【摘要】：近年來(lái),隨著我國(guó)物流產(chǎn)業(yè)的發(fā)展,物流倉(cāng)儲(chǔ)機(jī)器人市場(chǎng)需求也日益增強(qiáng),物流倉(cāng)儲(chǔ)機(jī)器人管理系統(tǒng)已經(jīng)逐漸變得更自動(dòng)化和智能化。物流倉(cāng)儲(chǔ)機(jī)器人管理系統(tǒng)中,用機(jī)器人來(lái)代替人進(jìn)行工作,不但可以節(jié)約人力成本和減少搬運(yùn)不當(dāng)對(duì)人造成的傷害,而且可以提高倉(cāng)儲(chǔ)系統(tǒng)的工作效率。因此,本文設(shè)計(jì)了基于STM32的物流倉(cāng)儲(chǔ)移動(dòng)機(jī)器人系統(tǒng),模擬實(shí)現(xiàn)了物流倉(cāng)儲(chǔ)中物料入庫(kù)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(cāng)儲(chǔ)移動(dòng)機(jī)器人系統(tǒng)設(shè)計(jì)的要求,給出了具體實(shí)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(jì)的具體要求,設(shè)計(jì)并搭建了物流倉(cāng)儲(chǔ)移動(dòng)機(jī)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(wú)線通信模塊、舵機(jī)模塊、QTI巡線模塊等組成。再次,根據(jù)硬件模塊化設(shè)計(jì)以及系統(tǒng)設(shè)計(jì)的要求,對(duì)物流倉(cāng)儲(chǔ)移動(dòng)機(jī)器人系統(tǒng)進(jìn)行軟件設(shè)計(jì),軟件設(shè)計(jì)分為下位機(jī)軟件設(shè)計(jì)與上位機(jī)軟件設(shè)計(jì)。然后,對(duì)物流倉(cāng)儲(chǔ)移動(dòng)機(jī)器人的路徑規(guī)劃算法也做出了研究,論文主要對(duì)A*算法和螢火蟲(chóng)算法做出了研究并改進(jìn),改進(jìn)后算法的有效性通過(guò)實(shí)驗(yàn)仿真得到了驗(yàn)證。最后,搭建了物流倉(cāng)儲(chǔ)移動(dòng)機(jī)器人的實(shí)驗(yàn)平臺(tái),包括場(chǎng)地、物料、貨架等實(shí)物的設(shè)計(jì),完成了機(jī)器人的無(wú)線通信以及物料掃描功能的測(cè)試,同時(shí)成功實(shí)現(xiàn)了物流倉(cāng)儲(chǔ)移動(dòng)機(jī)器人系統(tǒng)物料入庫(kù)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(xué)位授予單位】：湖南工業(yè)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)：2145743