谢 辞
本文的研究及设计是在指导老师缪周的关怀和悉心指导下完成的。在毕业设计的半年时间里，缪老师在学习上给了我悉心的指导，在生活上给了我深切的关怀，使我在各方面能力都得到了很大提高。缪老师严谨、求实的治学态度，深邃的洞察力，高度的责任心和敬业精神，平易近人的工作作风，一直深深地影响和激励着我，使我在学习和生活上受益匪浅。在毕业论文完成之时，谨向老师表示最衷心的感谢，并致以祟高的敬意。
同时，我要感谢罗爱华、苏春荣、李羽翔同学，他们给我写作论文提供了许多优秀的资料，并对一些问题进行了深入的探讨，我的论文能够顺利完成，无不凝聚着他们的一份心血和汗水。机械03级的许多同学也给我写作论文提供了莫大的帮助，在此一并表示感谢。
最后，要特别感谢我的家人在精神和物质上的关心、支持和帮助，使我能够安心致力于学业。
参考文献
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附录A
Intelligent logistics handling robot--AGV
Handling 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 production 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 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 application.
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 feature 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 transmission 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 built-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. ⅠAGV 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 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-frequency 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 vehicle's 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 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 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 replacement 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 computer 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 setting 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 AGV variety of forms of AGV.
Ⅱ 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 company's operational warehouse for storage of goods from achieving automatic removal. At present 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 tasks.
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 adjustments 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 Sweden's Volvo Kalmar car assembly plants in order to improve the transport system flexibility AGVS based tools to carry automatic 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 world's major 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, microelectronics 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, 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, 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 \delivery of several hundred yards from the The repeatability warehouse work.
4. Tobacco, medicine, 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 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 developing 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 preservation 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. Ⅲ AGV routes and scheduling method AGV use of a route optimization and real-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 optimal 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 with 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 implementation 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 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
AI way for the activation process AGV described as 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 network 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 conflict.
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 optimize the composition of