本文選題：智能倉(cāng)庫(kù) + 倉(cāng)庫(kù)機(jī)器人　； 參考：《杭州電子科技大學(xué)》2017年碩士論文

【摘要】：隨著最近幾年互聯(lián)網(wǎng)和電子商務(wù)產(chǎn)業(yè)的興起,海量的物流需求對(duì)物流企業(yè)提出了巨大的挑戰(zhàn),傳統(tǒng)的物流企業(yè)倉(cāng)庫(kù)運(yùn)作模式已經(jīng)無(wú)法適應(yīng)龐大的物流訂單吞吐需求,為此美國(guó)電子商務(wù)公司亞馬遜研發(fā)了智能倉(cāng)庫(kù)機(jī)器人系統(tǒng)Kiva,其穩(wěn)定高效的運(yùn)作深刻的改變了人們對(duì)物流行業(yè)的傳統(tǒng)認(rèn)知,未來(lái),以智能機(jī)器人為核心的智能倉(cāng)庫(kù)將會(huì)徹底顛覆目前物流行業(yè)的格局。本文圍繞著倉(cāng)庫(kù)智能機(jī)器人系統(tǒng)中的核心組成部分——機(jī)器人調(diào)度系統(tǒng)展開(kāi),主要進(jìn)行了四部分的研究,第一部研究了智能倉(cāng)庫(kù)技術(shù)的發(fā)展現(xiàn)狀以及相關(guān)技術(shù);第二部分研究了機(jī)器人調(diào)度相關(guān)的算法;第三部分基于對(duì)算法的研究提出了調(diào)度系統(tǒng)的設(shè)計(jì)方案;第四部分介紹了系統(tǒng)方案的最終實(shí)現(xiàn)及驗(yàn)證結(jié)果。本文在以下幾個(gè)方面做出了創(chuàng)新性的工作:1、研究了傳統(tǒng)路徑搜索算法在機(jī)器人調(diào)度領(lǐng)域的不足,分析并提出了對(duì)啟發(fā)式路徑搜索估值函數(shù)的改進(jìn),改進(jìn)后的算法使機(jī)器人的任務(wù)執(zhí)行效率有了明顯提升。2、研究了多機(jī)器人路徑規(guī)劃中的沖突問(wèn)題,分析了沖突問(wèn)題的產(chǎn)生情景及處理方案,提出了一種基于時(shí)間窗口的多機(jī)器人路徑規(guī)劃算法。3、針對(duì)機(jī)器人采用的基于RFID地理位置信息的導(dǎo)航方案中的路徑糾偏和定向問(wèn)題,提出了一種基于二色色塊的視覺(jué)糾偏及定向方案。4、在調(diào)度系統(tǒng)設(shè)計(jì)中考慮到應(yīng)用時(shí)與企業(yè)現(xiàn)有業(yè)務(wù)方案的融合問(wèn)題,采用了機(jī)器人任務(wù)調(diào)度與倉(cāng)庫(kù)信息管理相結(jié)合的設(shè)計(jì)。本文對(duì)倉(cāng)庫(kù)機(jī)器人群調(diào)度系統(tǒng)進(jìn)行了實(shí)現(xiàn)并測(cè)試,結(jié)果表明該機(jī)器人群調(diào)度系統(tǒng)可以高效、穩(wěn)定的對(duì)多個(gè)機(jī)器人同時(shí)進(jìn)行任務(wù)調(diào)度,對(duì)企業(yè)構(gòu)建智能倉(cāng)儲(chǔ)系統(tǒng),幫助企業(yè)提高生產(chǎn)效率,實(shí)現(xiàn)企業(yè)升級(jí)轉(zhuǎn)型有著實(shí)際的應(yīng)用價(jià)值。
[Abstract]:With the rise of the Internet and e-commerce industry in recent years, the huge demand for logistics has posed a huge challenge to logistics enterprises. The traditional warehouse operation mode of logistics enterprises has been unable to adapt to the huge demand for logistics orders. For this reason, American e-commerce company Amazon has developed the Intelligent Warehouse Robot system Kiva. its stable and efficient operation has profoundly changed people's traditional understanding of the logistics industry and the future. Intelligent warehouse with intelligent robot as the core will completely subvert the current pattern of logistics industry. This paper focuses on the robot scheduling system, which is the core component of the intelligent warehouse robot system. It mainly studies four parts. The first part studies the development status and related technologies of intelligent warehouse technology. In the second part, the algorithms related to robot scheduling are studied; in the third part, the design scheme of scheduling system is proposed based on the research of the algorithm; the fourth part introduces the final implementation and verification results of the system scheme. In this paper, we have done some innovative work in the following aspects: 1, studied the shortcomings of the traditional path search algorithm in the field of robot scheduling, analyzed and proposed the improvement of heuristic path search estimation function. The improved algorithm has greatly improved the task execution efficiency of the robot. The conflict problem in multi-robot path planning is studied, and the scenario and solution of the conflict problem are analyzed. A multi-robot path planning algorithm. 3 based on time window is proposed, which aims at the path correction and orientation problems in the navigation scheme based on RFID location information. This paper presents a vision correction and orientation scheme based on dichromatic blocks. In the design of scheduling system, the integration of application and existing business schemes is considered, and the design of robot task scheduling and warehouse information management is adopted. In this paper, the warehouse robot group scheduling system is implemented and tested. The results show that the machine crowd scheduling system can efficiently and stably schedule the tasks of multiple robots at the same time, and build an intelligent storage system for enterprises. It has practical application value to help enterprises improve production efficiency and realize enterprise upgrade and transformation.
【學(xué)位授予單位】：杭州電子科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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本文編號(hào)：2000449