一种仓储物流搬运机器人控制系统设计与实现
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摘要
对蓝牙控制功能的仓储物流搬运机器人的硬件、软件系统进行了设计,并在系统结构上实现。利用AT89C52型单片机、车模、蓝牙模块、红外模块、超声波模块等,使仓储物流搬运机器人可以在手机控制模式和自循迹避障模式切换。经过多次试验测试,仓储物流搬运机器人能够将货物沿着指定的路径循迹并送到指定地点,遇到障碍物可以转弯避障,并且在仓储物流搬运机器人出现故障时,可以通过安卓手机的QX蓝牙控制器APP控制物流搬运机器人的行驶路径。设计的仓储物流搬运机器人具有灵活性强、无人驾驶、工作周期长等特点,在物料运输上能提高运输效率,缩减仓库物流车的工作人员人数,降低成本,减少运输过程中人为疏忽产生的安全事故。
The hardware and software system of the warehousing and logistics handling robot with Bluetooth control function was designed and was implemented in the system structure. The AT89 C52 single-chip microcomputer,vehicle model,Bluetooth module,infrared module,ultrasonic module,etc. were used to enable switching of the warehousing and logistics handling robot between the mobile phone control mode and the self-tracking obstacle avoidance mode. After many tests,the warehousing and logistics handling robot can track the goods along the specified path and deliver them to the designated location. When it encounters obstacles,it can turn to avoid them. And when there appears a fault with the warehousing and logistics handling robot,it can control its path through the QX Bluetooth controller APP of Android mobile phone. The designed warehousing and logistics handling robot has the characteristics of strong flexibility,unmanned driving and long working cycle. It can improve the transportation efficiency,reduce the number of workers for the warehouse logistics truck,reduce the cost and reduce the safety accidents caused by human negligence in the process of transportation.
The hardware and software system of the warehousing and logistics handling robot with Bluetooth control function was designed and was implemented in the system structure. The AT89 C52 single-chip microcomputer,vehicle model,Bluetooth module,infrared module,ultrasonic module,etc. were used to enable switching of the warehousing and logistics handling robot between the mobile phone control mode and the self-tracking obstacle avoidance mode. After many tests,the warehousing and logistics handling robot can track the goods along the specified path and deliver them to the designated location. When it encounters obstacles,it can turn to avoid them. And when there appears a fault with the warehousing and logistics handling robot,it can control its path through the QX Bluetooth controller APP of Android mobile phone. The designed warehousing and logistics handling robot has the characteristics of strong flexibility,unmanned driving and long working cycle. It can improve the transportation efficiency,reduce the number of workers for the warehouse logistics truck,reduce the cost and reduce the safety accidents caused by human negligence in the process of transportation.
引文
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[3]艾青林,刘赛,沈智慧.基于双重配准的机器人双目视觉三维拼接方法研究[J].机电工程,2018,35(10):1110-1115.
[4]高润泉,张利霞,杨志成.摇杆履带式消防机器人系统在物流仓储中的应用[J].包装工程,2012(8):49-52.
[5]章鹿华,胡涵清,徐占河,等.应用于电能计量器具智能仓储的机器人系统设计与实现[J].物流技术,2015(1):290-293.
[6]王素玉,李娟,江浩,等.基于solid works码垛机器人的结构设计及其部件分析[J].机械制造与自动化,2016(1):159-162.
[7]Karaman S,Frazzoli E.Incremental Samplingbased algorithms for optimal motion planning[J].International Journal of Robotics Research,2011,30(7):326-5332.
[8]Tsardoulias E G,Iliakopoulou A,Kargakos A,et al.Areview of global path planning methods for occupancy grid MAPS regardless of obstacle density[J].Journal of Intelligent&Robotic Systems,2016,84(1-4):829-858.
[9]Ma Y,Wang H,Xie Y,et al.Path planning for multiple Mobile robots under double-warehouse[J].Information Sciences,2014,278(3):357-379.
[10]李昭,李华杰,孙建明,等.快递物流包装件分拣装置设计[J].包装与食品机械,2018,36(5):36-41.
[11]孙海,任翠平,卢军,等.激光测距在仓储搬运机器人运动中的应用[J].电子技术与软件工程,2017(1):103-104.
[12]张涛,马磊,梅玲玉.基于单目视觉的仓储物流机器人定位方法[J].计算机应用,2017(9):2491-2495.
[13]禹鑫燚,陈浩,郭永奎,等.基于线性时序逻辑理论的仓储机器人路径规划[J].高技术通讯,2016(1):16-23.
[14]黄思盛,李天剑,尹宗博.单目视觉的仓储机器人转弯点识别与定位算法[J].北京信息科技大学学报(自然科学版),2015,30(5):79-82.
[15]陈健殷,陈世伟.基于SolidWorks Simulation的小型载重仓储机器人车架静力学分析[J].东莞理工学院学报,2017(3):55-62.
[16]吴昊天,刘俊杰,刘凯鉴.基于特殊地标和模糊PID控制的自矫正仓储移动机器人设计[J].工业控制计算机,2017(10):37-39.
[17]刘英东,胡亚敏,丁日林,等.双相钢复合板制封头成型工艺与材料要求[J].压力容器,2018,35(1):73-78.