新型智能搬运小车系统设计  

Design of New Intelligent Handling Trolley System

作　　者：陈飞跃[1] 涂亚东[1] 殷华锋 杜娇[1] 徐小兵[1] CHEN Fei-yue;TU Ya-dong;YIN Hua-teng;DU Jiao;XU Xiao-bing(School of Mechanical Engineering,Yangtze University,Jingzhou Hubei 434020,China)

机构地区：[1]长江大学机械工程学院,湖北荆州434020

出　　处：《组合机床与自动化加工技术》2018年第11期71-73,77,共4页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：为解决仓储物流中,现有搬运工具适应性、灵活性较差的问题;设计了新型智能搬运小车结构,并根据其结构特点及运行中所要完成的具体动作,给出实现该功能的控制系统。该智能搬运小车,采用MC9S12XS128单片机为控制核心,运用轨迹图像采集算法、抗干扰的黑线提取算法、速度及转向调节的PID控制算法;并基于其功能实现设计了系统的工作流程。从而使得智能小车能根据自身速度、方向、位置的实时调整达到快速、稳定地沿轨迹线运行。提供了一种新型智能、灵活的搬运小车结构,为以后的智能搬运系统的优化设计提供了宝贵经验。In order to solve the problem of poor adaptability and flexibility of the existing handling tools in warehousing and logistics, a new intelligent handling trolley structure is designed and the control system to realizing this function is given according to its structural characteristics and the specific actions to be per- formed in operation. The smart handling car, using MC9S 12XS 128 microcontroller as the control center, uses the trajectory image acquisition algorithm, anti-interference black line extraction algorithm, speed and steering PID control algorithm; and it designs the workflow of the system based on its function. So the in- telligent car can mn fast and steadily along the track line according to the real time adjustment of its own speed, direction and position. This article provides a new intelligent and flexible handling car structure, which provides valuable experience for the future optimization design of intelligent handling system.

关 键 词：智能搬运小车 控制算法 软件系统 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]