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针对目前AGV路径规划时存在的缺陷,提出了一种基于机床位姿矩阵的AGV的路径规划方法。该方法通过建立车间环境信息库,即机床的相对位置关系矩阵、相邻机床距离矩阵及机床的姿态矩阵,对AGV的运动速度加以有效控制,使AGV能准确地按预定路径由起始位置到达目标位置,保证在制品准确及时地传输。仿真结果表明,该方法计算判断简单、省时,实时性好。 相似文献
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为了避免危害事故的发生,在复杂的加工制造工厂中规划AGV小车安全无碰撞的行驶路径,不能简单地将AGV看成一个质点。首先在传统的障碍物栅格地图中叠加了环境安全信息,构建了融合信息栅格地图,提出了一种改进的遗传路径规划算法,在其适应函数中加入安全信息,并采用A*算法产生的初始路径为基准进行安全优化,减少了算法的搜索空间和复杂度。在MATLAB中对算法进行了验证,并在Gazebo中模拟了制造工厂AGV路径规划过程,验证了该方法具有较快的收敛速度及有效性。 相似文献
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在论述制造控制系统常用体系结构的基础上,提出AGV运输子系统的体系结构,详细阐述AGV运输子系统中的运输调度、路径规划和冲突解决等关键技术;并开发了该AGV运输子系统的仿真系统。 相似文献
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《组合机床与自动化加工技术》2021,(9)
针对磁导航自动导引车(Automated Guided Vehicle, AGV)的路径跟踪问题,以前轮舵机转向、后轮电机差速驱动型AGV为研究对象,首先对AGV进行运动分析,建立了前轮转角与后轮转速之间的关系,提出了一种改进的模糊PID控制算法分别设计了转向模糊控制器与转速模糊控制器,实时根据路况合理调整舵机转角和电机转速,使前轮配合后轮转向运动,提高路径跟踪精度。在MATLAB中对算法进行验证,结果表明该方法有效减小了系统的超调,缩短了系统达到稳态的时间,AGV车沿设定路径行驶时,控制精度在±5 mm以内,实现AGV车的稳定运行。 相似文献
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《组合机床与自动化加工技术》2021,(10)
为了有效保证物流仓储环境下AGV运行的高安全、低能耗等目标,设计了一种基于改进蚁群算法的AGV多目标路径规划算法。首先,基于物流仓储环境对AGV作业需求综合分析,选取路径长度、转角和、危险率和避障等待时间等因素作为路径规划的子目标,并采用熵权法确定各子目标的权值,建立AGV多目标规划模型;其次,改进蚁群下一栅格选取方式避免顶点碰撞,并在蚁群算法中引入非支配排序算法改进信息素给予机制,使蚁群寻路时受多个子目标共同引导,将蚁群算法扩展到多个目标函数优化。仿真结果表明,所设计算法实现了AGV合理、安全、有效的多目标路径规划。 相似文献
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AA-TIG焊(arc assisted activating TIG welding)通过焊前采用小电流辅助电弧以Ar+O2作为保护气体在待焊部位预熔形成表面氧化层,从而引入活性O元素改变熔池流动形态使熔深增加.试验通过改变辅助电弧保护气氛中的氧气流量来获得不同厚度的表面氧化层,分别对表面氧化层进行EPMA,XRD分析,并进行热力学计算.结果表明,表面氧化层中主要以铬、锰、硅的氧化物及其复合氧化物为主,由于电弧力的作用,电弧中心的氧化物被排向电弧边缘区域,最终形成的氧化层中心区域的厚度较两边区域薄,通过热力学计算的氧化层中平均氧含量与XRD分析结果相近. 相似文献
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Chun-Ming Wang Xuan-Xuan MengWei Huang Xi-Yuan HuAi-Qin Duan 《Journal of Materials Processing Technology》2011,211(4):668-674
In this paper, the effect of how the side assisting gas influences the laser-induced plasma and energy transmission in CO2 laser welding is studied. Under different configurations of the side assisting gas, the optical emission and spectrum signals from the laser-induced plasma were obtained and compared. From signal analysis and evaluation of weld results, it shows that the application of side assisting gas greatly suppresses the laser-induced plasma and enhances the efficiency of laser energy transmission, which in turn results in a sound weld quality with full penetration. A physical model of plasma consisting of diffusive plasma and residual plasma was also proposed and validated to illustrate the role of side assisting gas. The results suggest that the diffusive plasma can be blown away by the side assisting gas. This observation provides a promising solution to increase the absorption rate and utilization efficiency of the laser energy during laser welding by diminishing the diffusive plasma through side assisting gas. 相似文献
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This article is devoted to the development of guidelines for road mapping in planning the development of the technological component of structures of national security. Making the ‘road map’ is reduced to the method of conventional optimization i.e. achievement of the target in conditions of severe limitations of existing resources taking into account the effect of controlled and uncontrolled factors. Such a result can be regarded as a scientific novelty. 相似文献
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《中国有色金属学会会刊》2022,32(10):3259-3275
The hot workability and dynamic recrystallization (DRX) mechanisms of pure nickel N6 were systematically investigated using hot compression tests. Based on hot compression data, the constitutive equation of N6 was developed and its reliability was verified. Its hot processing map was constructed, and combined with microstructural observations, a semi-quantitative response relationship between hot deformation parameters and microstructure was established. The DRX process of N6 is a thermally activated process and particularly sensitive to the strain rate. The optimal hot processing parameters for N6 were determined to be 950-1050 °C and 0.1-1 s-1. Furthermore, it was proven that the dominant nucleation mechanism is discontinuous DRX characterized by grain boundary bulging and twins assisting nucleation, while the continuous DRX characterized by subgrains combined with rotation is an inactive nucleation mechanism. 相似文献
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Some Considerations to Machining Characteristics of Insulating Ceramics-Towards Practical Use in Industry- 总被引:3,自引:0,他引:3
Machining of insulating ceramics can be realized in EDM by using the assisting electrode method. After a tool electrode cuts through the assisting electrode, a carbon layer covers the ceramics' surface during EDM. This carbon layer, formed from the decomposition of the hydrocarbon working oil, enhances the ceramics surface's conductivity. In this paper, machining phenomena of insulating ceramics are considered towards practical use in industry. Several kinds of insulating ceramics and assisting electrode materials are investigated under considerations of various machining characteristics; and high speed machining in W-EDM is carried out under conditions of lower tension than usual. 相似文献
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AA-TIG焊(arc assisted activating TIG welding)是一种新型高效焊接方法,该方法通过焊前采用小电流辅助电弧以Ar+O:作为保护气体在待焊部位预熔一道氧化层,然后再进行常规TIG焊,可获得深而窄的焊缝.试验通过改变辅助电弧工艺参数来改变预熔氧化层的厚度,分析预熔氧化层厚度对焊缝成形的影响.结果表明,辅助电弧的电流、速度以及辅助电弧中氧气流量对预熔氧化层厚度有很大的影响,辅助电弧中氧气流量越大、辅助电弧热输入越大时,预熔氧化层越厚;AA—TIG焊时预熔氧化层的厚度对焊缝深宽比影响较大,随着预熔氧化层的增厚,焊缝深宽比先增加后减小. 相似文献