Design And Implementation Of Storage Handling Robot Control System

With the proposition of China manufacturing 2025,more and more attention has been paid to the concept of intelligent production,in which the logistics industry is a representative.However,due to the high labor cost,poor security and low efficiency,the traditional logistics operation mode has been unable to meet the needs of the rapid development of the logistics industry.Therefore,in order to compensate for the shortcomings of the traditional model,it is necessary to adopt more intelligent equipment to replace the manual handling work.Under this background,a storage and handling robot control system is designed and implemented in this paper.First of all,according to the actual functional requirements and the performance parameters of the robot,the overall design of the storage and handling robot control system is proposed.Aiming at the work environment of the robot,an indoor navigation and positioning method is presented,which combines the inertial measurement technology,the two-dimensional code recognition technology and the gray level tracing technology,and then the mechanical structure of the submerged storage and handling robot is introduced.Based on the theoretical analysis and calculation,the selection of the core components of the system is completed.Secondly,using the modularized design idea,the hardware circuit design of the control system based on MSP430F5438 is completed,including the minimum system module circuit design,the power management module circuit design,the motion control module interface circuit design,the navigation and positioning module interface circuit design,the wireless communication module interface circuit design and the safety obstacle avoidance module interface circuit design.Then the design and manufacture of PCB is completed.Thirdly,the software design of the storage and handling robot control system is completed,including the overall architecture design of the software system,the initialization module design,the interrupt module design,the data acquisition module design,the vehicle motion control module design and the wireless communication module design.The fuzzy PI control strategy and the PD control strategy are used to control the speed and direction of the robot respectively,and the anti-interference of the storage robot is guaranteed.The S curve acceleration and deceleration algorithm is adopted to ensure the smoothness of the robot start-stop process.Finally,the sub-module of the storage and handling robot control system is tested,and the joint debugging of the control system is completed in the laboratory where the simulation scene is built.The experimental results show that the robot control system can well meet the design requirements of the system,and preliminary verify the effectiveness of the whole control system.