传统自动导引车(Automatic Guided Vehicle,AGV)多以单一工作环境(室内)定位导航为主.针对AGV在室内外连续定位过程中,由于光照变化、遮挡等因素引起的定位丢失或不可靠的问题,提出一种基于里程计、激光雷达(LiDAR)和全球导航卫星系统(GNSS)的室内外连续定位方法.在室内环境下,采用扩展卡尔曼滤波算法对里程计和LiDAR进行融合定位.通过LiADR获取测量方程可有效抑制里程计长时累计更新误差,从而提高系统的鲁棒性.在室外环境下,采用里程计、GNSS进行融合定位,在遮挡导致GNSS信号弱的情况下,里程计数据可有效修正GNSS数据偏差,从而提高定位稳定性.同时,为解决因定位信号源切换导致的AGV连续定位精度、稳定性降低的问题,提出了一种基于扩展卡尔曼的多模型连续定位滤波方法,利用GNSS和LiDAR协方差、水平精度因子等进行动态计算以估计AGV定位信号源,最终实现AGV的自适应信号源平滑切换,提高室内外连续定位的精确度和鲁棒性.实验结果表明,AGV定位轨迹最大绝对真值误差(MATE)在0.5 m以内,平均绝对真值误差(AATE)在0.122 m以内.

为了提高柑橘采摘效率,对柑橘采摘的最优路径进行研究.将柑橘采摘的路径规划抽象为旅行商问题的解集,建立柑橘果实点3维模型.在蚁群算法的基础上,引入随时间改变的自适应信息素浓度更新机制,提出改进的蚁群算法.仿真实验结果表明:改进蚁群算法的路径长度比蚁群算法的路径长度短;改进算法采用蚁周模型进行路径规划时有较高的效率.

自动导引车(Automated Guided Vehicle,AGV)是智能仓储系统中的重要的组成部分.然而当前AGV多以轻载为主(1.5T以下),无法满足重载情况需求.由于重载AGV和轻载AGV控制系统在控制性能、安全性能需求上均存在差异,适用于轻载AGV的运动控制方法无法满足重载AGV的要求.为解决此问题,针对智能仓储可靠性高、安全性高、载重性高的需求特点,设计一款实用型全向重载AGV运动控制系统.系统以工业控制计算机为控制核心,采用全向舵轮进行了运动学模型分析搭建和运动解算;并提出一种基于序列磁场比值的模糊PID控制器算法实现轨迹跟踪.为了验证提出算法在全向重载AGV运动控制系统中的安全性、可靠性与载重性能,使用此系统进行实验验证,结果表明其安全性、可靠性、载重性能均可满足智能仓储运输使用需求.

This paper describes the application of the XC164CM in the asynchronous motor slip control system.The advantage of the powerfully computational capability and the CAPCOM6 unit which adapts to the motor control of the XC164CM are taken.This system,which adopts two closed loop control algorithm,achieves a faster and timely performance for the slip frequency control system.

This passage puts forward an indirect speed test method of the separately excited motor,which can calculate the motor speed quickly by controlling the parameters of main current,armature current and exciting current of the motor.So it can solve the speed test question of the separately excited motor,when the motor has no speed sensor.This method is not only simple,but also easy to achieve.And the experimental data and results are presented.

An OC gate current limiting circuit which breaks through the traditional way,limits the motor current directly without detection and protects the motor current directly by hardware circuit is proposed based on the traditional limiting method which monitors the motor current and then limits it for motor protection by Holtz and magnet ring.The voltage drop produced by letting the preset maximal current pass through the switch is taken as the reference voltage,and letting the real current pass through the switch is taken as the comparing voltage value.When the real current is greater than the preset maximal current and the comparing voltage is greater than the reference voltage,the OC gate circuit will shut off the signal control circuit which generates the control signal of the switch.Otherwise,when the real current is less than the preset maximal current,the switch works normally.Therefore,it can quickly limit the current to the preset maximal current when the current surges over the preset maximal current.The results show that the circuit has the characteristics of short response time,high control precision and low cost,etc.

An OC gate current limiting circuit which breaks through the traditional way,limits the motor current directly without detection and protects the motor current directly by hardware circuit is proposed based on the traditional limiting method which monitors the motor current and then limits it for motor protection by Holtz and magnet ring.The voltage drop produced by letting the preset maximal current pass through the switch is taken as the reference voltage,and letting the real current pass through the switch is taken as the comparing voltage value.When the real current is greater than the preset maximal current and the comparing voltage is greater than the reference voltage,the OC gate circuit will shut off the signal control circuit which generates the control signal of the switch.Otherwise,when the real current is less than the preset maximal current,the switch works normally.Therefore,it can quickly limit the current to the preset maximal current when the current surges over the preset maximal current.The results show that the circuit has the characteristics of short response time,high control precision and low cost,etc.

The limit load control of reachstacker based on CAN bus is the most popular reachstacker control system.This system is the combination of PLC,HMI,Engine,and Gear-box through the CAN bus.In this way,the reachstacker control system will be more reliable and more accurate.In order to fully use engine power,the Limit Load Theory is used to implement the matching of engine and pump.In the paper,a method of Limit Load Theory Based on CAN bus is given,which can prevent flameout of engine and improve engine efficiency.

