| With the continuous development of the national economy and the improvement of consumption capacity,shopping mode has gradually changed from traditional offline shopping to online,which makes the scale of logistics,warehousing and distribution constantly expand,and it is urgent for warehousing robots to improve the efficiency of warehousing.Nowadays,the rapid development of robot technology has been widely used in all aspects of warehousing operations,greatly improving the operational efficiency of warehousing,promoting the intelligentization of warehousing,and building an extremely efficient and intelligent warehousing operation mode.This paper mainly develops the automatic distribution and positioning system of storage robots in the warehouse area,gives the overall structure of the system and the design of each functional module,and analyzes the application characteristics of various indoor positioning technologies.The motion control algorithm of the wheeled mobile robot and the automatic obstacle avoidance method are studied,and the embedded software and hardware design and debugging of each system function module are completed.Finally,the experimental performance of the main functional modules and the control and tracking effects of the whole system are verified by experimental tests.The main work and achievements of this thesis are as follows:(1)The relative control requirements of warehouse robot movement are analyzed;The working principle,driving mode and mathematical model of brushless dc motor are introduced;The advantages and disadvantages of different PWM chopping methods and their control effects are compared;The speed current double closed loop control system is designed and PID control algorithm is used to control the motor;The kinematics model of the warehouse robot is constructed,and the steering and obstacle avoidance operations of the warehouse robot are realized by the electronic differential driving method,and the driving wheel is ensured to perform pure rolling motion.(2)By comparing and analyzing the existing indoor positioning technology,a positioning scheme combining track tracing motion and two-dimensional code positioning is proposed.In other words,infrared reflection sensor is adopted to realize track-finding motion,and accurate position coordinates are obtained by using positioning two-dimensional code to complete the update of real-time position.At the same time,the cargo information is obtained through the barcode of the goods,real-time correlation between the cargo information and the location information is realized,thereby realizing rapid search and positioning of the goods;And the ultrasonic module is used to realize the effective obstacle avoidance of the robot during the track tracing movement.(3)The design and realization of the goods location and allocation system based on the warehouse robot mainly includes the hardware circuit design of the control system and the realization of related software.The hardware circuit takes LPC1114 controller as the core,constructs the overall framework of the system,and designs and realizes various related functional modules.The software program system is designed in layers according to functional requirements,mainly including BSP layer,RTOS layer and application layer.uCOS-III real-time operating system is used to realize task scheduling,and the organic combination of each layer module is completed,and the controller resources are utilized reasonably and efficiently.(4)The experiment and simulation of the whole system and each independent function module are completed.The test data shows that each functional module can work normally,and on the premise that each module works normally,the whole system can complete a series of functions such as automatic positioning and tracking. |
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