Research On The Control Of Pallet Truck

With the increase in income and technological level,people pay more attention to physical health and various medical test items are becoming more and more,which leads to a huge amount of tests every day in the blood sample management line.In order to reduce the burden of the inspection department and avoid direct contact between medical staff and blood samples,a pallet transfer vehicle was designed to solve the problem of blood sample test tube pallet transfer.This paper studies the related problems of pallet transfer vehicle control,so that it can successfully complete the collection,transfer,storage and other work of the blood collection tube tray under the command of the host computer,and cooperates with other related equipment to realize the full automation of the blood collection tube sorting pipeline.The research content of this article mainly includes the following aspects:Taking the blood collection tube sorting line as the application background,according to the behavior-based control system,it analyzes the type of movement that the pallet transfer vehicle needs to complete under the control of the host computer,and studies the positioning method based on multi-sensor fusion under different movement types;according to the pallet transfer The structural characteristics of the car have designed a pallet pick and place control scheme,and completed the selection of components related to motion control.Parametric modeling of Mecanum wheels and inverse kinematics modeling in combination with the arrangement of Mecanum wheels in pallet trucks are provided to provide theoretical basis for the motion control of the car body;under wheel slip and eccentric load The kinematic characteristics of the vehicle are studied,and the specific calculation of the slip rate and the specific effects of eccentric load on the driving force of different wheels are obtained.According to the information fusion theory,the angular acceleration measured by the electronic compass and the magnetic field angle are fused to obtain more accurate azimuth angle information of the car body;the positioning of the pallet transfer vehicle is completed according to the data collected by the electronic compass,the laser ranging sensor,and the lidar;Study the acceleration and deceleration control model of the stepper motor,solve the problem of out-of-step and overshoot caused by acceleration and deceleration,realize the smooth start and stop of the stepper motor;simulate the different types of movement of the chassis of the transport vehicle,and feedback on the position Based on the research on the correction of the sudden change of the angle of the car body caused by external interference,the motion error of the car body caused by the interference is reduced;the pallet transfer process of the pallet transfer vehicle is simulated in time sequence to verify its feasibility.Designed the embedded control system of the pallet transfer vehicle,designed the dual development board control scheme of the main board and the auxiliary board,designed the circuit board of the auxiliary board and made the control board;designed the main driver,obstacle avoidance program and pallet Subprograms such as fetching and sending;designed the communication program between the motherboard and the host computer,the motherboard and the onboard tablet.An experimental prototype of the control system was built to test the basic movement of the pallet transfer vehicle.The experiment showed that the transfer vehicle has good motion accuracy,meets the requirements of the technical indicators,and can smoothly take the pallet under the command of the host computer.