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1、精选优质文档-倾情为你奉上本科毕业外文翻译学院（部）： 机械工程学院 专业班级： 机设10-4班 学生姓名： 张玮 指导教师： 叶琦副教授 2014年 5月 28日Intelligent logistics handling robot-AGVHandling the logistics function is one of the elements of the logistics systems have a high rate, logistics occupy an important part of the cost. United States industrial product

2、ion process Handling costs account for 20-30% of the cost. German logistics enterprises Material handling costs account for one-third of the turnover. Japan logistics handling costs account for the GNP 10.73%,and China production logistics handling costs account for about 15.5% of the manufacturing

3、cost. All of the world have been seeking mechanization and intelligent handling technology and equipment. AGV, a flexible and intelligent logistics handling robots, from the 1950s, storage industry begans to use. now in the manufacturing sector, ports, terminals and other areas of universal applicat

4、ion. AGV notable feature is unmanned, the AGV is equipped with an automatic guidance system, system can be protected in no artificial pilot circumstances can be scheduled along the route will automatically, goods or materials from the threshold automatically delivered to the destination. Another fea

5、ture of the AGV is good flexibility and a high degree of automation and a high level of intelligence, AGV according to the route of storage spaces, such as changes in the production process and the flexibility to change, running path and the cost of change with the traditional carousels and rigid tr

6、ansmission line compared to low. AGV is equipped with the general handling agencies, equipment and other logistics automatic interface, Implementation of goods and material handling and the removal process automation. Moreover, the AGV is also cleaner production characteristics, AGV rely on the buil

7、t-in battery powered. running process without the noise, pollution-free, and can be applied to many of the requirements in the working environment cleaner place. AGV types AGV it has been since the invention of a 50-year history, with the expansion of areas of application, of the types and forms of

8、diversity has become. Often under the AGV will automatically process the way of AGV navigation divided into the following categories :1.Electromagnetic Induction-guided AGV Electromagnetic Induction general guide is on the ground, along a predetermined route of the buried cable, when the high-freque

9、ncy currents flowing through wires, Traverse electromagnetic field generated around, AGV symmetrical installed two electromagnetic sensors, they receive the electromagnetic signal intensity differences reflect AGV deviated from the path degree. AGV control system based on this bias to control the ve

10、hicles steering, Continuous dynamic closed-loop control to ensure AGV path for the creation of a stable tracking. This guide electromagnetic induction method of navigation in the vast majority of the AGVS commercial use, particularly applies to the large and medium-sized AGV. 2. Laser-guided AGV The

11、 AGV species can be installed on a rotating laser scanner, running path along the walls or pillars installed a high reflective of positioning signs, AGV rely on the laser scanner fired a laser beam, followed by the reflective signs around the positioning of the laser beam back, on-board computer to

12、calculate the current vehicle position and the direction of movement, adopted and built-in digital maps correction compared to the position, thus achieving automatic removal. Currently, the types of AGV increasingly prevalent. And the basis of the same guiding principles, if the laser scanner replac

13、ement for infrared transmitters, ultrasonic transmitters. is laser-guided AGV can become infrared-guided AGV and ultrasound-guided AGV.3. Vision-guided AGV Vision-guided AGV is under rapid development and maturity of the AGV. The species AGV is equipped with a CCD camera and sensors. on-board comput

14、er equipped with AGV wishes to the route of the surrounding environment image database. AGV moving process, dynamic access to traffic cameras around environmental information and images and image databases, thus determine the current location of the next stage will make a decision. AGV such as setti

15、ng up does not require any physical path, in theory, has the best guide Flexible, With the computer image acquisition, storage and processing of the rapid development of technology, the kinds of practical AGV is growing. In addition, there are ferromagnetic gyro inertial-guided AGV, optical-guided A

16、GV variety of forms of AGV. Application of AGV 1. Warehousing Warehousing AGV is the first application of the place. In 1954 the first to AGV in the United States state of South Carolina Mercury M otor Freight companys operational warehouse for storage of goods from achieving automatic removal. At p

17、resent the world is about 2 million operation in a wide range of AGV 2,100 large and small warehouses. Videocon Group in 2000, running the operation zone warehouse, 9 AGV Taiwan formed a soft bank automatic handling system, successfully completed the 23,400 daily conveying goods and parts handling t

