摘要
研究全自动运输系统中的AGV轮对驱动系统开发模型及训练方法。使用激光点云作为主视觉系统、三通道可见光作为辅助视觉系统;使用多嵌入主机的内部数据控制方法;使用8个深度卷积神经网络模块和2个多列神经网络模块对轮对驱动底盘进行驱动。发现该系统训练25 h后达到与人工遥控车辆同等的控制效率,训练100 h后可显著超越人工遥控效率。
The development model and training method of AGV wheelset drive system in automatic transportation system are studied. Laser point cloud is used as the main vision system and three channel visible light as the auxiliary vision system. The internal data control method of multi embedded host is used, and eight deep convolution neural network modules and two multi column neural network modules are used to drive the wheelset driving chassis. It is found that the control efficiency of the system is the same as that of the manual remote control vehicle after 25 hours of training, yet significantly higher than that of the manual remote control vehicle after 100 hours of training.
作者
王铨
WANG Quan(China Shenhua International Engineering Co.,Ltd.,Beijing 100007,China)
出处
《机械制造与自动化》
2022年第2期142-145,共4页
Machine Building & Automation
