基于RFID地理信息的机器人群调度技术研究

发布时间：2018-06-09 16:56

本文选题：智能仓库 + 仓库机器人　；参考：《杭州电子科技大学》2017年硕士论文

【摘要】：随着最近几年互联网和电子商务产业的兴起,海量的物流需求对物流企业提出了巨大的挑战,传统的物流企业仓库运作模式已经无法适应庞大的物流订单吞吐需求,为此美国电子商务公司亚马逊研发了智能仓库机器人系统Kiva,其稳定高效的运作深刻的改变了人们对物流行业的传统认知,未来,以智能机器人为核心的智能仓库将会彻底颠覆目前物流行业的格局。本文围绕着仓库智能机器人系统中的核心组成部分——机器人调度系统展开,主要进行了四部分的研究,第一部研究了智能仓库技术的发展现状以及相关技术;第二部分研究了机器人调度相关的算法;第三部分基于对算法的研究提出了调度系统的设计方案;第四部分介绍了系统方案的最终实现及验证结果。本文在以下几个方面做出了创新性的工作:1、研究了传统路径搜索算法在机器人调度领域的不足,分析并提出了对启发式路径搜索估值函数的改进,改进后的算法使机器人的任务执行效率有了明显提升。2、研究了多机器人路径规划中的冲突问题,分析了冲突问题的产生情景及处理方案,提出了一种基于时间窗口的多机器人路径规划算法。3、针对机器人采用的基于RFID地理位置信息的导航方案中的路径纠偏和定向问题,提出了一种基于二色色块的视觉纠偏及定向方案。4、在调度系统设计中考虑到应用时与企业现有业务方案的融合问题,采用了机器人任务调度与仓库信息管理相结合的设计。本文对仓库机器人群调度系统进行了实现并测试,结果表明该机器人群调度系统可以高效、稳定的对多个机器人同时进行任务调度,对企业构建智能仓储系统,帮助企业提高生产效率,实现企业升级转型有着实际的应用价值。
[Abstract]:With the rise of the Internet and e-commerce industry in recent years, the huge demand for logistics has posed a huge challenge to logistics enterprises. The traditional warehouse operation mode of logistics enterprises has been unable to adapt to the huge demand for logistics orders. For this reason, American e-commerce company Amazon has developed the Intelligent Warehouse Robot system Kiva. its stable and efficient operation has profoundly changed people's traditional understanding of the logistics industry and the future. Intelligent warehouse with intelligent robot as the core will completely subvert the current pattern of logistics industry. This paper focuses on the robot scheduling system, which is the core component of the intelligent warehouse robot system. It mainly studies four parts. The first part studies the development status and related technologies of intelligent warehouse technology. In the second part, the algorithms related to robot scheduling are studied; in the third part, the design scheme of scheduling system is proposed based on the research of the algorithm; the fourth part introduces the final implementation and verification results of the system scheme. In this paper, we have done some innovative work in the following aspects: 1, studied the shortcomings of the traditional path search algorithm in the field of robot scheduling, analyzed and proposed the improvement of heuristic path search estimation function. The improved algorithm has greatly improved the task execution efficiency of the robot. The conflict problem in multi-robot path planning is studied, and the scenario and solution of the conflict problem are analyzed. A multi-robot path planning algorithm. 3 based on time window is proposed, which aims at the path correction and orientation problems in the navigation scheme based on RFID location information. This paper presents a vision correction and orientation scheme based on dichromatic blocks. In the design of scheduling system, the integration of application and existing business schemes is considered, and the design of robot task scheduling and warehouse information management is adopted. In this paper, the warehouse robot group scheduling system is implemented and tested. The results show that the machine crowd scheduling system can efficiently and stably schedule the tasks of multiple robots at the same time, and build an intelligent storage system for enterprises. It has practical application value to help enterprises improve production efficiency and realize enterprise upgrade and transformation.
【学位授予单位】：杭州电子科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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