18、asks. 2. Manufacturing AGV production in the manufacturing sector in line to succeed, efficient, accurate and flexible materials to complete the task of handling. And may be composed of multiple AGV Flexible handling of the logistics system Along with handling the production line can process adjustm

19、ents and timely adjustment make a production line to produce more than 10 types of products, greatly improving production flexibility and the competitiveness of enterprises. 1974 Swedens Volvo Kalmar car assembly plants in order to improve the transport system flexibility AGVS based tools to carry a

20、utomatic car assembly line, from the assembly line more than capable of carrying the body of car components AGVS use of the assembly line. reduced assembly time by 20% and 39% decrease assembly fault, the investment recovery period decreased 57% labor decreased by 5%. Currently, AGV in the worlds ma

21、jor car manufacturers, such as General Motors, Toyota, Chrysler, public works, such as automobile manufacturing and assembly line is being widely used. In recent years, as the basis for CIMS removal tool, the AGV to the mechanical application of in-depth processing, production of home appliances, mi

22、croelectronics manufacturing, tobacco and other industries, production and processing areas to become the most widely AGV areas. 3. Post office, library, port and airport At post offices, libraries, and airport terminals occasions, the delivery of the existence of operational changes, dynamic nature

23、, processes recurring adjustments, and removal processes in a single, features AGV concurrent operations, automation, Intelligent and flexible to the characteristics of a good occasion to meet on-removal requirements. Sweden in 1983 in Stockholm offices Slovakia, Japan in 1988 in Tokyo, Tama offices

24、, China in 1990 in Shanghai started to use postal hub AGV complete removal products work. Port of Rotterdam in the Netherlands. 50 known as the yard tractors AGV completed container from the side of the delivery of several hundred yards from the The repeatability warehouse work. 4. Tobacco, medicine

25、, food, chemicals For the removal operation is clean, safe, non-polluting emissions, and other special requirements of the tobacco, pharmaceutical, food, chemical and other industries, AGV application also be in focus. Many cigarette enterprises laser-guided AGV completed pallet cargo handling work

26、such as Philip Morris tobacco company 、Royal tobacco company etc.5. Dangerous places and special services Militarily, the AGV to the automatic driving-based Integrated detection and other demolition equipment, Mine can be used for battlefield reconnaissance and position, the British military is deve

27、loping a MINDER Recce is a reconnaissance vehicle, with mine detection, destruction and the ability to route automatically verify type reconnaissance vehicles. In the steel plant, AGV Charge for delivery, reducing the labor intensity. In nuclear power plants and the use of nuclear radiation preserva

28、tion of the storage sites, AGV used for the delivery to avoid the danger of radiation. In the film and film storage, AGV be in the dark environment, accurate and reliable transportation of materials and semi-finished products. AGV routes and scheduling method AGV use of a route optimization and real

29、-time scheduling AGV is the current field of a hotspot. Practical, it was the methods used are : 1.Mathematical programming AGV to the task of choosing the best and the best path can be summed up as a task scheduling problem. Mathematical programming methods to solve scheduling problems is the optim

30、al solution to the traditional method. The method of solving process is actually a resource constraint to the optimization process. Practical methods of the main integer programming, dynamic programming, petri methods. Scheduling of the small-scale cases, such methods can get better results, but wit

31、h the increased scale of operation, Solving the problem of time-consuming exponential growth, limitations of the method in charge, mass-line optimization and scheduling application. 2.Simulation Simulation of the actual scheduling environment modeling, AGV thereby to a scheduling program for the imp

32、lementation of computer simulation. Users and researchers can use simulation means to scheduling program for testing, monitoring, thereby changing the selection and scheduling strategy. Practical use of a discrete event simulation methods, object-oriented simulation and three-dimensional simulation

33、technology, Many AGV software can be used for scheduling simulation, which, Lanner Group Witness software can quickly build simulation models, Implementation of 3D simulation and demonstration of the results of the analysis. 3.ARTIFICIAL INTELLIGENCE A way for the activation process AGV described as

34、 a constraint in meeting the solution set Search optimal solution process. It said the use of knowledge of the technical knowledge included, Meanwhile the use of search technology seeks to provide a satisfactory solution. Specific methods of expert system, genetic algorithms, heuristics, neural netw

