Điều khiển đồng bộ hệ thống robot thông minh vận chuyển hàng trong kho

[ Biii Quang Vuong vdf)/^ Tap chi KHOA HOC & CONG NGHE 169(09) 229-232

DIEU KHIEN DONG BQ HE THONG ROBOT THONG MINH VAN CHUYEN

HANG TRONG KHO

Biii Quang Vu'omg', fiang Xuan Kien', Pham Tam Thanh^'

'Trudng Dgi hoc Giao thdng vgn Idl Tp.HdChiMinh

Ti-itdng Dgi hoc Hdng hdi VielNam

TOM TAT

Trong bai bao niy, chung toi dieu khien dong bg h£ thong robot van chuyen hang trong kho, sii

dyng thuat toan Dijkstra de tim ra duong di toi uu nhat cho Robot tu hanh bam dudng vach van

chuyen hang frong kho, va thuSt toan dong bp tranh va cham giiSa cac robot Day la mot he th6ng

gom mpt trung tam di ^ khi^n ket noi khong day vdi cac robot tir hanh bam dudng vach de dieu

khien cac robot v ^ chuyen hang tdi diem dich xac dinh Mo hinh robot v ^ chuyen hang d5 duoc

che tao thii nghiem Thu^t todn Dijkstra, thuat toan dong bo duoc lap trinh va duac cai dat trong

bq dieu khien trung tam d^ dieu khien cac robot Cac k^t qua thuc nghiem chiing td thuat toan

Dijkstra cho dap iing t6t Vdi cac k^t qua thu dupc la co sd de che tao robot van chuyen hang trong

kho, dap img y^u c^u cua thuc tien san xuat.

Tu Idioa' Mo hinh robot vgn chuyen, robot tu hdnh, thugt todn Dijkstra, trdnh va, dieu khien

DAT VAN DE

Robot tu hanh bam dudng vgch hien nay da

dugc ling dung trong rapt so nha xudng san

xuat giiip con ngudi van chuyen hang hda tot

hon. Neu so sanh vdi nhiing xe nang, bang

chuyen thi robot chi phi che tgo cao ban,

Nhung robot Igi cd uu diem la ca dpng han.

Tuy nhien de nhieu robot hoat ddng ciing liic

van chuyen hang tdi cac trgm dich khac nhgu

vdi thdi gian nhanh nhat va quang dudng ngan

nhat la muc tieu cua hp thong dieu khien,

6 trong nude da cd rapt so cong trinh nghien

ciiu dieu khien robot tu hanh bam duong

vach, bam myc tiSu [1-5]. Tren the gidi, cd

nhieu nhdm nghien ciiu da dat duac nhung

thanh tyu dang ke ve dieu khien robot di

dpng Trong cac doi tugng robot di ddng thi

robot ty hanh cung la mpt thanh phan, nhdm

tac gia Tae-II Kim, Wook Bahn, Changhun

Lee, Tae-jae Lee, Muhammad Muneeb Shaikh

and Kwang-soo Kim cua Han Quoc da phat

trien h% thong tim dudng tdi myc tieu cho

robot tu hanh dua tren hp thong stereo camera,

he thong nay luon hudng tdi muc tieu tren he

tpa dp de tim dugc dudng di tdi dich [8].

Trong bai bao nay, tac gia ap dyng tiiuat toan

Dijkstra va tiiuat loan dong bp tranh va cham

vao dieu khien md hinh he thong robot van

chuyen hang trong kho va da thda man duoc

yeu cau dgl ra la cac robot vgn chuyen hang

tdi tram dich vdi thdi gian va quang dudng toi

uu nhat.

MO HINH HE THONG ROBOT THONG

MINH VAN CHUYEN HAN G

' Tel: 0904 922923, Email: [email protected]

Nhu minh hga tren Hinh I, robot gom cd cac

thanh phan: Dong co va encoder cac banh,

mgch dieu khien, chip ket noi witi, pin nguon,

mgch nguon, cam bien nhan vach, cam bien

sieu am tiinh vgt can He thong gom mpt bp

trung tam dieu khien ket noi khong day vdi cac

robot ty hanh bam dudng vach. So do kho la

radt do till ma cac cGnh ciia do thi la tpa dp diem

giao nhau hogc toa dp tram giao nhan hang.

Khi fram giao nhgn hang A truyen tin hieu

dieu xe robot len trung tam dieu khien thi

trung tam dieu khien se tinh toan va lua chon

robot de dieu den diera Iam viec thyc hipn.

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