CN105068534B - Intelligent logistics robot based on Zigbee - Google Patents
Intelligent logistics robot based on Zigbee Download PDFInfo
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- CN105068534B CN105068534B CN201510420284.4A CN201510420284A CN105068534B CN 105068534 B CN105068534 B CN 105068534B CN 201510420284 A CN201510420284 A CN 201510420284A CN 105068534 B CN105068534 B CN 105068534B
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Abstract
Intelligent logistics robot based on Zigbee, Intelligent logistics robot body are square structure, and two DC speed-reducings are connected with two groups of universal wheels by retarder respectively；ARM microprocessor is fixed on the top surface of robot body, and two DC speed-reducings are connected by motor control module with ARM microprocessor, and connection mode connects for the control line of DC speed-reducing and the delivery outlet of motor control module；ARM microprocessors are connected with Zigbee nodes and wireless serial module by serial ports；Power-supply system is fixed on robot body bottom surface, is connected by Du Pont's line with the power end of ARM microprocessor and motor control module.Indoor positioning is carried out using newest wireless ZigBee technology, and adds intelligent algorithm, Intelligent logistics robot is known the positional information of oneself automatically, in real time, independently judges the traffic direction of oneself, overall process is without artificially helping.
Description
Technical field
The present invention relates to a kind of Intelligent logistics machine based on the positioning of wireless ZigBee technology being applied under environment of internet of things
Device people, belongs to Computer Applied Technology field.
Background technology
With the development of Internet of Things, more and more automatic machineries start to apply to logistics field.These machinery equipments
Start progressively to substitute these tasks of transporting, carry, store and pack, become one of important means of lifting logistics level.Marking
Fast development scattered control system, the workstation mode gradually popularized all further promote machine under the flow package of standardization promotes
Application of the device people in logistics field.At present, the robot application of logistic industry has become the robot after automobile industry
Two big application fields.
Zigbee is the low-power consumption based on IEEE802.15.4 standards, the wireless network protocol of low speed short-distance transmission.
Zigbee protocol is respectively physical layer (PHY), MAC layer (MAC), transport layer (TL), network layer from top to bottom
(NWK), application layer (APL) etc..ZigBee networks are mainly characterized by low-power consumption, low cost, low rate, support great deal of nodes, branch
Hold multiple network topology, low complex degree, quick, reliable, safety.Equipment in ZigBee-network can be divided into coordinator
(Coordinator), the Three role such as aggregation node (Router), sensor node (EndDevice).
ZigBee technology is the wireless communication technique of a kind of short distance, low-power consumption, is mainly suitable for being used to automatically control and far
Process control field, can be embedded in various equipment.At the same time, ZigBee is as a kind of short-distance wireless communication technology, due to it
Network can easily provide wireless data transmission function to the user, therefore have very strong apply in Internet of Things field
Property.
The content of the invention
It is applied to being positioned based on wireless ZigBee technology under environment of internet of things object of the present invention is to provide a kind of
Intelligent logistics robot, be different from tradition and be applied to the merchandising machine people of warehouse or factory using camera and pre-buried circuit
Control mode, by the present invention in that with the wireless Zigbee location technologies being widely used at present, realizes Intelligent logistics robot
Control.
To achieve the above object, the technical solution adopted by the present invention for it is a kind of be applied to environment of internet of things under based on wireless
ZigBee technology positioning Intelligent logistics robot, the Intelligent logistics robot include built by aluminium sheet robot body 1,
ARM microprocessor 3, universal wheel 2, DC speed-reducing 7, motor control module 6, Zigbee nodes 5,4 and of wireless serial module
Power-supply system 9, retarder 8.
