Structure Extension Design And Simulation Of Mobile Transport Robot In Ros Environment

Mobile Transport Robot(MTR),as a transportation vehicle,plays a significant role in many practical scenarios,such as plants,entrepot and so on.How to meet the transportation needs of different users under different application scenarios is an important research and development direction of mobile transportation robot product development.At present,the research and development focus of MTR lies in algorithms,such as better mapping algorithm,better path planning algorithm,better obstacle avoidance algorithm,etc.However,when it comes to the product level,MTR needs not only excellent algorithms,but also excellent structure,so as to better play the real strength of the algorithm.At present,development engineers mostly use brainstorming method,experience method,trial and error method to carry out MTR structure design.This kind of design method has obvious uncertainty,difficult to satisfy the needs of users,but also closely related to the experience of development engineers,and is poor in operability.In this paper,combining the domain knowledge of MTR,the domain knowledge of mechanical structure design and the extension innovation method,basing on the needs of users,the structure of MTR under the ROS(Robot Operating System)environment is studied,and the creative set of structural extension design of MTR is obtained.Then,the ROS simulation technology is used to simulate and evaluate the acquired creative sets.And combined with the domain knowledge to determine the measurement index,using the evaluation method of excellence,the MTR structural design idea with high concentration of excellence is selected,and the MTR structural design scheme is formed.The major study details of this article are listed as follows:(1)Take the indoor material handling application scene of the factory as an example,on the basis of the market feedback and market research,the user needs are obtained.According to the extension model building method,the matter element model of user needs is set up,and then on the basis of the implication analysis method,the implication analysis of user need matter element is put into effect,so as to gain the next user need matter element which is convenient for implementation.The two major user needs of transporting materials and loading and unloading materials are focused in this paper.(2)According to the relationship between user needs and the functions of MTR,as well as the construction specification of the extension model of functions,the demand metamodel obtained from the above implication analysis was mapped to the functional composite metamodel.Basing on the domain knowledge of MTR,the functional composite metamodel was divided into three categories: central layer,auxiliary layer and executive layer.Among them,the central layer is responsible for information processing,path planning,movement control and other functions;The auxiliary layer is responsible for sensing information,supplying power and other related functions;The executive layer is responsible for executing actions and loading and unloading materials.Then,based on the implication analysis method,the functional complex element was analyzed,and 7 functional complex metamodels for "transporting materials" and 2 functional complex metamodels for "loading and unloading materials" were obtained.(3)According to the principle of function-structure mapping,as well as the structure of the construction of the extension model specification,the function of composite model is mapped to the structural composite metamode.Combined with the knowledge of MTR field,the structural composite element and the mechanism or component matter element forming the structure are analyzed by divergent analysis and extension transformation,and the structural composite element model of mechanism or component is obtained,and then the overall structural design ideas of MTR are combined to form,and the creative set of structural design is formed.(4)According to the structural design ideas obtained,the ROS simulation model was created and the simulation evaluation was conducted.Then select the measurement index according to MTR domain knowledge.According to the evaluation and scoring of domain experts,the optimal structural design ideas in the creative set of structural extension design are singled out and the structural design scheme will come into being by using the way of excellence evaluation.In this article,the extension innovation method is wielded to the structural design research of MTR,which provides an operable method combining qualitative and quantitative methods for generating the structural design ideas of MTR.It isn't only responding effectively and meeting the needs of users,but also is easy to be mastered by R&D engineers,so as to improve the development efficiency of MTR and shorten the development cycle.For the first time,ROS simulation technology was combined with the evaluation method to make the optimized structural design ideas more effective in MTR structural design creative selection.The structural design ideas obtained in this paper have been adopted by LY Company.In addition,according to the method of this study,a utility model patent had been applied and obtained the acceptance license.It also shows that this method has good practical value in MTR structure design.