基于物联网射频技术的仓管机器人设计与实现
田朋云1,3，董增文1，胡 利2，张 洁2
（1.南昌大学机电工程学院，江西南昌，330031；
2.南昌大学经济管理学院，江西南昌，330031；
3.华中科技大学液压气动技术研究中心，湖北武汉，430074）
关键词：仓管机器人；物联网射频技术；机械机构；灯板巡线算法；码盘定位算法
中图分类号：TP242 标识码：A
摘要：针对当前仓库管理系统的现状与需求，设计并实现了一种基于物联网射频技术的仓管机器人，主要包括机器人机械机构的设计和硬件软件的设计。机械机构包括底盘设计，升降机构设计，机械臂以及夹具设计等。电控方面主要包括硬件平台和软件程序设计，其中硬件平台介绍了电控系统的整体架构。软件程序方面运用灯板巡线算法和码盘定位算法进行机器人全场定位，为提高定位的精度对灯板巡线的PID算法的进行了相应改进，使得系统能更好的满足工作需求。通过使用传感器对目标物体进行识别，实现仓管机
器人对仓库中商品的管理与存放，对于提高企业的经营效率、加快仓库管理自动化具有重要意义。
Design andImplementation of the Warehouse Robot Based on IOT Radio Frequency Technology
TIAN Peng-yun1,3, DONG Zeng-wen1, HU Li2, ZHANG Jie2
（1.Collegeof Mechanical and Electrical Engineering Nanchang University, Nanchang 330031,China；
2. College of Economics andManagement Nanchang University, Nanchang 30031, China；
3.Hydraulic andpneumatic technology research center of HUST, Wuhan 430074, China）
Keywords:Warehouserobot; Radio frequency technology of IOT; Mechanical mechanism; Lamp panel linealgorithm; Encoder positioning algorithm.
Abstract:Inview of the present situation and the demand of the current warehousemanagement system, a warehouse robot was designed and realized based on the IOTRadio Frequency, mainly including the robot mechanical design and the design ofthe hardware and software. Mechanical agencies include the design of thechassis, lifting mechanism, mechanical arm and fixture, etc.. Electric controlaspect mainly includes the hardware platform and software programming, and theoverall architecture of the electric control system was introduced for hardwareplatform. The light board patrol algorithm and encoder localization algorithm wereused in software program for robot localization. In order to improve thepositioning accuracy of lamp plate patrol algorithm , the correspondingimprovement of PID algorithm was made for meeting the work demand of the systembetter . By using a sensor to target the object, the storage and management ofgoods in the warehouse by warehouse robot were implemented to enhance theenterprise management efficiency,which is of great significance to speed up thewarehouse management automation.