Intelligent logistics robot body 1 is square structure, and four side edge mid-points of the square structure are mounted on universal wheel
2；Two DC speed-reducings 7 are fixed on the bottom surface of robot body 1, using twin shaft control mode.Two DC speed-reducings 7 are distinguished
It is connected with two groups of universal wheels 2 by retarder 8；ARM microprocessor 3 is fixed on the top surface of robot body 1, and two direct currents slow down electric
Machine 7 is connected by motor control module 6 with ARM microprocessor 3, and connection mode is the control line and motor of DC speed-reducing 7
The delivery outlet connection of control module 6, the control terminal of motor control module 6 are connected with the PWM ripple output pins of ARM microprocessor 3；
ARM microprocessors 3 are connected with Zigbee nodes 5 and wireless serial module 4 by serial ports；Power-supply system 9 is fixed on robot body
1 bottom surface, is connected by Du Pont's line with the power end of ARM microprocessor 3 and motor control module 6.
The artificial square structure of Intelligent logistics machine, each component are arranged in Intelligent logistics robot body top, bottom
Portion and side.Specifically, the main body frame 1 of Intelligent logistics robot is spliced by multiple aluminium sheets, forms one
The square structure of 34cm*34cm.
There is a universal wheel 2 on the midpoint on each bar side in main body front, rear, left and right, this is also that the present invention is different from other
The characteristics of merchandising machine people.Since the present invention improves universal wheel, so when left and right wheel is mobile, front and rear wheel is not
Very big resistance can be provided；Vice versa, so that the present invention, which can not have to turn round, just realizes that front, rear, left and right are moved.
For the rotating speed for making two wheels keep identical, so as to achieve the purpose that to keep straight on, slowed down using twin shaft direct current
Motor 7, i.e. a DC speed-reducing can control two wheels at the same time.Two DC speed-reducings are put in Intelligent logistics machine
Device human agent bottom, is connected with four universal wheels.The power of DC speed-reducing is 7.5W, rotating speed 100rpm, therefore is possessed
Good load capacity.
DC speed-reducing is driven using motor control module 6, and module model BTS7960, it is placed on main body
Top.Module is controlled motor by the way of PWM ripples, while module also has isolating chip, can prevent direct current from subtracting
Speed motor disturbs caused by rotating.Pin is described as follows shown in table.
1 motor control module pinouts of table
| BAT+ | Positive pole | BAT- | Power cathode |
| OUT1 | Motor output 1 | OUT2 | Motor output 2 |
| PWM1 | Pwm signal input 1 | PWM2 | Pwm signal input 2 |
| VCC | 5V power inputs | GND | Digitally |
ARM microprocessor 3 is controlled using the STM32F103 chips of ST companies, it is placed on body top.It is acted on
It is to receive the control information sent by Zigbee nodes 5 by serial ports 1 and receive by serial ports 2 to be sent out by wireless serial module 4
The routing information sent.Serial communication is a kind of common communication modes of ARM, by the RX pins, TX pins and GND that connect ARM
Pin is realized.Respective algorithms are run in ARM microprocessor, the input of the algorithm be the above-mentioned control information received from serial ports and
Routing information；Output is the direction of motion of Intelligent logistics robot.The algorithm is based on weight thought and location fingerprint positioning thought.
Zigbee nodes on the training stage, Intelligent logistics robot receive the content that each reference point is sent successively, and calculate
The signal strength of each reference point.Since Zigbee nodes are when nearer apart from some reference mode, signal strength values can be obvious
More than other reference points, therefore the signal strength values weight of the reference mode is maximum, i.e., the reference mode is to judging positional information
Influence it is maximum.Then, Intelligent logistics robot is moved to next region, receives the content of each reference mode again simultaneously
Signal strength is calculated, until all areas in traversal region-of-interest.Due to affected by environment, wireless signal strength is simultaneously unstable
Fixed, for the influence for overcoming signal strength unstable to positioning, usually in each region, repeatedly measurement is averaged.By repeatedly instruction
Practice, each region there can be the stabilization signal intensity level from different reference modes, and it is micro- to ARM which is empirically worth to storage
In the program variable of processor.In positioning stage, the signal strength values of the different reference modes calculated in real time and program are become
Existing data are compared in amount, calculate Intelligent logistics robot at present where position coordinates, and by the coordinate with from
Coordinate in the routing information that serial ports receives compared to pair, the direction of motion of output Intelligent logistics robot.According to the direction of motion,
ARM microprocessor exports corresponding PWM ripples.The PWM1 and PWM2 of the pin and above-mentioned motor control module that export PWM ripples are drawn
Foot is connected by Du Pont's line, is realized and is rotated and reverse control to motor.
