车间自主移动机器人路径规划与调度技术研究

【作者】 张浩；

【导师】 童一飞； 周伟；

【作者基本信息】 南京理工大学 ， 工程管理（专业学位）， 2024， 硕士

【摘要】 近年来,传统制造业正迅速向数字化和智能化方向发展,在2021年的"十四五"规划中,"智能制造"再次被确定为制造业转型升级的必经之路,而智能化车间建设是实现智能制造的关键环节之一。在智能车间建设中,物流系统的数字化转型至关重要,AMR作为智能物流系统中的重要装备之一,其具有高度自动化和智能化的特点,正在全面取代传统的叉车、传送带、起重机等搬运设备,并在智能车间中得到广泛应用。H企业特种电缆生产车间作为传统制造车间,其自动化与智能化水平已逐渐难以应对多品种、小批量的订单需求,车间智能化转型刻不容缓。面对特种电缆生产车间日益增加的作业需求和复杂多变的应用环境,人工及叉车等传统搬运方式难以满足订单需求。因此,引入AMR等自动化设备,开展特种电缆生产车间AMR物流管理系统的研究对于提升车间生产作业水平、促进车间数字化改造建设具有重大意义。本文以特种电缆生产车间为研究背景,车间AMR为应用对象,基于车间实际应用需求,开展物流管理系统的研究。本文通过对特种电缆生产车间物流现状进行调研,分析现有车间物流管理系统需求,针对车间内存在的物流流转效率低、自动化水平不足等问题,对系统总体方案进行设计。根据车间实际环境,使用栅格法进行地图建模,结合改进A~*算法实现AMR全局路径规划,使用DWA算法实现AMR局部路径规划,引入算法融合思想,将改进A~*与DWA算法融合,提出IA~*A-DWA算法实现AMR路径规划。由于单AMR无法满足车间需求,对多AMR车辆调度问题进行建模,以最小化AMR使用数量、AMR总能耗最少以及AMR运载率最高为目标函数,设计一种混合PSO-GA算法,完成模型求解,通过实际案例与不同算法对比验证算法的有效性。为了提高车间生产与物流效率,对车间加工资源与AMR集成调度,以最小化最大完工时间、最小化设备总负荷为调度目标,建立含AMR约束的特种电缆生产车间调度模型,提出改进SSA算法对调度模型进行求解,将依据实际车间数据计算得出的改进SSA算法,与传统SSA算法计算得出的方案进行对比,验证了算法的可行性与有效性。基于上述研究,本文设计开发了特种电缆生产车间物流管理原型系统,在系统开发过程中,选择Vue和Spring Boot作为前后端开发技术,同时运用数据库技术存储信息。然后,详细阐述了特种电缆生产车间物流管理原型系统的主要功能模块的业务逻辑,并设计了相应的数据库表结构。最后,展示了原型系统的主要功能和使用。更多还原

【Abstract】 In recent years,traditional manufacturing industries have been rapidly moving towards digitalization and intelligentization.In the"14th Five-Year Plan"of 2021,"intelligent manufacturing"has once again been identified as a necessary path for the transformation and upgrading of the manufacturing industry,with the construction of intelligent workshops being a key step towards achieving intelligent manufacturing.In the development of intelligent workshops,the digital transformation of the logistics system is crucial.Autonomous Mobile Robots(AMRs),as important equipment in intelligent logistics systems,are characterized by high automation and intelligence,and are gradually replacing traditional handling equipment such as forklifts,conveyors,and cranes,being widely used in intelligent workshops.As a traditional manufacturing workshop,the automation and intelligentization level of the special cable production workshop at H enterprise has gradually become unable to cope with the diverse and small-batch order requirements.The urgent need for the workshop to undergo intelligent transformation is apparent.Faced with the increasing operational demands and complex and changing application environments of the special cable production workshop,traditional manual and forklift handling methods are inadequate to meet the order requirements.Therefore,the introduction of AMRs and other automation equipment,along with the research on the prototype system for AMR logistics management in the special cable production workshop,is of great significance for enhancing the production level of the workshop and promoting the digital transformation and construction of the workshop.This study takes the special cable production workshop as the research background,with AMRs in the workshop as the application object,and based on the actual application needs of the workshop,conducts research on the logistics management prototype system.The research investigates the current status of logistics in the special cable production workshop,analyzes the requirements of the existing workshop logistics management prototype system,and designs a comprehensive solution to address issues such as low logistics efficiency and insufficient automation levels in the workshop.Based on the actual workshop environment,grid method is used for map modeling,an improved A~*algorithm is utilized for global path planning of AMRs,Dynamic Window Approach(DWA)algorithm is employed for local path planning of AMRs,and an integrated approach combining the improved A~*and DWA algorithms is proposed to develop the IA~*A-DWA algorithm for AMR path planning.Due to the inadequacy of a single AMR meeting workshop requirements,a multi-AMR vehicle scheduling problem is modeled with the objective functions of minimizing the number of AMRs used,minimizing total energy consumption,and maximizing AMR utilization rate.A hybrid PSO-GA algorithm is designed for model solving,and the effectiveness of the algorithm is validated through practical cases and comparisons with different algorithms.In order to improve production and logistics efficiency in the workshop,a scheduling model for the integration of workshop processing resources and AMRs is established with the scheduling objectives of minimizing the maximum completion time and minimizing total equipment load.An improved SSA algorithm is proposed to solve the scheduling model with AMR constraints,and the feasibility and effectiveness of the improved SSA algorithm are verified through comparisons with traditional SSA algorithm based on actual workshop data.Based on the above research,this study designs and develops a prototype system for logistics management in the special cable production workshop.In the development process of the system,Vue and Spring Boot are selected as the front-end and back-end development technologies,while database technology is utilized for storing information.Furthermore,the main functional modules and corresponding database table structures of the logistics management prototype system for the special cable production workshop are elaborated in detail.Finally,the main functions and usage of the prototype system are demonstrated.更多还原