20.500.12556/RUL-110680 Programiranje avtonomnega vozička Programming of an autonomous guided vehicle Krmilnik na vozičku krmili pogon vozička, da se voziček avtonomno pozicionira ter sledi hitrosti tekočega traku, na katerem so avtomobili. Prav tako pa javlja ter sprejema podatke iz centralnega krmilnega sistema. Za povezavo s polnilcem baterij je izvedena serijska komunikacija Modbus RTU. Za komunikacijo s čitalcem bar kode je izvedena serijska komunikacija po protokolu RS232. Za povezavo med krmilnikom vozička ter centralnim krmilnikom pa skrbi povezava preko protokola Profinet. Za natančno pozicijo vozička skrbi čitalec bar kode, iz katerega se nato izračunava tudi trenutna hitrost vozička. Za regulacijo hitrosti skrbi regulator hitrosti. Strojna oprema je sestavljena iz industrijskega programirljivega logičnega krmilnika, serijskih komunikacijskih modulov, polnilca akumulatorjev, čitalca bar kode ter opreme potrebne za zagotovitev nemotene žične ter brezžične povezave Profinet. Strojno opremo v celoto povezuje programska koda. Med programiranjem je bil vedno cilj napisati kodo kar se le da preprosto ter pri tem upoštevati vse segmente za varno obratovanje vozičkov. Pri tem pa seveda ohraniti preprostost upravljanja celotnega sistema. The diploma thesis deals with the construction, programming and control of 19 autonomous trolleys intended for charging car batteries. The system combines two different types of controllers that communicate via wireless network, the first being a control system and the second being 19 controllers, each mounted on its own trolley. The trolley controller controls the trolley drive autonomously, and follows the speed of the conveyor belt on which the cars are located. It also reports and receives data from the central control system. Modbus RTU communication is performed to connect to the battery charger, serial communication according to RS232 protocol is performed to communicate with the bar code reader. The connection between the trolley controller and the central controller is provided by the connection via the Profinet protocol. The exact position of the trolley is determined and assured by the bar code reader, from which the current speed of the cart is then calculated. Speed controller is responsible for speed control The hardware consists of an industrial programmable logic controller, serial communication modules, a battery charger, a bar code reader, and the equipment needed to ensure a smooth wired and wireless Profinet connection. Of course, the hardware is linked by software code. During programming, the goal was always to write the code as simply as possible, taking into account all segments for safe operation of the carts. In doing so, maintaining the simplicity of entire system management was of special importance. avtonomni voziček bar koda komunikacije polnjenje akumulatorjev programirljivi logični krmilnik regulacija hitrosti. autonomous trolley battery charging bar code communications programmable logic controller speed control. true false false Slovenski jezik Angleški jezik Diplomsko delo/naloga 2019-09-18 11:55:14 2019-09-18 11:55:19 2022-08-22 03:45:17 0000-00-00 00:00:00 2019 0 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 1970-01-01 48101 Treven_Dejan_-_Programiranje_avtonomnega_vozicka.pdf Treven_Dejan_-_Programiranje_avtonomnega_vozicka.pdf 1 F79BFA76F781741BB34D596E1839919F ef2b8071bc0ceaa486ad1afa9105e899306ba2f869fe4241b7b68e2148682567 2d78c197-a1b7-11eb-a523-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=122365 Fakulteta za elektrotehniko 0 0 0