物流仓储移动机器人系统设计与路径规划研究

发布时间：2018-07-26 10:40

【摘要】：近年来,随着我国物流产业的发展,物流仓储机器人市场需求也日益增强,物流仓储机器人管理系统已经逐渐变得更自动化和智能化。物流仓储机器人管理系统中,用机器人来代替人进行工作,不但可以节约人力成本和减少搬运不当对人造成的伤害,而且可以提高仓储系统的工作效率。因此,本文设计了基于STM32的物流仓储移动机器人系统,模拟实现了物流仓储中物料入库信息管理的功能。本文具体完成以下的主要工作:首先,根据物流仓储移动机器人系统设计的要求,给出了具体实现方案,并规划出系统的工作流程。其次,结合系统设计的具体要求,设计并搭建了物流仓储移动机器人的硬件结构,硬件结构由主控芯片、电源模块、RFID读卡模块、红外传感器避障模块、XBee无线通信模块、舵机模块、QTI巡线模块等组成。再次,根据硬件模块化设计以及系统设计的要求,对物流仓储移动机器人系统进行软件设计,软件设计分为下位机软件设计与上位机软件设计。然后,对物流仓储移动机器人的路径规划算法也做出了研究,论文主要对A*算法和萤火虫算法做出了研究并改进,改进后算法的有效性通过实验仿真得到了验证。最后,搭建了物流仓储移动机器人的实验平台,包括场地、物料、货架等实物的设计,完成了机器人的无线通信以及物料扫描功能的测试,同时成功实现了物流仓储移动机器人系统物料入库管理的功能。
[Abstract]:In recent years, with the development of logistics industry in our country, the market demand of logistics warehousing robot is increasing day by day, and the management system of logistics storage robot has become more automatic and intelligent. In the logistics warehouse robot management system, the robot can not only save the labor cost and reduce the harm caused by improper handling, but also improve the working efficiency of the storage system. Therefore, a mobile robot system of logistics storage based on STM32 is designed in this paper, and the function of information management of material storage in logistics storage is realized by simulation. The main work of this paper is as follows: firstly, according to the requirements of the design of the logistics storage mobile robot system, the implementation scheme is given, and the working flow of the system is planned. Secondly, according to the specific requirements of the system design, the hardware structure of the logistics storage mobile robot is designed and built. The hardware structure is composed of the main control chip, the power supply module and the RFID card reading module, the infrared sensor obstacle avoidance module and the XBee wireless communication module. Steering gear module QTI inspection module and other components. Thirdly, according to the requirements of hardware modularization design and system design, the software design of logistics warehousing mobile robot system is carried out. The software design is divided into lower computer software design and upper computer software design. Then, the path planning algorithm of logistics storage mobile robot is also studied. The paper mainly researches and improves the A* algorithm and the firefly algorithm. The effectiveness of the improved algorithm is verified by experimental simulation. Finally, the experiment platform of the logistics storage mobile robot is built, including the design of the physical objects such as the site, the material, the shelf, the wireless communication of the robot and the testing of the material scanning function. At the same time, the function of material storage management in logistics storage mobile robot system is successfully realized.
【学位授予单位】：湖南工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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