35、ork algorithm. Within this total, the expert system in which more practical use. It will dispatch experts abstract experience as a system can understand and implement the scheduling rules, and using conflict resolution techniques to solve large-scale AGV scheduling rules and the expansion of the con

36、flict.Because neural network with parallel computing, distributed storage knowledge, strong adaptability, and therefore, for it to become a large-scale AGV Scheduling is a very promising approach. At present, the neural network method for a successful TSP-NP problem solving. Neural networks can opti

37、mize the composition of the solution into a discrete dynamic system of energy function, through minimizing the energy function to seek optimization solution. Genetic algorithm simulates natural process of biological evolution and genetic variation and the formation of an optimal solution. Genetic al

38、gorithm for the optimization of the AGV scheduling problem, First through the coding of a certain number of possible scheduling program into the appropriate chromosome, and the calculation of each chromosome fitness (such as running the shortest path), through repeated reproduction, crossover, Find

39、fitness variation large chromosomes, AGV scheduling problem that is the optimal solution. Using a single method to solve scheduling problems, there were some flaws. Currently, a variety of integration methods to solve the scheduling problem AGV is a hotspot. For example, expert system integration an

40、d genetic algorithm, expert knowledge into the chromosome of the initial formation of the group, Solution to accelerate the speed and quality. 智能化的物流搬运机器人AGV装卸搬运是物流的功能要素之一，在物流系统中发生的频率很高，占据物流费用的重要部分。美国工业生产过程中装卸搬运费用占成本的2030%，德国物流企业物料搬运费用占营业额的1/3，日本物流搬运费用占国民生产总值的10.73%，中国生产物流中，装卸费用约占加工成本的15.5%。全球都一直在寻求

41、机械化和智能化的搬运技术和装备。AGV，一种柔性化和智能化物流搬运机器人，从50年代在仓储业开始使用，目前已经在制造业、港口、码头等领域得到普遍应用。 AGV的显著特点是无人驾驶，AGV上装备有自动导向系统，可以保障系统在不需要人工引航的情况下就能够沿预定的路线自动行驶，将货物或物料自动从起始点运送到目的地。AGV的另一个特点是柔性好，自动化程度高和智能化水平高，AGV的行驶路径可以根据仓储货位要求、生产工艺流程等改变而灵活改变，并且运行路径改变的费用与传统的输送带和刚性的传送线相比非常低廉。AGV一般配备有装卸机构，可以与其他物流设备自动接口，实现货物和物料装卸与搬运全过程自动化。此外，AG

42、V还具有清洁生产的特点，AGV依靠自带的蓄电池提供动力，运行过程中无噪声、无污染，可以应用在许多要求工作环境清洁的场所。一 AGV的种类 AGV从发明至今已经有50年的历史，随着应用领域的扩展，其种类和形式变得多种多样。常常根据AGV自动行驶过程中的导航方式将AGV分为以下几种类型：1. 电磁感应引导式AGV 电磁感应式引导一般是在地面上，沿预先设定的行驶路径埋设电线，当高频电流流经导线时，导线周围产生电磁场，AGV上左右对称安装有两个电磁感应器，它们所接收的电磁信号的强度差异可以反映AGV偏离路径的程度。AGV的自动控制系统根据这种偏差来控制车辆的转向，连续的动态闭环控制能够保证AGV对设定

43、路径的稳定自动跟踪。这种电磁感应引导式导航方法目前在绝大多数商业化的AGVS上使用，尤其是适用于大中型的AGV。2. 激光引导式AGV 该种AGV上安装有可旋转的激光扫描器，在运行路径沿途的墙壁或支柱上安装有高反光性的定位标志，AGV依靠激光扫描器发射激光束，然后接受由四周定位标志反射回的激光束，车载计算机计算出车辆当前的位置以及运动的方向，通过和内置的数字地图进行对比来校正方位，从而实现自动搬运。 目前，该种AGV的应用越来越普遍。并且依据同样的引导原理，若将激光扫描器更换为红外发射器、或超声波发射器，则激光引导式AGV可以变为红外引导式AGV和超声波引导式AGV。3. 视觉引导式AGV 视

