仓储搬运机器人控制系统设计与实现

发布时间：2018-01-07 19:36

本文关键词：仓储搬运机器人控制系统设计与实现　出处：《南京理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着"中国制造2025"规划的提出,智能化生产理念受到越来越多的重视,其中物流行业就是一个代表。传统的物流作业模式由于存在劳动力成本高、安全性较差、效率低等问题,已经无法满足物流行业快速发展的需求。为弥补传统模式的不足,需要采用更智能化的设备以代替人工完成搬运工作。在此背景下,本文设计并实现了一种仓储搬运机器人控制系统。首先,根据系统的实际功能需求,结合机器人的性能指标参数,提出了仓储搬运机器人控制系统的总体设计方案。针对机器人的工作环境,设计了一种惯性测量技术、二维码识别技术与灰度循迹技术相结合的室内导航定位方式,并介绍了潜入式仓储搬运机器人的机械结构。基于理论分析与计算,完成了系统核心部件的选型。其次,采用模块化设计思想,完成了以MSP430F5438为核心的控制系统硬件电路设计,主要包括:最小系统模块电路设计、电源管理模块电路设计、运动控制模块接口电路设计、导航定位模块接口电路设计、无线通信模块接口电路设计以及安全避障模块接口电路设计,并完成了印制电路板的设计与制作。然后,完成了仓储搬运机器人控制系统的软件设计,主要包括软件系统总体构架设计、初始化模块设计、中断模块设计、数据采集模块设计、车体运动控制模块设计和无线通信模块设计等。采用模糊PI控制策略和PD控制策略分别对机器人的速度和方向进行控制,保证了仓储搬运机器人工作的抗干扰性。采用S曲线加减速算法保证了机器人启停过程的平滑性。最后,对仓储搬运机器人控制系统进行了分模块测试,并在实验室搭建了模拟场景,完成了控制系统的联合调试。实验结果表明,机器人控制系统能较好地满足系统设计要求,初步验证了整个控制系统的有效性。
[Abstract]:With the "Chinese 2025" plan proposed, intelligent production concept is paid more and more attention, which is a representative of the logistics industry. The traditional logistics operation mode due to high labor costs, low security, low efficiency problems, has been unable to meet the rapid development of logistics industry needs to compensate for the shortcomings of traditional mode. That requires the use of more intelligent devices to replace the manual to complete handling work. Under this background, this paper designs and implements a warehouse handling robot control system. Firstly, according to the actual demand of the system function, combined with the performance parameters of the robot, put forward the overall design of the control system for the robot. The robot warehouse work the environment, design a kind of inertial measurement technology, indoor navigation and positioning methods of two-dimensional code recognition technology and gray tracking technology combined, and introduces the The mechanical structure of submerged warehouse handling robot. Based on the theoretical analysis and calculation, selection of the core components of the system. Secondly, based on the idea of modular design, completed the design, the hardware circuit of control system with MSP430F5438 as the core mainly includes: the minimum system module circuit design, power management module module interface circuit design, control circuit design movement, navigation and positioning module interface circuit design, wireless communication module interface circuit design and security obstacle avoidance module interface circuit design, and completed the design and production of printed circuit board. Then, complete the software design of transport robot control system of storage, including the overall framework of the software system design, initialization module design, interrupt module design. Design of data acquisition module, vehicle motion control module and wireless communication module design. By using the fuzzy PI control strategy And PD control strategy are the speed and direction of the robot control, ensure the anti-interference of storage and handling robot working. Using S curve acceleration and deceleration algorithm to ensure the smoothness of the robot start stop process. Finally, the warehouse handling robot control system is divided into module testing, and build simulation scenarios in the laboratory, complete the joint debugging of the control system. The experimental results show that the robot control system can meet the design requirements of the system, which validates the validity of the control system.

【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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