemetry Transport (MQTT) communication protocol via the SAGV-006 communication protocol, which was provided by the AGV manufacturer so that users can immediately monitor the parameters of power and velocity of the control center of AGV. In order to enhance the abilities of the original guidance system, a laser range sensor is added to help the tape-guided system of an unmodified AGV. At the same time, Robot Operating System (ROS) is installed into the Jetson TX1 that can be used to establish the indoor coordinate system by means of the indoor navigation technology of ROS. Namely, AGV can always know its position and orientation. And then, we use the rosbridge to create ROS server so that the web server can directly communicate with the ROS in Jetson TX1. Finally, transforming the AGV position and orientation on ROS coordinate into the image coordinate on the basis of the 2D linear mapping algorithm to stream position on the Responsive Website in real time. In conclusion, we use the Raspberry Pi 3 to set up a web server to build the user interface and combine both the AGV status and location monitoring systems into the user interface. Consequently, according to the previous description, three kinds of functions can be held: (1) battery warning alarm, (2) temporary task assignment, (3) switch working area, to make AGV be more intelligent and convenient.
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