纺纱车间棉条筒自动运输系统设计  

Design of automatic transportation system for cotton barrels in spinning workshop

作　　者：周红雷 陈革 方丹丹[1] ZHOU Honglei;CHEN Ge;FANG Dandan(College of Textiles and Clothing,Xinjiang University,Urumqi 830046,Xinjiang,China)

机构地区：[1]新疆大学纺织与服装学院,新疆乌鲁木齐830046 [2]东华大学机械工程学院,上海201620

出　　处：《上海纺织科技》2023年第3期19-22,38,共5页Shanghai Textile Science & Technology

摘　　要：针对纺纱车间人工搬运棉条筒劳动强度大、效率低、不便于生产管理等问题,设计了一种棉条筒自动运输系统。该系统基于机器人操作系统(ROS)搭建的自动引导运输车(AGV),采用激光雷达导航,用Gmapping算法构建环境地图,应用AStar和Teb混合的路径规划算法自主规划行驶路径,采用AMCL辅助定位,可最终实现AGV的自主导航功能。模拟场景试验结果表明:手动控制AGV构建地图误差在1 cm左右;在0.5 m/s的安全速度下,AGV自主导航定位的距离误差小于7 cm,角度误差小于5°;在避障试验中,动态加入障碍物,AGV能够扫描到障碍物并重新规划路径进行避障。所设计的棉条筒自动运输系统可为纺纱车间的智能化改造提供参考。Aiming at the problems of heavy labor intensity,low efficiency and inconvenience in production management in manually transporting cotton barrels in spinning workshop,an automatic transportation system for cotton barrels is designed.The system is based on the automatic guided transport vehicle(AGV)built by the robot operating system(ROS),uses laser radar navigation,uses Gmapping algorithm to build the environment map,uses AStar and Teb hybrid path planning algorithm to independently plan the driving path,and uses AMCL assisted positioning to finally realize the autonomous navigation function of AGV.The simulation scene test results show that the map error of manually controlling AGV is about 1 cm.At the safe speed of 0.5 m/s,the distance error of AGV autonomous navigation and positioning is less than 7 cm and the angle error is less than 5 degrees.In obstacle avoidance experiment,obstacles are dynamically added,and the AGV could scan the obstacles and re-plan the path for obstacle avoidance.The designed automatic transportation system for cotton barrels can provide a reference for the intelligent transformation of spinning workshops.

关 键 词：纺纱车间 棉条筒 自动引导运输车 机器人操作系统 运输系统 自主导航 

分 类 号：TS103.7[轻工技术与工程—纺织工程]