【摘要】 围绕如何合理高效地将多移动搬运机器人应用于工程这一目标,提出构建包括建模、仿真、运行时、评价4个部分的多移动搬运机器人系统构造方法。并将系统体系结构抽象为一种分层结构,将系统中的计算机、地面控制器或移动搬运机器人本身抽象为智能体,通过在智能体上建立解析器和运行器,使各层次的智能体具备按照模型定义动态运行的能力。运用该结构实现的系统已成功应用于多个工程,通过对其中2个应用案例进行分析。研究结果表明:利用结构实现的系统能够满足多移动搬运机器人系统工程快速搭建、快速评价、快速修正和快速实施的要求,有利于多移动搬运机器人系统的工程化应用。更多还原

【Abstract】 An approach is proposed to establish a mobile transfer multi-robots system structure in which include modeling,simulation,runningtime and evaluation.This kind of structure was suited to engineering application.The architecture of multi-robots system was abstracted as layered architecture.And all of the host computer,base control and transfer multi-robots in system are abstracted as intelligent agent.In order to make every intelligent agent which including in any layer has ability of dynamic operation,a resolver and a runningtime are disposed in any intelligent agent.The system using this structure was applied to many projects.Tow of them for example was taken and analyzed.The result shows that this kind of system structure achieved mobile transfer multi-robots systems quick establishment,quick evaluation,quick revision and quick bring into effect.It is beneficial to transfer multi-robots systems engineering application.更多还原