基于以太网通讯的全自动换电机器人决策控制系统设计与实现

摘要

In the case of unattended, full-automatic robot can replace the running out batteries in the EV with batteries in the power automatic and directly. Based on studying in the Ethernet communication, we design a decision control system in view of the automatic robot based on Ethernet communication. Through Ethernet,the system could receive all sorts of message which from the filling exchange power station operating management system, and obtain the various control commands and data provided by the vision system and obtained by processing real-time interaction in two PLC electrical robots through two RS485 serial port, and then complete automatic replacing batteries. This system is responsible for real-time interaction of commands and data among filling exchange power station operating management system, visual monitoring-positioning system, and replacing batteries robot. It is safe and reliable, stable operation,easy management,and high control precision. The system ensures the operation of the full-automatic replacing batteries robot.%全自动换电机器人决策控制系统可在无人值守情况下，全自动将电动汽车耗尽的电池组更换为充换电站内已充满电的电池组。在对以太网通讯深入研究的基础上，针对全自动换电机器人设计了一种基于以太网通讯的决策控制系统，通过以太网接收换电站运营管理系统发送的各种报文并解析，然后对视觉监控定位系统提供的视觉坐标系下的数据进行处理，获得电池在世界坐标系下的姿态数据，最后将各种控制命令、数据通过两个RS485串口分别与换电机器人的两个PLC进行实时交互，完成电池的全自动换电功能。该系统负责充换电站运营管理系统、视觉监控定位系统、换电机器人三者间命令和数据的实时交互，安全可靠，运行稳定，控制精度高，保障了全自动换电机器人的运营。