摘要本文以服务于现代物流行业的仓储搬运机器人研制项目为背景，设计了一款新型的仓储搬运机器人，具体工作如下：

针对仓储搬运机器人实际功能需求与运行环境特点，提出了一种基于MCU的仓储搬运机器人控制系统设计方案，并给出了一种两轮驱动与四轮辅助承载相结合的结构设计方案。基于理论分析与计算，给出了系统核心部件的选型依据。87484

针对传统AGV室内导航存在的问题，提出了一种将惯性测量技术、二维码识别技术以及灰度寻迹技术三者相结合进行机器人室内导航定位的新方法。

采用模块化设计思想，完成了控制系统各个模块的硬件电路原理图及PCB图设计，完成了所有硬件电路的调试以及系统联调工作，实验结果表明所设计的控制系统硬件电路运行可靠，满足系统设计要求。

毕业论文关键词  仓储物流搬运机器人  惯性导航  无线通信  硬件设计 

毕业设计说明书外文摘要

Title    Hardware design of control system for Warehouse handling robot                           

Abstract In this paper, a new type of warehouse handling robot is designed based on the research project of the storage and transportation robot in the modern logistics industry。A structure design scheme of the combination of two wheel drive and four wheel support load is presented。And based on the theoretical analysis and calculation, the selection of the core components of the system is given。

For storage and handling robot actual functional requirements and operating environment characteristics, based on MCU warehousing handling robot control system design, and gives the two drive and four-wheel auxiliary bearing combination structure design scheme is proposed in this paper。 Based on the theoretical analysis and calculation, the selection of the core components of the system is given。

Aiming at the problems existing in the traditional AGV indoor navigation, a new method is proposed, which combines the inertial measurement technology, the two-dimensional code identification technology and the three methods of gray tracking technology。Finally, the schematic diagram and PCB diagram of the control system is designed,and All hardware circuit debugging and system debugging are completed。 The experiment results show that the designed control system is reliable and meets the requirement of system design。

Keywords  Logistics; handling robot; Inertial navigation; Wireless communication; Hardware design

目   次

1  引言 1

1。1  课题研究背景 1源-于Y优~尔^论:文.网www.youerw.com 原文+QQ7520`18766

1。2  仓储搬运机器人国内外研究现状 1

1。3  仓储搬运机器人相关技术研究现状 3

1。4  本文主要研究内容和工作安排 5

2  仓储搬运机器人控制系统总体设计 7

2。1  功能需求分析 7

2。2  系统方案设计 8

2。3  机械构造设计 10

2。4  系统元器件选型 12

2。5  本章小结 18

3  仓储物流搬运机器人硬件电路原理图设计 19

3。1  硬件电路总体组成结构设计