Research On Express Terminal Robot Motion Controller Based On STM32F4

The rapid development of the express industry is changing people's shopping mode,but the delivery industry has the problem of "the last kilometer".The final cost of the kilometer is not only huge but the situation has not improved.This paper presents an express robot based on STM32F4 embedded microprocessor.The main research contents are as follows:(1)Firstly,the paper introduces the research status of express robot and related motion controller at home and abroad.(2)Adapt to the need of the express robot's motion control,this paper studies motion controller's hardware and software architecture,in the case of ensure that meet the control requirements to study how to reduce the cost of research and development and manufacturing,design a low cost motion controller.Firstly,study motion controller's hardware architecture,propose a control circuit board solution which use STM32F4 microcontroller as the core,and use modular method to design control circuit board.This part focuses on the hardware selection,circuit design and realization of motion control module including obstacle avoidance module,positioning guide module and power module.Among them,the obstacle avoidance mode is realized by ultrasonic sensors and single camera.(3)In the aspect of software design,the function of motion controller is analyzed,and its general program block diagram is designed.The program design of the positioning module is mainly completed;the GPS location data is received through the serial port;the output GPS positioning data is adopted by NMEA-0183 protocol,and the SkyTraq protocol is adopted for the control protocol.The basic principle of ultrasonic ranging is analyzed,and the program design of ultrasonic ranging is completed according to its principle.In order to complete the guiding function of the express robot,the JY901 sensor module is adopted to realize the rapid movement of the express robot,and the program design of JY901 sensor is completed according to its principle.(4)Aiming at the problem of the path planning for express robot from courier station to the destination,an advanced artificial bee colony optimization algorithm is proposed by analyzing current path planning methods.Through the method of mathematical modeling,the path planning problem is transformed into a mathematical one-dimensional function optimization problem,and the feasibility is proved by the simulation experiment.The results show that compared with the traditional artificial bee colony algorithm,the improved artificial bee colony algorithm is more efficient and converges faster.