物流机器人运动学分析与全场定位方法研究  

Kinematics Analysis and Whole Positioning Method of Logistics Robot

作　　者：李锶[1] 张迅豪 祝新洋 唐超 LI Si;ZHANG Xunhao;ZHU Xinyang;TANG Chao(School of Mechanical Engineering,Hunan Institute of Science and Technology,Yueyang 414006,China)

机构地区：[1]湖南理工学院机械工程学院,湖南岳阳414006

出　　处：《湖南理工学院学报（自然科学版）》2020年第3期32-37,共6页Journal of Hunan Institute of Science and Technology(Natural Sciences)

基　　金：湖南省自然科学基金项目(2020JJ4334);湖南省教育科学“十三五”规划课题(NK208072)。

摘　　要：为解决轮式物流机器人的全场定位、位姿控制等关键问题,提出了一种基于陀螺仪、编码器、灰度传感器与激光测距仪的麦克纳姆轮物流机器人全场定位系统.建立麦克纳姆轮底盘运动模型并进行运动学分析,研究基于此系统的全场定位算法,以STM32单片机为主控制器,结合多种传感器,实现机器人的全场定位、运动控制、任务识别、物料颜色识别.对于物料颜色识别提出了一种根据边缘检测算法思想改进的扫描算法来提高检测效率.试验表明,系统具有良好的综合性能,可满足物流机器人精准定位、准确识别等控制需求.To solve the key problems of whole positioning and movement pose control of wheeled logistics robot,a whole positioning system of logistics robot with Mecanum wheel based on the gyroscope,encoder,grayscale sensor and laser rangefinder was proposed.The motion model of Mecanum chassis was established and kinematics analysis was carried out.The whole positioning algorithm based on this system was studied.The STM32 microcontroller was used as the main controller and combined with a variety of sensors to realize the whole positioning,motion control,task recognition and material color recognition of the robot.For material color recognition,an improved scanning algorithm based on the idea of edge detection algorithm was proposed to improve the detection efficiency.The test results show that the system has good comprehensive performance and meets the control requirements of logistics robot such as precise positioning and accurate identification.

关 键 词：物流机器人 运动学分析 全场定位 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]