Zigbee nodes 5 are controlled using CC2530 radio frequency chips, it is placed on body top.Its effect is in intelligence
In merchandising machine people's moving process, the signal strength of other positioning nodes is gathered, and the signal strength is sent to by serial ports
ARM microprocessor 3.
Wireless serial module 4 is used to the routing information that computer end produces wirelessly being transferred to ARM microprocessor
3, therefore place a wireless serial receiving terminal on 1 top of Intelligent logistics robot body.
The all devices that power-supply system 9 is responsible for Intelligent logistics robot are powered, it is divided into 6V and 12V, respectively by
Rechargeable lithium battary realizes that it is placed on Intelligent logistics robot body bottom.
In the logistics warehouse of modernization, Intelligent logistics robot can substitute the work of people, as porter into crudely-made articles
The carrying of thing.Since Intelligent logistics robot can walk under shelf, the sky of people's walking is originally reserved between shelf
Between can be less, the space utilisation in warehouse can be improved.Intelligent logistics robot is strong by Zigbee node received signals
Degree and the intelligent algorithm run on the microprocessor, it is possible to achieve positioning in real time, i.e., self perceive the position coordinates in warehouse.It is logical
Cross to compare and be stored in target location coordinate in microprocessor, it can be achieved that Intelligent logistics robot automated execution upper and lower, left and right
It is mobile.By using Zigbee wireless communications, it can also cooperate between multiple Intelligent logistics robots, make it at the same time
It is operated in logistics warehouse, improves the operational efficiency in warehouse.It is infrared or super by being added on Intelligent logistics robot body
Sound wave obstacle avoidance module, can also realize the function of automatic obstacle-avoiding, make Intelligent logistics robot be free to navigate within warehouse
Each position.By installing mechanical arm or launching and recovering equipment on Intelligent logistics robot body, Intelligent logistics machine can be made
People has the function of to pack and carries.As a result of Zigbee location technologies, so adding compared to traditional camera pre-buried
The control mode of circuit, the realization of technology is more flexible, without the limitation of landform.
Compared with prior art, the present invention has the advantages that：
1st, unique universal wheel mounting means can make Intelligent logistics robot to turn round, and need to only keep straight on regard to energy
Front, rear, left and right movement is completed, facilitates the mobile control of Intelligent logistics robot.
2nd, indoor positioning is carried out using newest wireless ZigBee technology, and adds intelligent algorithm, make Intelligent logistics machine
Device people can know the positional information of oneself automatically, in real time, independently judge the traffic direction of oneself, overall process is without artificial
Help.
3rd, Intelligent logistics robot is due to being built using existing module, and module cost is relatively low, therefore group
Dress is convenient, and cheap.
Brief description of the drawings
Fig. 1 is the control structure schematic diagram of Intelligent logistics robot.
Fig. 2 is the shape assumption diagram of Intelligent logistics robot.
Fig. 3 is host computer operation interface.
Fig. 4 is experiment scene figure.
In figure：1st, robot body, 2, universal wheel, 3, ARM microprocessor, 4, wireless serial module, 5, Zigbee nodes,
6th, motor control module, 7, DC speed-reducing, 8, retarder, 9, power-supply system.
Embodiment
The present invention is described in further detail below in conjunction with drawings and examples.
