机电制造企业生产系统的仿真

针对我国机电企业的现状，研究并完成了机电制造企业的物流监控信息系统的典型设计，建立了质量跟踪体系软件结构，进行计算机仿真，并应用于现场。研究涉及计算机控制技术、信息处理技术、工业以太网通讯技术、现场总线通讯技术、最优化策略等多学科技术。该系统可以大幅度提高生产效率、降低生产成本、减少库存和资金占用，减少日益昂贵的生产和库存用地。     

An articulated geometry for skid tractor AGVs

An articulated geometry which overcomes the problem of loss of traction in differentially steered skid tractor automatic guided vehicles is described.     

基于机床方向和位置矩阵的AGV路径规划

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。     

双机热备技术在AGV控制系统中的实现

通过对目前双机热备技术的优缺点进行分析,针对AGV控制系统的自身特点,提出了一种适合AGV控制系统的双机热备实现方式。     

The capacitated multi-AGV scheduling problem with conflicting products: Model and a decentralized multi-agent approach

Automated guided vehicles (AGVs) are a key technology to facilitate flexible production systems in the context of Industry 4.0. This paper investigates an optimization model and a solution using a decentralized multi-agent approach for a new capacitated multi-AGV scheduling problem with conflicting products (CMASPCP) to take full advantage of AGVs. The novelty of the problem and our model lies in the introduction of AGV capacity constraints and constraints arising from conflicting products, i.e. products that cannot be transported together. As the new I4.0 paradigm tends towards decentralized control, we also present a decentralized multi-agent approach in which AGVs autonomously coordinate to solve the task. The performance of the proposed decentralized approach is compared to a mixed-integer linear programming model on a set of 110 problem instances with different sizes and degrees of complexity. The obtained results show that the proposed decentralized multi-agent approach is effective and competitive in terms of the solution quality and computational time.     

MLATSO: A method for task scheduling optimization in multi-load AGVs-based systems

In the context of increasingly competitive intelligent manufacturing, the multi-load Automated guided vehicles (AGVs) based Automated Storage and Retrieval System (AS/RS) has been of particular interest, as reductions in the number of AGVs required can significantly decrease potential congestions and increase the system effectiveness. In comparison with the single-load AGVs system, more difficult and critical issue of scheduling multi-load AGVs to automate storage/retrieval missions and to maximize economic benefits remains unresolved. Therefore, we propose a task scheduling optimization method for multi-load AGVs-based systems, with which, the objectives of least number of occupied AGVs, shortest travel time and minimum conflicts can be met simultaneously. The experiments are conducted in various scenarios, and verify that our work can use fewer AGVs to optimize tasks delivery, which enables the AS/RS stakeholders to reach win-win results for system performance and AGVs investment, thus maximizing economic benefit.     

AGV电磁锁相制导系统

制导技术是ＡＧＶ控制的关键技术,本文提出了ＡＧＶ电磁锁相制导方案,采用分时复频法产生电磁波信号,设计出ＡＧＶ电磁锁相制导系统,并进行了功能性实验,实验证明这是一种经济可行的ＡＧＶ制导方案,可适用于复杂路线多辆ＡＧＶ的制导控制。     

图像处理技术在AGV视觉导引控制中的应用

综合考虑自动引导车(AGV)视觉导引控制的技术要求和特点,确定了AGV视觉导引控制系统图像处理的流程,并根据该流程依次分析了图像预处理、图像分割和特征提取的特点和要求,确定了适合AGV视觉导引控制的图像处理算法,以V isua l C 为软件开发平台,实现AGV视觉导引控制的计算机图像处理系统,为图像处理技术在AGV视觉导引控制中的应用提供一个较为简单而可行的方法。     

智能立体停车库控制系统的设计与实现

介绍了智能立体停车库的控制系统，包括信息管理系统、出入口控制系统和智能搬运系统，对相关的控制技术进行了探讨，对在该领域的研究与应用具有重要的意义。     

激光导引AGV车载控制系统

在分析AGV功能要求的基础上，设计了以PC104嵌入式工控机为平台的车载控制系统。采用NAV200激光导引系统导航，以PMAC运动控制卡控制AGV的运动。试验表明达到了设计要求。