港口物流半实物仿真中的智能车辆模型设计与应用  

Design and Application of Intelligent Vehicle Model in Hardware-in-the-loop Simulation of Port Logistics

作　　者：沈立文 添玉[1] 蒋敏敏 李航 范会方 范勤勤 SHEN Liwen;TIAN Yu;JIANG Minmin;LI Hang;FAN Huifang;FAN Qinqin(Logistics Engineering College,Shanghai Maritime University,Shanghai 201306,China;School of Business,Southern College,Sun Yat-sen University,Guangzhou 510970,China;Intelligent Software Company,ZPMC Intelligent Industry Group,Shanghai 200125,China)

机构地区：[1]上海海事大学物流工程学院,上海201306 [2]中山大学南方学院商学院,广州510970 [3]上海振华重工智慧产业集团智能软件公司,上海200125

出　　处：《实验室研究与探索》2020年第7期88-92,111,共6页Research and Exploration In Laboratory

基　　金：国家自然科学基金项目(61603244);中国博士后科学基金面上项目(2018m642017);上海海事大学教学改革和管理改革项目(2019-11);研究生创新基金项目(2016ycx039,2017ycx055)。

摘　　要：智能运输车辆已成为智慧港口物流系统中的关键设备,其智能化水平及多车系统的协作程度对整体物流系统的运作绩效产生重要影响。为深入研究智能车辆系统协同控制与调度优化,解决原型车辆研发难度大、成本高等问题,设计了基于树莓派的四轮驱动、四轮转向微型车辆模型,提出了基于OpenCV和RFID的多交错轨迹机器视觉导航和定位方法,制定了基于开源平台、3D打印及低成本驱动控制电路等技术的实现方案。该车辆模型已应用于智能港口物流的半实物仿真系统,并提供了软件集成开发环境,可作为智能港口、无人自主系统等领域的研究工具以及实践教学、员工培训平台。Intelligent transport vehicle,also called automatic guided vehicle,is a key device in the intelligent port logistics system.The level of intelligence of transportation vehicles and the degree of collaboration of multi-vehicle systems have an important impact on the operational performance of the intelligent port.In order to deeply study the collaborative control and scheduling optimization of intelligent vehicle systems and solve the problems of difficulty and high cost in the research and development of prototype vehicles,this paper developed a small size four-wheel drive and four-wheel steering vehicle model based on Raspberry Pi,which is guided on multiple staggered trajectories by using open platform and is located based on radio frequency identification.A small batch production scheme based on 3D print and low-cost control circuit is established.The vehicle model has been applied to hardware-in-loop simulation of horizontal transportation part of automated container terminal,and provides a software integrated development environment,which can be used as a research tool in the fields of intelligent terminal,unmanned autonomous systems,as well as a practical teaching and employee training platform.

关 键 词：水运管理 港口物流 半实物仿真 智能车辆 导航定位 

分 类 号：U691.3[交通运输工程—港口、海岸及近海工程]