精梳棉车间棉卷自动运输系统开发

连接生产工序参与生产流程是移动机器人真正应用于车间提高生产效率的关键。根据精梳棉车间的工作环境，研制了基于开源机器人操作系统（ROS）的棉卷自动运输机器人系统。移动机器人应用激光传感器采集车间环境数据，采用Gmapping算法构建精梳棉车间地图，应用经典A^*和人工势场法融合的混合路径规划算法自主规划行驶路径，并采用视觉二维码技术实现生产设备前的精确定位。测试结果显示，在1 m/s安全速度下，棉卷运输机器人定位误差与航向偏差的平均绝对误差（MAE）分别小于5 cm和07°，完全满足在精梳棉车间内自主避障运动以及在生产设备前精确定位的实际作业需求。

Development of Lap Automatic Transport System in Combed Cotton Workshop

Takes part in the work-flow by connecting the manufacturing process is the key to the real application of mobile robots to the workshop to increase production efficiency.According to the working environment of the combed cotton workshop,a lap handling robot system based on the open source robot operating system (ROS) is developed.The mobile robot uses the laser sensor to identify the workshop environment,uses the Gmapping algorithm to construct the combed cotton workshop map,and adopts the hybrid path planning algorithm of classical A^* and artificial potential field method to independently plan the driving path,and adopts the two-dimensional code technology to realize the precise positioning of the production equipment.The test results show that the average absolute error (MAE) of the positional error and heading deviation of the lap transport robot is less than 5 cm and 0.7° respectively at a safe speed of 1 m/s,which fully meets the actual operational needs of its autonomous obstacle avoidance movement in the combed cotton workshop and precise positioning in front of the production equipment.