预制混凝土构件布料路径规划  

Distribution path planning of precast concrete components

作　　者：蔡安江[1] 刘小波 王东红[2] 刘亚东 于海滨 CAI Anjiang;LIU Xiaobo;WANG Donghong;LIU Yadong;YU Haibin(College of Electrical and Mechanical Engineering,Xi’an University of Architecture and Technology,Xi’an 710055,China;Institute of Building Mechanization,China Academy of Building Research,Langfang 065000,Hebei,China;Dezhou Haitian Electromechanical Technology Co.,Ltd.,Dezhou 253000,Shandong,China)

机构地区：[1]西安建筑科技大学机电工程学院,西安710055 [2]中国建筑科学研究院建筑机械分院,河北廊坊065000 [3]德州海天机电科技有限公司,山东德州253000

出　　处：《哈尔滨工业大学学报》2022年第7期12-19,共8页Journal of Harbin Institute of Technology

基　　金：教育部中国高校产学研创新基金(2021DZ022);陕西省自然科学基础研究计划重点项目(2019JZ-50)。

摘　　要：为解决预制混凝土构件布料路径随意的问题,通过对布料区域网格划分,设计了一种将布料区域分割为多个布料子区域的方法。该方法将螺旋布料机的作业方式进行简化,将布料路径总长度分为布料长度和非布料长度,其中布料长度是确定值,并对子区域做布料作业规划,计算出料口开口数对应的布料宽度。利用枚举法和动态规划算法对螺旋布料机出料口和布料子区域集合建立布料路径规划模型,对多阶段决策中的决策值进行计算。以非布料长度最短为目标对模型求解,得到最短布料路径,完成了螺旋布料机对布料区域的全覆盖路径规划。根据此方法对某螺旋布料机和某预制外墙挂板建立二维布料路径规划模型,仿真结果表明,该方法能有效地缩短布料长度、减少布料时间,对预制混凝土构件的生产有一定的指导意义。To solve the problem of random distribution paths of precast concrete components,a method of dividing the distribution area into multiple distribution sub-areas is designed by meshing the distribution area.The total length of the path is divided into cloth length and non-cloth length,of which the cloth length is a certain value,and the cloth operation is planned for the sub-areas,and the cloth width corresponding to the number of discharge openings is calculated.Using the enumeration method and dynamic programming algorithm,the distribution path planning model for the set of the discharge port and the distribution sub-area of the auger is established,the decision value in the multi-stage decision-making is calculated,the model with the shortest non-distribution length as the goal is solved,the shortest cloth path is got,and the full coverage path planning of the auger for the cloth area is completed.According to this method,a two-dimensional distribution path planning model is established for a auger and a prefabricated exterior wall siding.The simulation results show that this method can effectively shorten the distribution length and reduce the distribution time,and has certain guidance for the production of precast concrete components.

关 键 词：预制混凝土构件 螺旋布料机 布料路径规划 枚举法 动态规划算法 

分 类 号：TB491[一般工业技术]