摘要随着物流行业的快速发展，以人工作业为主、安全性较差的传统物流设备很难再满足行业的需求。为了降低人工成本、提高整体物流效率，需要采用更智能化的设备以适应现代物流行业的发展。在此背景下，本文设计了一款服务于物流行业的仓储搬运机器人，具体工作如下：87417

首先，在对整个系统需求进行深入分析的基础上，参与完成了仓储搬运机器人总体方案设计。

其次，针对室内运行环境特点，提出了一种基于惯性测量数据与二维码地标信息相结合的机器人室内定位方法。为了解决由于惯性定位累积误差造成的方向测量偏差问题，基于灰度传感器信息完成了方向修正算法的设计。建立了机器人运动模型，并采用积分分离PID算法对车轮电机进行转速闭环控制，采用差速控制方式控制车体方向，基于Matlab对相应算法进行了仿真分析。 

然后，基于MSP430F5438微控制器完成了仓储搬运机器人嵌入式软件设计，将其分为6大模块：主控模块、初始化模块、中断模块、数据采集模块、运动控制模块、无线通讯模块。详细介绍了各个模块工作过程，设计了软件系统工作时序、工作总体流程，并给出了核心代码及流程图。

最后，对整个仓储搬运机器人系统进行了分模块测试以及软硬件联合调试。实验结果表明上述控制方法是可行的。

毕业论文关键词  仓储搬运机器人  惯性导航  循迹  PID  微控制器

毕业设计说明书外文摘要

Title  Software Design of Warehouse Handling Robot Control System                                             

Abstract With the rapid development of logistics industry, traditional logistics equipment is difficult to meet the needs of the industry。 In order to improve the efficiency, it is needed to adopt a more intelligent equipment。 In this background, this paper designed a warehouse handling robot, the specific work is as follows:

First, the overall scheme design of the robot is completed。 Secondly, an indoor positioning method based on the combination of inertial measurement data and two-dimensional code landmark information is proposed。 In order to solve the problem of deviation caused by the accumulation error of the inertial positioning, the design of the direction correction algorithm based on the information of the gray scale is completed。 The robot motion model is established, and the integral separation PID algorithm is used to control the speed of the wheel motors。 the differential control method is used to control the direction of the car body, and the corresponding algorithm is simulated based on MATLAB。 Then, the warehouse handling robot embedded software design is completed, which is pided into six modules: main control module, initialization module, interrupt module, data acquisition module, motion control module, wireless communication module。 The work process of each module is introduced, the work sequence and the overall process of the software system is designed, and the core code and flow chart are given。 Finally, modules of the whole system are tested, and software jointed hardware are debugged。 The experimental results show that the control methods are feasible。

Keywords  warehouse handling robot  inertial guidance  tracking  PID microcontroller 

目   次

1 引言 1

1。1 课题研究背景 1

1。2 仓储搬运机器人国内外研究现状