The present invention is broadly divided into two parts：Host computer and slave computer.Host computer is the operation interface of user, that is, is operated in
The program of computer end.Operation interface is made of 4 × 4 grid, and user can arbitrarily put the position of barrier.Completed putting
Afterwards, user needs to input beginning and end, then clicks on and determines to complete operation.Program uses self-designed algorithm Automatic-searching
To a suitable path, and slave computer is handed down in the form of coordinate.The algorithm is based on greedy thought, by the every of 4 × 4 grids
A line and each row are designed with weights, and provide that the weights of the first row to fourth line gradually increase, power of the first row to the 4th row
Value also gradually increase.From the off, when merchandising machine people current location and target location are in same a line, two positions are compared
The weights of column.If the row weights of current location are less than the row weights of target location, explanation should be walked to the right.Therefore first
Can judgement move right, and consider further that up and down, finally consider to be moved to the left.Conversely, can then first determine whether to moving to left
It is dynamic, consider further that up and down, finally consider to move right.When merchandising machine people current location and target location are in same row
When, compare the weights that two positions are expert at.If the row weights of current location are less than the row weights of target location, explanation should
Walk downwards.Therefore first determine whether to move down, consider further that to the left and to the right, finally consider to move up.Conversely, then first
Can judgement move up, and consider further that to the left and to the right, finally consider to move down.If current location and target location phase
Together, algorithm recursive call calculates next target location, untill terminal.
Slave computer is broadly divided into two parts：Intelligent logistics robot body part and Zigbee locating modules.Intelligent logistics
Robot body part uses ARM microprocessor as control core, and is furnished with two DC speed-reducings and corresponding motor
Control module, power-supply system, a wireless transport module and a Zigbee node.Motor control module receives arm processor
The PWM ripples of transmission are controlled DC speed-reducing.Wireless transport module is connected with the serial ports 2 of arm processor, for receiving
The routing information that user issues.Zigbee nodes are defined as coordinator node, it is connected with the serial ports 1 of arm processor, is used for
The signal strength values of the terminal node received are transferred to arm processor and carry out data mart modeling processing.Merchandising machine human agent
Part further includes the location algorithm based on weight thought operated on arm processor.The location algorithm is according to real-time reception
To signal strength values calculate merchandising machine people at present where positional information, enable merchandising machine people automatic identification oneself
Position where at present.
Zigbee locating modules are 4 Zigbee nodes, which is defined as terminal node, and in 4 × 4 grids
Put a Zigbee node in each vertex.The node outwards broadcasts a message per 500ms automatically, and coordinator node receives
The message that each terminal node is sent, and calculate signal strength values.
Embodiment
Assuming that there is barrier at 4 in Fig. 4 experiment scenes, specific location is as shown in the table
2 experiment scene of table is arranged
| A1 starting points | B1 | C1 barriers | D1 |
| A2 | B2 | C2 | D2 barriers |
| A3 | B3 barriers | C3 | D3 |
| A4 | B4 | C4 barriers | D4 terminals |
In table, A1~A4, B1~B4, C1~C4, D1~D4 represent the position coordinates in the region, in C1, D2, B3, C4 area
Barrier is put into domain, it is A1, terminal D4 to select starting point.After the operation interface shown in Fig. 3 clicks on confirming button, program
A suitable path can be calculated automatically, and is exported by serial ports, and it is as shown in the table in the path of output.
3 routing information of table
| A1 | A2 | B2 | C2 | C3 | D3 | D4 |
The transmitting terminal of wireless serial module is connected by USB port with computer, above-mentioned path will be by serial ports with 16
System, be wirelessly sent to Intelligent logistics robot.
There is the receiving terminal of wireless serial port module on Intelligent logistics robot body top, which can be properly received above-mentioned
Routing information, and ARM microprocessor is sent to by serial ports.Therefore, it is necessary to by RX, TX, GND, VCC of wireless serial module
Pin is connected with the corresponding pin of ARM microprocessor with Du Pont's line, completes the transmission of data.
Intelligent logistics robot is put into origin, the Zigbee nodes on Intelligent logistics robot body top connect
Receive the message from the broadcast of other 4 Zigbee positioning nodes.The Zigbee nodes are receiving other 4 Zigbee positioning
After the broadcast message of node, the signal strength of the message from 4 difference Zigbee positioning nodes can be calculated respectively, and will
The signal strength is sent to ARM microprocessor by serial ports.Therefore, it is necessary to by RX, TX of Zigbee nodes, GND pin with
The corresponding pin of ARM microprocessor is connected with Du Pont's line, completes the transmission of data.
