似风电机组总装环境中基于改进基因比对的多自动引导车碰撞预检测  

Multi-AGV Collision Pre-Detection Based on Improved Gene Alignment in Wind Turbine Assembly Environment

作　　者：张政 ZHANG Zheng(R&D Center,Beijing Goldwind Sci Tech Wind Power Equipment Co.,Ltd.,Beijing 100176,China)

机构地区：[1]北京金风科创风电设备有限公司研发中心,北京100176

出　　处：《自动化应用》2024年第21期66-73,共8页Automation Application

摘　　要：自动引导车路径规划是影响似风电机组总装环境(WTAE)效率的重要因素,多自动引导车碰撞预检测是路径规划的关键步骤。由于WTAE的特殊性,传统的基于时间窗的碰撞预检测法对于LCEs存在其局限性。针对基于时间窗的多自动引导车碰撞预检测法不能根据碰撞类型自动调整检测精度的问题,提出改进的基于基因比对的多自动引导车碰撞预检测方法。首先,通过对WTAE中的节点(路径)编号,完成环境的抽象;其次,根据自动引导车的路径规划结果所含信息,建立得分矩阵;然后,通过回溯得到多组路径(时间)比对结果;最后,综合路径(时间)比对结果得到碰撞可疑发生区域。结果表明,与传统方法相比,所提出的改进方法可有效提高WTAE中多自动引导车碰撞预检测的质量。AGV path planning is an important factor affecting the efficiency of large-scale chessboard environments(LCEs),and multi-AGV collision pre-detection is a key step in path planning.Due to the particularity of WTAE,traditional collision pre-detection methods based on time windows have limitations for WTAE.Aiming at the problem that the multi-AGV collision pre-detection method based on time window cannot automatically adjust the detection accuracy according to the collision type,an improved multi-AGV collision pre-detection method based on gene alignment is proposed.Firstly,by numbering the nodes(paths)in WTAE,the environment is abstracted.Secondly,based on the information contained in the path planning results of the automatic guided vehicle,establish a scoring matrix.Then,multiple sets of path(time)comparison results are obtained through backtracking.Finally,the collision suspicious area is obtained by comparing the comprehensive path(time)results.The results show that compared with traditional methods,the proposed improved method can effectively improve the quality of multi-AGV collision pre-detection in WTAE.

关 键 词：似风电机组总装环境 自动引导车 路径冲突检测 时间窗 基因序列比对算法 

分 类 号：TP399[自动化与计算机技术—计算机应用技术] TP29[自动化与计算机技术—计算机科学与技术]