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.
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