基于openTCS的移动机器人集群调度系统  

Mobile Robot Scheduling System Based on openTCS

作　　者：黄伟溪 李丽丽[2] 李文威 周磊 江淑玲 HUANG Weixi;LI Lili;LI Wenwei;ZHOU Lei;JIANG Shuling(South China Robotics Innovation Research Institute,Foshan 528300,China;Shunde Ploytechinc,Foshan 528300,China;Foshan Zhiyouren Technology Co.,Ltd.,Foshan 528300,China)

机构地区：[1]华南智能机器人创新研究院,广东佛山528300 [2]顺德职业技术学院,广东佛山528300 [3]佛山智优人科技有限公司,广东佛山528300

出　　处：《自动化与信息工程》2022年第6期27-33,共7页Automation & Information Engineering

基　　金：佛山市顺德区核心技术攻关项目(2130218003022)。

摘　　要：针对工业搬运过程中多移动机器人协同作业的需求,提出基于openTCS的移动机器人集群调度系统。首先,介绍系统整体架构和组成;然后,详细阐述移动机器人运动控制、多机协同的即时定位与地图构建(SLAM)以及移动机器人与调度系统的通讯关键问题;最后,以工业物料搬运为例,完成系统搭建并进行运行测试。测试结果表明,该系统能够同时控制多台移动机器人高效地完成物料搬运任务。In order to meet the requirements of multi mobile robots working together in the industrial handling process,a mobile robot cluster scheduling system based on openTCS is proposed.First,introduce the overall architecture and components of the system;Then,the key problems of mobile robot motion control,real-time location and map building(SLAM)of multi machine cooperation,and communication between mobile robot and scheduling system are described in detail;Finally,taking industrial material handling as an example,the system is built and tested.The test results show that the system can control multiple mobile robots to carry materials efficiently.

关 键 词：移动机器人 集群调度 多机协同 即时定位与地图构建 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TN965.8[自动化与计算机技术—控制科学与工程]