基于STM32F407的物流搬运车设计
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摘要
针对物流自动化分拣搬运系统,设计了以STM32F407为核心的物流搬运车。设计通过条形码扫描模块MJ2060读取代表物品信息的条形码,实现分拣功能。通过单片机控制舵机的转动进而控制机械爪的开合程度,实现搬运功能。利用灰度传感器检测地面轨迹的灰度值来识别路径,完成循迹。并采用增量式PID控制,保证电机的平稳运行。具有液晶显示功能,能够实时显示扫描结果、电机转速、小车位移量、小车运行状态。经实验验证,搬运车能够在物流配送中心实现自动分拣搬运功能。
A design of a logistics truck is proposed in this paper which is based on STM32 F407 and is applied to the logistics automatic sorting and conveying system.The truck reads the bar code representing the item information through the barcode scanning module MJ2060 that achieves the sorting function.STM32 controls the rotation of the servo.Servo controls the opening and closing of the gripper which achieves the conveying function.The gray sensor identifies the path and completes the tracking by detecting the gray value of the ground track,which achieves tracking function.Use incremental PID control to ensure the smooth operation of the motor.It can display the scan results,motor speed,truck displacement,and the running status of the truck in real time.Experiments show the truck can realize the function of sorting and conveying in the logistics distribution center.
A design of a logistics truck is proposed in this paper which is based on STM32 F407 and is applied to the logistics automatic sorting and conveying system.The truck reads the bar code representing the item information through the barcode scanning module MJ2060 that achieves the sorting function.STM32 controls the rotation of the servo.Servo controls the opening and closing of the gripper which achieves the conveying function.The gray sensor identifies the path and completes the tracking by detecting the gray value of the ground track,which achieves tracking function.Use incremental PID control to ensure the smooth operation of the motor.It can display the scan results,motor speed,truck displacement,and the running status of the truck in real time.Experiments show the truck can realize the function of sorting and conveying in the logistics distribution center.
引文
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[2]周柱.基于STM32的智能小车研究[D].成都:西南交通大学,2011.
[3]刘扬武.基于单片机的循迹智能小车控制系统设计[J].电子技术与软件工程,2016(18):107-109.
[4]徐锦钢,孙俊杰,韩丹丹.直流电机驱动和调速研究[J].科学时代,2015(8):118-118.
[5]焦斯乾.基于条码技术的仓储物流管理系统设计[J].电脑知识与技术,2016,12(3):12-13.
[6]高月华.基于红外光电传感器的智能车自动循迹系统设计[J].光电技术应用,2009,30(1):134-137.
[7]吕书信,张北伟,王橙泽.基于STM32分拣搬运机器人控制系统设计[J].国外电子测量技术,2016,35(9):101-104.
[8]帅盼,张海宁,白福,等.基于超声波测距的汽车倒车避障系统设计[J].国外电子测量技术,2016,35(10):54-57.
[9]周继裕,张坤忠,许雪威,等.基于PID算法和STM32的分拣搬运机器人设计[J].国外电子测量技术,2017,34(4):122-125.
[10]陈思思,黄宣琳,黄永梅,等.基于编码器测速的双闭环控制系统性能分析[J].国外电子测量技术,2017,36(11):30-33.
[11]文波,孟令军,张春晓,等.基于增量式PID算法的水温自动控制器设计[J].仪表技术与传感器,2015(12):113-116.
[12]王玲玲,孙艳丽,王康.基于激光传感器路径识别与算法实现[J].电子设计工程,2016(24):26-28.
[13]赵斌,高宏力.搬运机器人控制系统设计[J].机械设计与制造,2014(12):183-186.
[14]林文建,钟航,黎福海,等.两轮自平衡机器人控制系统设计与实现[J].电子测量与仪器学报,2013,27(8):750-759.
[15]张梅美,孙凤英.自动循迹搬运车控制系统设计[J].现代科学仪器,2013(147):111-114.