44、觉引导式AGV是正在快速发展和成熟的AGV，该种AGV上装有CCD摄像机和传感器，在车载计算机中设置有AGV欲行驶路径周围环境图像数据库。AGV行驶过程中，摄像机动态获取车辆周围环境图像信息并与图像数据库进行比较，从而确定当前位置并对下一步行驶做出决策。 这种AGV由于不要求人为设置任何物理路径，因此在理论上具有最佳的引导柔性，随着计算机图像采集、储存和处理技术的飞速发展，该种AGV的实用性越来越强。此外，还有铁磁陀螺惯性引导式AGV、光学引导式AGV等多种形式的AGV。二 AGV的应用1仓储业 仓储业是AGV最早应用的场所。1954年世界上首台AGV在美国的South Carolina州的M

45、ercury Motor Freight公司的仓库内投入运营，用于实现出入库货物的自动搬运。目前世界上约有2万台各种各样AGV运行在2100座大大小小仓库中。印度家电巨头Videocon集团于2000年投产运行的开发区立体仓库中，9台AGV组成了一个柔性的库内自动搬运系统，成功地完成了每天23400的出入库货物和零部件的搬运任务。2制造业 AGV在制造业的生产线中大显身手，高效、准确、灵活地完成物料的搬运任务。并且可由多台AGV组成柔性的物流搬运系统，搬运路线可以随着生产工艺流程的调整而及时调整，使一条生产线上能够制造出十几种产品，大大提高了生产的柔性和企业的竞争力。1974年瑞典的Volvo

46、 Kalmar轿车装配厂为了提高运输系统的灵活性，采用基于AGVS为载运工具的自动轿车装配线，该装配线由多台可装载轿车车体的AGVS组成，采用该装配线后，装配时间减少了20%，装配故障减小39%，投资回收时间减小57%，劳动力减小了5%。目前，AGV在世界的主要汽车厂，如通用、丰田、克莱斯勒、大众等汽车厂的制造和装配线上得到了普遍应用。 近年来，作为CIMS的基础搬运工具，AGV的应用深入到机械加工、家电生产、微电子制造、卷烟等多个行业，生产加工领域成为AGV应用最广泛的领域。3邮局、图书馆、港口码头和机场 在邮局、图书馆、码头和机场等场合，物品的运送存在着作业量变化大，动态性强，作业流程经常

47、调整，以及搬运作业过程单一等特点，AGV的并行作业、自动化、智能化和柔性化的特性能够很好的满足上式场合的搬运要求。瑞典于1983年在大斯得哥尔摩邮局、日本于1988年在东京多摩邮局、中国在1990年于上海邮政枢纽开始使用AGV，完成邮品的搬运工作。在荷兰鹿特丹港口，50辆称为“yard tractors”的AGV完成集装箱从船边运送到几百码以外的仓库这一重复性工作。 4烟草、医药、食品、化工 对于搬运作业有清洁、安全、无排放污染等特殊要求的烟草、医药、食品、化工等行业中，AGV的应用也受到重视。在许多著名的卷烟企业，如Philip Morris、英国皇家烟草公司等应用激光引导式AGV完成托盘货

48、物的搬运工作。5危险场所和特种行业 在军事上，以AGV的自动驾驶为基础集成其他探测和拆卸设备，可用于战场排雷和阵地侦察，英国军方正在研制的MINDER Recce是一辆侦察车，具有地雷探测、销毁及航路验证能力的自动型侦察车。在钢铁厂，AGV用于炉料运送，减轻了工人的劳动强度。在核电站和利用核辐射进行保鲜储存的场所，AGV用于物品的运送，避免了危险的辐射。在胶卷和胶片仓库，AGV可以在黑暗的环境中，准确可靠的运送物料和半成品。三 AGV的路线与调度方法 AGV使用中的路线优化和实时调度是当前AGV领域的一个研究热点。实用中，人们采用的方法主要有：1 数学规划方法 为AGV选择最佳的任务及最佳路径，可以归纳为一个任务调度问题。数学规划方法是求解调度问题最优解的传统方法，该方法的求解过程实际上是一个资源限制下的寻优过程。实用中的方法主要有整数规划、动态规划、petri方法等。在小规模调度情况下，这类方法可以得到较好的结果，但是随着调度规模的增加，求解问题耗费的时间呈指数增长，限制了该方法在负责、大规模实时路线优化和调度中应用。2 仿真方法 仿真方法通过对实际的调度环境建模，从而对AGV的一种调度方案的实施进