One of the important parts of the dash board of a forklift is the fuel meter,which is mainly used to indicate the remaining oil.Through the meter,we could monitor engine to ensure it works in a safety situation.Digital filtering technology is an important signal processing method in denoising and eliminating interference.Applications of two digital filtering methods: arithmetic average filtering and limiting filtering are studied in the oil meter.General method and the steps of a new digital filtering are presented.Experimental results show that the digital filtering technology can increase the precision of oil scale measurement and has a good practicability.

In order to address frequent engine shutdowns due to overload when it is under heavy duty,this paper puts forward a speed feedback based anti-flame control method by use of incremental PD control algorithm to control the loss of engine speed at an appropriate level,by analysis of the matched powers between engine and hydraulic system and research of performance of the engine,ensuring not only that the engine will not shut off while its torque capacity is fully used,but also maintains a stabilized rotation speed.The method has been proved to be effective by the field test on Heli RS4532 stacker.

Under the conditions that the equipment addition is limited and it is expected to improve efficiency,memory usage and reduce image size,to use the algorithm of Octree structure has a certain degree of difficulty to quantize a source image to the image that has an arbitrary limited number of colors.This problem is analyzed and studied deeply in the paper,a modified algorithm that combines Octree algorithm with clustering analysis algorithm is put forward,which firstly uses the algorithm of Octree to quantize the source image to the image that has limited colors of equipment and then uses the algorithm of clustering analysis to quantize the image to the image that has limited number of colors,afterward adjusts pallet.The modified algorithm proved its effectiveness in the experiments.

Due to the defects of field bus,such as low communication rate and high cost,a new control system based on TCP/IP protocol was designed to embed control system with Server/Client structure. The communication network system,software structure and control method were described in detail. XML language was used to transfer frame data through TCP/IP Ethernet. Message queue scheduling algorithm and data clustering at memory sharing buffer technology were introduced to enhance the system's real-time response performance and meet the function of warning and control. The experimental result shows that it adopts industrial Ethernet bus with the advantages of high rate of communication,good compatibility and low cost. This design is a feasible and efficient method for computer aided driving and control system in vehicle.

SVPWM is selected in the controlling system of AC asynchronous motor.The basic principle of SVPWM is presented.A SVPWM system is designed using TMS320LF2407A DSP of TI.The experimental result indicates that the proposed method is feasible,the controlling effect is good.Therefore,it will be used widely.

It is briefly introuduced that how to divide exposure time of the hyperspectral imaging system based on LCTF.The calibration method and its system is described.The calibration method elaborated in details is from dark current,linearity and uniformity of response and stability of the imaging system.The calibration experiment to the imaging system is taken place in the lab.and the radiometic correction coefficient is obtained.A group of image data acquired in January,2008 on site field can be used to validate the radiometic correction coefficient.It is certified according to the analysis of the image data that the radiometic correction coefficient can be used to radiometic correction of optical image and further more to realize the qulification of the image data in reomote sensing area.

In using the ADC module in TMS320LF2407A for sampling-circuit,the external impedance is of vital importance.If the external impedance is not properly selected,the sampling-results will be inaccurate,and will also affect the digital signal processing.The problems of the external impedance matching in sampling-circuit are analyzed in the paper.Meanwhile some issues that are important in the application of the ADC module are summarized.

This paper introduces a data transmission approach based on high speed serial communication interface with preemptive task scheduling algorithm and Round-Robin and buffer pool.The method provides influent,synchronal and real-time downloading video stream in air.It is applied for large volume data transmission between air borne and ground and takes an important role in traffic surveillance.

Based on LCTF (Liquid Crystal Tunable Filter) a hyper spectral data acquisition and storing system onboard of airship is introduced in the paper. The data acquisition system consisted of an optic lens, a LCTF and a. CCD camera. Using by electric tune method, the hyper spectral data of the objects on ground which consists of 16 wavelengths from 420nm to 720nm with 20nm high resolution were obtained at the experiment. The system function and structure of PC104 based hardware and software are elaborated. In the system a HDF data format which specially suites for remote sensing field was used for data storing. The experiments showed that this data acquisition system could meet the requirements of a remote sensing application.

Better visibility instruments play very important role in monitoring the weather conditions on highway.A new instrument adopting two-light-way and DSP technologies is proposed in this paper.The results of tests show that the apparatus has many advantages such as good reliability and broad measuring scope.

The paper introduces the structure and the source of MC68HC908AP32 chip and the hand-held programmer developed by chip for car controller.The system design and realization are presented in detail,indicating the particularity in the development process.

具有分布式和并行性的群体决策支持系统(GDSS)是决策支持系统(DSS)的发展趋势.由于Multi-Agent 系统(MAS)与GDSS之间的相似性,基于Multi-Agent系统的GDSS研究成为热点研究领域.针对目前基于MultiAgent系统的GDSS研究中多Agent采用集中式结构、决策任务的结构化要求等局限性,本文提出了一种基于Multi-Agent系统的群体决策支持系统通用结构框架,系统中的各Agent是相互独立自主的,通过相互合作实现决策任务.文中详细描述了系统各组成部分的功能及相互关系,同时采用BNF范式进行了形式化定义.本文设计的系统为GDSS的进一步深入研究提供了一条新的有效途径.