Research On Motion Control And Autonomous Navigation Of Three-Dimensional Rail Logistics Vehicle

With the development of the economy and the improvement of the people's living standard,the quality of the service of the hospital has been raised more and more.The rail logistics transmission system has been widely applied in the hospital logistics transmission in recent years because of its advantages of large transmission capacity,high transmission efficiency,high intelligence,high security and stability.The existing hospital logistics vehicles have the problems of low driving speed and lack of load,which can not cope with the increasing pressure of logistics.Based on the existing rail logistics transmission system,from the two aspects of logistics vehicle mechanical system and control system,an intelligent track logistics vehicle with high speed and heavy load is designed.The specific work is as follows:(1)According to the characteristics of the building floor of the hospital,the layout of the rail line is analyzed,the experimental rail model is designed,and the processing and installation and commissioning are completed.(2)This paper analyzes the structure characteristics of the logistics vehicle,decomposes the various structural modules of the vehicle body,and compares the performance differences between the parallel driving device and the single driving mode logistics vehicle,and illustrates the design idea and principle of the supporting device for the scissors like frame from the perspective of mechanics.The design and assembly of the logistics vehicle system have been completed.(3)On the basis of the analysis of the function demand of the rail logistics vehicle,a logistics vehicle control system with STM32 controller as the core is designed.Based on PWM technology,the speed control of logistics vehicle is carried out.Based on the ?C/OS-II embedded real-time operation system,the function tasks of logistics vehicle are divided,and software programming is done by Keil?Vision5.(4)The location detection scheme based on RFID radio frequency identification technology is proposed in view of the space location problem of the logistics vehicle in the rail system.Using ZigBee and serial port combination to realize wireless serial port's transmissions function,a wireless communication mechanism between vehicle body,site and transition node is designed to achieve accurate data transmission between nodes.A logistics vehicle navigation algorithm suitable for the test rail model is proposed to realize the autonomous path planning and navigation function of the logistics vehicle on the rail.(5)The human-computer interaction interface of the vehicle body and site based on STemWin was designed.The experimental analysis of the assembled logistics vehicle was carried out on the developed test rail.The test shows that the maximum operating speed of the vehicle body is 1.5m/s,the maximum running speed of the ramp is 0.8m/s when the load is rated,and the maximum load is40 kg.