發(fā)布時間：2018-07-26 10:40

【摘要】：近年來,隨著我國物流產(chǎn)業(yè)的發(fā)展,物流倉儲機器人市場需求也日益增強,物流倉儲機器人管理系統(tǒng)已經(jīng)逐漸變得更自動化和智能化。物流倉儲機器人管理系統(tǒng)中,用機器人來代替人進行工作,不但可以節(jié)約人力成本和減少搬運不當對人造成的傷害,而且可以提高倉儲系統(tǒng)的工作效率。因此,本文設(shè)計了基于STM32的物流倉儲移動機器人系統(tǒng),模擬實現(xiàn)了物流倉儲中物料入庫信息管理的功能。本文具體完成以下的主要工作:首先,根據(jù)物流倉儲移動機器人系統(tǒng)設(shè)計的要求,給出了具體實現(xiàn)方案,并規(guī)劃出系統(tǒng)的工作流程。其次,結(jié)合系統(tǒng)設(shè)計的具體要求,設(shè)計并搭建了物流倉儲移動機器人的硬件結(jié)構(gòu),硬件結(jié)構(gòu)由主控芯片、電源模塊、RFID讀卡模塊、紅外傳感器避障模塊、XBee無線通信模塊、舵機模塊、QTI巡線模塊等組成。再次,根據(jù)硬件模塊化設(shè)計以及系統(tǒng)設(shè)計的要求,對物流倉儲移動機器人系統(tǒng)進行軟件設(shè)計,軟件設(shè)計分為下位機軟件設(shè)計與上位機軟件設(shè)計。然后,對物流倉儲移動機器人的路徑規(guī)劃算法也做出了研究,論文主要對A*算法和螢火蟲算法做出了研究并改進,改進后算法的有效性通過實驗仿真得到了驗證。最后,搭建了物流倉儲移動機器人的實驗平臺,包括場地、物料、貨架等實物的設(shè)計,完成了機器人的無線通信以及物料掃描功能的測試,同時成功實現(xiàn)了物流倉儲移動機器人系統(tǒng)物料入庫管理的功能。
[Abstract]:In recent years, with the development of logistics industry in our country, the market demand of logistics warehousing robot is increasing day by day, and the management system of logistics storage robot has become more automatic and intelligent. In the logistics warehouse robot management system, the robot can not only save the labor cost and reduce the harm caused by improper handling, but also improve the working efficiency of the storage system. Therefore, a mobile robot system of logistics storage based on STM32 is designed in this paper, and the function of information management of material storage in logistics storage is realized by simulation. The main work of this paper is as follows: firstly, according to the requirements of the design of the logistics storage mobile robot system, the implementation scheme is given, and the working flow of the system is planned. Secondly, according to the specific requirements of the system design, the hardware structure of the logistics storage mobile robot is designed and built. The hardware structure is composed of the main control chip, the power supply module and the RFID card reading module, the infrared sensor obstacle avoidance module and the XBee wireless communication module. Steering gear module QTI inspection module and other components. Thirdly, according to the requirements of hardware modularization design and system design, the software design of logistics warehousing mobile robot system is carried out. The software design is divided into lower computer software design and upper computer software design. Then, the path planning algorithm of logistics storage mobile robot is also studied. The paper mainly researches and improves the A* algorithm and the firefly algorithm. The effectiveness of the improved algorithm is verified by experimental simulation. Finally, the experiment platform of the logistics storage mobile robot is built, including the design of the physical objects such as the site, the material, the shelf, the wireless communication of the robot and the testing of the material scanning function. At the same time, the function of material storage management in logistics storage mobile robot system is successfully realized.
【學位授予單位】：湖南工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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本文編號：2145743