R&D Of Control And Protection Parts Of Automatic Logistics System Based On Zigbee Wireless Technology,

Three equipments such as Warehouse, MOTOMAN Robot and Automated Guided Vehicle in Subjects Experimental Center of XUST (Xi'an University of Science and Technology) are assembled to develop automatic logistics system based on Zigbee wireless technology.A star-control network among the three equipments has been designed to achieve the pipelining function of automatic warehousing; and other functions.such as anti-collision protection, go-home protection and location warehousing have been developed, too.Firstly, a star-control network among the three equipments has been constructed based on Zigbee wireless technology, the industrial computer of Warehouse as master computer, others as slave computers. Master can send instructions to slave, contrarily slave can send messages back to master. Monitoring interface of master has been designed by me, functions of path planning of Automated Guided Vehicle and goods grabbing and identifying of MOTOMAN robot are separately developed by two cooperators.The pipelining function of automatic warehousing which first step is automatic goods shipping by Automated Guided Vehicle, goods grabbing and identifying by MOTOMAN Robot is followed, and the final step is goods warehousing by Warehouse is realized just through the Operations on master computer.Secondly, anti-collision protection function of stacker is developed. Hardware include pressure-switch-signal sampling board, Zigbee coordinator, emergency power shutting-off board and so on.As soon as the collision trigger of sampling board fixed on the front-end of the fork of stacker is pressed by goods or shelves or other things, Instantaneously, the warning dialog box of"Collision Danger"will be appeared on the monitoring interface of master computer and automatically 220V general power has been shut off. Thus the protection for warehouse from being damaged is realized.Thirdly, go-home operation of stacker must be done before executing tasks of warehousing and others.Stacker is an industrial robot which has three freedom degrees in horizontal moving directions, vertical moving directions and fork moving directions. Go-home protection which can detect stacker well-done or not is developed to assure that the following actions of stacker will be correct and reliable.Finally, method of one-by-one warehousing, automatically choosing target positon by system and then warehousing one by one according to the sequence number of the target positon, is adopted by manufacturer. This method can't manually designate target positon purposefully and is only suitable to the goods which have the same or similar outter dimensions.The function of location warehousing is developed to manually designate target positon. This method is more valuable than the former one in the aspect of purposefully choosing target positons which are suitable to the goods whose outter dimensions are different. The model of stacker is made to do Matlab simulation and analyse adaptive model algorithm.The software of location warehousing which can promote addressing accuracy of stacker is designed with the adaptive model algorithm.