| dc.description.abstract | 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. | en_US |