基于单片机的智能分拣搬运机器人的设计与实现  

Design and Application of the Intelligent Sorting and Conveying Robot

作　　者：苏品刚[1] 尚丽[1] 胡志峰[1] SU Pin-gang;SHANG Li;HU Zhi-feng(School of Electronic Information Engineering,Suzhou Vocational University,Suzhou 215104,China)

机构地区：[1]苏州市职业大学电子信息工程学院,江苏苏州215104

出　　处：《苏州市职业大学学报》2016年第3期16-20,共5页Journal of Suzhou Vocational University

基　　金：国家自然科学基金资助项目(61373098)

摘　　要：以模拟自动化物流系统的作业流程为目标,设计一个小型轮式智能搬运机器人.系统主控制模块采用STM32F103单片机实现,其他硬件模块主要有电源、电机驱动、灰度传感器以及颜色识别等.软件设计主要包括小车的运动控制算法、颜色识别算法、地面灰度检测算法等.同时,设计中规划了搬运机器人的行走路径、分拣搬运功能等.测试结果表明,设计的智能搬运机器人可以准确地实现指定物块的分拣和搬运功能,具有一定的实用意义.An intelligent sorting and conveying robot is designed in this paper in order to simulate the operation procedure of the automatical logistics system. STM32F103 chip microcomputer is adopted as the core control module. Other hardware modules include the power supply module, the motor driver module,the gray sensor module, the color recognition module and so on. In the software design, some key algorithms controlling the robot are considered such as the robot’s motion control algorithm, the color recognition algorithm and the ground gray detection algorithm and etc. At the same time,the robot’s moving lines and its concrete sorting and conveying function are also planned. Test results show that the designed intelligent robot can realize well the appointed object’s sorting and conveying, and it has certain applicable significance.

关 键 词：智能机器人 STM32单片机 传感器 颜色识别 分拣和搬运功能 

分 类 号：TP391.4[自动化与计算机技术—计算机应用技术]