ARM microprocessor can calculate automatically after the signal strength from Zigbee nodes is successfully received according to algorithm
Appear in the position coordinates in residing region.By the position coordinates calculated compared with the coordinate included in the routing information received
Compared with if equal, illustrating that now residing region is correct, moved to next position.By comparing current position coordinates with
Which direction movement one position coordinates is determined to.If high four of two position coordinateses are equal, i.e. A in A1 is equal to A2
In A；And low four unequal, i.e. 1 in A1 is less than 2 in A2, illustrates to move right at this time, Intelligent logistics machine
Device people will automatically move right., whereas if current position coordinates are A2, next position coordinates is A1, Intelligent logistics
Robot can be automatically moved to the left.In moving process, Zigbee nodes can be received to the moment to be determined from other 4 Zigbee
The broadcast message of position node, and signal strength values are sent to ARM microprocessor, for calculating location coordinate now.
If high four of two position coordinateses are unequal, i.e. A in A2 is less than the B in B2；And low four equal, i.e. 2 in A2
Equal to 2 in B2, illustrate to move down at this time, Intelligent logistics robot will be moved down automatically., whereas if work as
Front position coordinate is B2, and next target location is A2, and Intelligent logistics robot can be moved up automatically.Intelligent logistics machine
People can repeat above-mentioned operation always, until current position coordinates is equal with the position coordinates of terminal, illustrate to have arrived at mesh
Ground, Intelligent logistics robot will automatically stop moving.During from origin-to-destination, Intelligent logistics robot begins
Calculated eventually by the signal strength of Zigbee nodes collection, judge the position coordinates being currently located, automatically moved
It is dynamic, helped without artificial.
After moving direction is determined, ARM microprocessor can export PWM ripples to motor control module, for controlling motor
Rotate and reverse, and then realize upper and lower, left and right move.Therefore, it is necessary to by PWM1 the and PWM2 pins of motor control module
PWM ripples output pin corresponding with ARM microprocessor is connected with Du Pont's line, realizes the purpose of motor control.Motor control module
Control the mode of motor forward and backward as shown in the table.
The 4 motor control module PWM way of outputs of table
| PWM1 | PWM2 | OUT1 | OUT2 | |
| Rotate forward | 0~100% | 0 | 0~100% | BAT- |
| Reversion | 0 | 0~100% | BAT- | 0~100% |
In table, 0~100% represents the duty cycle of PWM ripples, i.e., exports the ratio shared by high level in one cycle.
OUT1 connects two control lines of motor with OUT2.
Claims (8)
1. the Intelligent logistics robot based on Zigbee, it is characterised in that：The robot includes the robot master built by aluminium sheet
Body (1), ARM microprocessor (3), universal wheel (2), DC speed-reducing (7), motor control module (6), Zigbee nodes (5),
Wireless serial module (4) and power-supply system (9), retarder (8)；
Intelligent logistics robot body (1) is square structure, and four side edge mid-points of the square structure are mounted on universal wheel
(2)；Two DC speed-reducings (7) are fixed on the bottom surface of robot body (1), using twin shaft control mode；Two direct currents slow down electric
Machine (7) is connected with two groups of universal wheels (2) by retarder (8) respectively；ARM microprocessor (3) is fixed on robot body's (1)
Top surface, two DC speed-reducings (7) are connected by motor control module (6) with ARM microprocessor (3), and connection mode is direct current
The control line of decelerating motor (7) is connected with the delivery outlet of motor control module (6), the control terminal and ARM of motor control module (6)
The PWM ripples output pin connection of microprocessor (3)；ARM microprocessors (3) and Zigbee nodes (5) and wireless serial module (4) are logical
Cross serial ports connection；Power-supply system (9) is fixed on robot body (1) bottom surface, passes through Du Pont's line and ARM microprocessor (3) and electricity
The power end connection of machine control module (6)；
The Intelligent logistics robot based on Zigbee is divided into two parts：Host computer and slave computer；Host computer is user's
Operation interface, that is, operate in the program of computer end；Operation interface is made of 4 × 4 grid, and user can arbitrarily put barrier
Position；After the completion of putting, user needs to input beginning and end, then clicks on and determines to complete operation；Program uses oneself
The algorithm Automatic-searching of design is handed down to slave computer to a suitable path in the form of coordinate；The algorithm is based on greed
