面向多机器人协同控制的智能调度系统的设计与实现  

Design and Implementation of Intelligent Scheduling System for Multi-Robot Collaboration Control

作　　者：苏卫星 薛桐森 

机构地区：[1]天津工业大学,计算机科学与技术学院,天津

出　　处：《计算机科学与应用》2019年第8期1507-1518,共12页Computer Science and Application

基　　金：天津市自然科学基金(18JCQNJC77200).

摘　　要：目前在对于协同使用多种机器人达到生产目的工厂中,多数同时存在多种系统,数据在多系统之间存在信息壁垒,生产效率也因为信息流通迟滞而比较不足。针对这种现状并在骏通自卸车间实践项目基础上提出一种基于OPC工业标准的数据采集以及Socket通信技术的多机器人协同自动化智能调度系统的解决方案。使用Kepware工具对PLC的数据IO点进行读取和写入等交互操作,数据采集对象包括CLOOS焊接机器人,SINSUN的AGV以及工装库,实现对现场数据接收、流转、回收的实时监控,使得各机器人之间的信息得到汇总,并对各种机器人的状态进行实时监控与管理。同时利用智能调度策略来对生产中箱板材料种类进行控制并进行生产路径优化并实现柔性制造,该方案可以使箱板材料产量增加,并对材料种类进行控制,防止出现单一材料过剩,同时提高整体生产效率以及时间成本。At present,in the factories that use a variety of robots to achieve the production purpose,most of the systems exist at the same time.Data have information barriers between multiple systems,and production efficiency is also insufficient due to sluggish information flow.Aiming at this situation and based on the practical project of Juntong Dumping Workshop,this paper proposes a solution of multi-robot collaborative automation intelligent dispatching system based on OPC industry standard data acquisition and Socket communication technology.It uses Kepware tool to read and write data IO points of PLC.The data acquisition objects include CLOOS welding robot,SINSUN AGV and tooling library,realizing real-time monitoring of onsite data receiving,circulation and recycling,making the information of each robot between them summarized and the status of various robots monitored and managed in real time.At the same time,the intelligent scheduling strategy is used to control the types of box materials in production and optimize the production path and realize flexible manufacturing.This scheme can increase the output of box materials and control the types of materials to prevent the surplus of single materials and improve overall production efficiency and time cost.

关 键 词：实时追踪 柔性制造 自动化管理 SOCKET网络通信 多机器人协同 路径优化 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]