本文關(guān)鍵詞：倉(cāng)儲(chǔ)搬運(yùn)機(jī)器人控制系統(tǒng)設(shè)計(jì)與實(shí)現(xiàn)　出處：《南京理工大學(xué)》2017年碩士論文　論文類(lèi)型：學(xué)位論文

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【摘要】：隨著"中國(guó)制造2025"規(guī)劃的提出,智能化生產(chǎn)理念受到越來(lái)越多的重視,其中物流行業(yè)就是一個(gè)代表。傳統(tǒng)的物流作業(yè)模式由于存在勞動(dòng)力成本高、安全性較差、效率低等問(wèn)題,已經(jīng)無(wú)法滿足物流行業(yè)快速發(fā)展的需求。為彌補(bǔ)傳統(tǒng)模式的不足,需要采用更智能化的設(shè)備以代替人工完成搬運(yùn)工作。在此背景下,本文設(shè)計(jì)并實(shí)現(xiàn)了一種倉(cāng)儲(chǔ)搬運(yùn)機(jī)器人控制系統(tǒng)。首先,根據(jù)系統(tǒng)的實(shí)際功能需求,結(jié)合機(jī)器人的性能指標(biāo)參數(shù),提出了倉(cāng)儲(chǔ)搬運(yùn)機(jī)器人控制系統(tǒng)的總體設(shè)計(jì)方案。針對(duì)機(jī)器人的工作環(huán)境,設(shè)計(jì)了一種慣性測(cè)量技術(shù)、二維碼識(shí)別技術(shù)與灰度循跡技術(shù)相結(jié)合的室內(nèi)導(dǎo)航定位方式,并介紹了潛入式倉(cāng)儲(chǔ)搬運(yùn)機(jī)器人的機(jī)械結(jié)構(gòu)�；诶碚摲治雠c計(jì)算,完成了系統(tǒng)核心部件的選型。其次,采用模塊化設(shè)計(jì)思想,完成了以MSP430F5438為核心的控制系統(tǒng)硬件電路設(shè)計(jì),主要包括:最小系統(tǒng)模塊電路設(shè)計(jì)、電源管理模塊電路設(shè)計(jì)、運(yùn)動(dòng)控制模塊接口電路設(shè)計(jì)、導(dǎo)航定位模塊接口電路設(shè)計(jì)、無(wú)線通信模塊接口電路設(shè)計(jì)以及安全避障模塊接口電路設(shè)計(jì),并完成了印制電路板的設(shè)計(jì)與制作。然后,完成了倉(cāng)儲(chǔ)搬運(yùn)機(jī)器人控制系統(tǒng)的軟件設(shè)計(jì),主要包括軟件系統(tǒng)總體構(gòu)架設(shè)計(jì)、初始化模塊設(shè)計(jì)、中斷模塊設(shè)計(jì)、數(shù)據(jù)采集模塊設(shè)計(jì)、車(chē)體運(yùn)動(dòng)控制模塊設(shè)計(jì)和無(wú)線通信模塊設(shè)計(jì)等。采用模糊PI控制策略和PD控制策略分別對(duì)機(jī)器人的速度和方向進(jìn)行控制,保證了倉(cāng)儲(chǔ)搬運(yùn)機(jī)器人工作的抗干擾性。采用S曲線加減速算法保證了機(jī)器人啟停過(guò)程的平滑性。最后,對(duì)倉(cāng)儲(chǔ)搬運(yùn)機(jī)器人控制系統(tǒng)進(jìn)行了分模塊測(cè)試,并在實(shí)驗(yàn)室搭建了模擬場(chǎng)景,完成了控制系統(tǒng)的聯(lián)合調(diào)試。實(shí)驗(yàn)結(jié)果表明,機(jī)器人控制系統(tǒng)能較好地滿足系統(tǒng)設(shè)計(jì)要求,初步驗(yàn)證了整個(gè)控制系統(tǒng)的有效性。
[Abstract]:With the "Chinese 2025" plan proposed, intelligent production concept is paid more and more attention, which is a representative of the logistics industry. The traditional logistics operation mode due to high labor costs, low security, low efficiency problems, has been unable to meet the rapid development of logistics industry needs to compensate for the shortcomings of traditional mode. That requires the use of more intelligent devices to replace the manual to complete handling work. Under this background, this paper designs and implements a warehouse handling robot control system. Firstly, according to the actual demand of the system function, combined with the performance parameters of the robot, put forward the overall design of the control system for the robot. The robot warehouse work the environment, design a kind of inertial measurement technology, indoor navigation and positioning methods of two-dimensional code recognition technology and gray tracking technology combined, and introduces the The mechanical structure of submerged warehouse handling robot. Based on the theoretical analysis and calculation, selection of the core components of the system. Secondly, based on the idea of modular design, completed the design, the hardware circuit of control system with MSP430F5438 as the core mainly includes: the minimum system module circuit design, power management module module interface circuit design, control circuit design movement, navigation and positioning module interface circuit design, wireless communication module interface circuit design and security obstacle avoidance module interface circuit design, and completed the design and production of printed circuit board. Then, complete the software design of transport robot control system of storage, including the overall framework of the software system design, initialization module design, interrupt module design. Design of data acquisition module, vehicle motion control module and wireless communication module design. By using the fuzzy PI control strategy And PD control strategy are the speed and direction of the robot control, ensure the anti-interference of storage and handling robot working. Using S curve acceleration and deceleration algorithm to ensure the smoothness of the robot start stop process. Finally, the warehouse handling robot control system is divided into module testing, and build simulation scenarios in the laboratory, complete the joint debugging of the control system. The experimental results show that the robot control system can meet the design requirements of the system, which validates the validity of the control system.

【學(xué)位授予單位】：南京理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP242

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本文編號(hào)：1393969