基于船舶清仓机器人系统的路径规划研究  

Research on Path Planning Based on Ship Clearance Robot System

作　　者：唐海娣 TANG Haidi(Jiangsu Navston Technology Co.,Ltd.,Suzhou 215600)

机构地区：[1]江苏耐维思通科技股份有限公司,苏州215600

出　　处：《舰船电子工程》2023年第12期233-237,共5页Ship Electronic Engineering

基　　金：国家中小企业技术创新基金(编号:14C26213201185)资助。

摘　　要：船舶散装货物卸货往往伴随着货物的积累和散落,导致影响清仓进度。目前的人工清理方式违背了港口行业自动化的发展趋势,不利于提高港口的整体经济效益。论文提出了一种自动清除方案,并对该方案的内部连接进行了梳理。该方案的应用可以使清关工作摆脱人工操作,缩短清关时间,提高散货卸货效率。论文首先提出了方案的总体设计,然后构建并介绍了方案的三个部分,包括清仓系统、感知与监控系统、清仓机器人。并采用生物激励神经网络模型,为清仓机器人设计全覆盖路径规划方法。The unloading of bulk cargo is often accompanied by the accumulation and scattering of cargo,which affects the clearance progress.The current manual cleaning mode violates the development trend of port industry automation and is not condu⁃cive to improving the overall economic benefits of the port.In this paper,an automatic cleaning scheme is proposed,and the inter⁃nal connection of the scheme is combed.The application of this scheme can make the customs clearance work get rid of manual oper⁃ation,shorten the customs clearance time and improve the efficiency of bulk cargo unloading.This paper first proposes the overall design of the scheme,and then constructs and introduces three parts of the scheme,including the clearing system,perception and monitoring system,and clearing robot.And it adopts a bio inspired neural network model to design a full coverage path planning method for the clearance robot.

关 键 词：散装货物清关 清仓机器人 路径规划 神经网络 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]