基于物联网运作平台的采摘机器人组布局优化

Layout Optimization of Picking Robot Group Based on Internet of Things Peration Platform

以采摘机器人组为研究对象,针对采摘机器人组在执行采摘任务时出现的单体机器人数量、总任务数量以及单体机器人之间的相互协同作业,基于物联网对系统模型参数和任务模型参数进行优化设计。仿真试验随着采摘机器人组当中执行采摘任务单体机器人数量的增加,执行任务所需的平均时间增加;对总任务按照分配策略进行恰当的分配组合,当单体机器人数量满足任务需求时,即可在全局范围内执行采摘任务,且耗时较短;当单体机器人数量达到一定数量后,采摘机器人组系统负荷增加,采摘过程中断率明显增加。

In this paper, taking the harvesting robot group as the research object, aiming at the number of single robots, the total number of tasks and the cooperative work between the single robots, the system model parameters and task model parameters are designed based on the Internet of things, and the system model parameters and task model parameters are optimized. Through the simulation test, with the increase of the number of single robots executing the picking task in the picking robot group system, the average time needed to execute the task increases;the total task is allocated and combined properly according to the allocation strategy, when the number of single robots meets the task requirements, the picking task can be executed in the global scope, and the time is relatively short;when the number of single robots reaches after a certain number, the system load of picking robot group increases, and the interruption rate of picking process increases obviously.