智能物流的轮式循迹机器人系统设计  

Design of Wheeled Tracking Robot System for Intelligent Logistics

作　　者：邓语馨 陈洪芳[1] 张爽 王煜[1] 梁超伟 孙若水 Deng Yuxin;Chen Hongfang;Zhang Shuang;Wang Yu;Liang Chaowei;Sun Ruoshui(Department of Measurement and Control Technology and Instrument,Faculty of Materials and Manufacturing,Beijing University of Technology,Beijing 100124,China)

机构地区：[1]北京工业大学材料与制造学部,北京市100124

出　　处：《工具技术》2022年第6期57-60,共4页Tool Engineering

基　　金：国家自然科学基金(52175491)。

摘　　要：为了提高基层物流运输工作的效率与准确性,设计了基于STM32芯片的智能物流用轮式循迹机器人系统。以STM32f103rct6为主控芯片(MPU),配合红外检测传感器和伺服电机,将增量式PID算法移植到STM32单片机中,实现对差速驱动自动搬运机器人AGV系统的稳定循迹控制。实验结果表明,设计的控制算法稳定,系统通讯顺畅,智能物流轮式循迹机器人系统能够自行检测货物位置、精准固定物品和自主识别引导线,并随时利用传感器的反馈信息调整路径。In order to improve the efficiency and accuracy of basic logistics,a wheeled tracking robot system for intelligent logistics is designed based on STM32 chip.With STM32 f103 rct6 as the main control chip(MPU),combined the infrared detection sensor and servo motor,the incremental PID(proportional integral differential)algorithm is transplanted to STM32 single chip microcomputer to realize the stable tracking control of AGV(automated guided vehicle)system driven by differential drive.The experimental results show that the control algorithm in this paper is stable and the system communication is smooth.The intelligent logistics wheeled tracking robot system can detect the position of goods,accurately fix goods and identify the guide line by itself,and adjust the path at any time by the feedback information of the sensor.

关 键 词：循迹机器人 结构设计 增量式PID控制 智能物流 

分 类 号：TG802[金属学及工艺—公差测量技术] TH122[机械工程—机械设计及理论]