Thought, weights are designed with by every a line of 4 × 4 grids and each row, and provide that the weights of the first row to fourth line gradually increase,
The weights of first row to the 4th row also gradually increase；From the off, when merchandising machine people current location with target location same
During a line, compare the weights of two position columns；If the row weights of current location are less than the row weights of target location, explanation
It should walk to the right；Therefore first determine whether to move right, consider further that up and down, finally consider to be moved to the left；Conversely, then
First determine whether to be moved to the left, consider further that up and down, finally consider to move right；When merchandising machine people current location with
Compare the weights that two positions are expert in same row in target location；If the row weights of current location are less than target location
Row weights, explanation should walk downwards；Therefore first determine whether to move down, consider further that to the left and to the right, finally consider to
Upper movement；Conversely, then first determine whether to move up, consider further that to the left and to the right, finally consider to move down；It is if current
Position is identical with target location, and algorithm recursive call calculates next target location, untill terminal；
Slave computer is divided into two parts：Intelligent logistics robot body part and Zigbee locating modules；Intelligent logistics robot master
Body portion using ARM microprocessor as control core, and be furnished with two DC speed-reducings and corresponding motor control module,
Power-supply system, a wireless transport module and a Zigbee node；Motor control module receives what ARM microprocessor was sent
PWM ripples are controlled DC speed-reducing；Wireless transport module is connected with the serial ports 2 of ARM microprocessor, for receiving user
The routing information issued；Zigbee nodes are defined as coordinator node, it is connected with the serial ports 1 of ARM microprocessor, for inciting somebody to action
The signal strength values of the terminal node received are transferred to ARM microprocessor and carry out data mart modeling processing；Merchandising machine human agent
Part further includes the location algorithm based on weight thought operated in ARM microprocessor；The location algorithm according to connecing in real time
Received signal strength values calculate the positional information at the current place of merchandising machine people, enable merchandising machine people automatic identification certainly
Position where oneself is current；
Zigbee locating modules are 4 Zigbee nodes, which is defined as terminal node, and in each of 4 × 4 grids
Put a Zigbee node in vertex；The node outwards broadcasts a message per 500ms automatically, and coordinator node receives each whole
The message that end node is sent, and calculate signal strength.
2. the Intelligent logistics robot according to claim 1 based on Zigbee, it is characterised in that：Main body frame is by more
The square structure that a aluminium sheet is spliced.
3. the Intelligent logistics robot according to claim 1 based on Zigbee, it is characterised in that：Main body it is forward and backward,
There is a universal wheel (2) on the midpoint on left and right each bar side.
4. the Intelligent logistics robot according to claim 1 based on Zigbee, it is characterised in that：DC speed-reducing is adopted
It is driven with motor control module (6), module model BTS7960；Module controls motor by the way of PWM ripples
System, while module also has isolating chip, can prevent DC speed-reducing from being disturbed caused by rotating；Pin is described as follows table
It is shown；
1 motor control module pinouts of table
ARM microprocessor (3) is controlled using the STM32F103 chips of ST companies, it is placed on body top；Its effect is
The control information sent by the Zigbee nodes (5) in Intelligent logistics robot is received by serial ports 1 and is received by serial ports 2
The routing information sent by wireless serial module (4)；Serial communication is a kind of common communication modes of ARM, by connecting ARM's
RX pins, TX pins and GND pin are realized；Respective algorithms are run in ARM microprocessor, the input of the algorithm is above-mentioned from string
The control information and routing information that mouth receives；Output is the direction of motion of Intelligent logistics robot；The algorithm is based on weight thought
Thought is positioned with location fingerprint；Zigbee nodes on the training stage, Intelligent logistics robot receive each reference point successively
The content of transmission, and calculate the signal strength of each reference point；Due to the Zigbee nodes in Intelligent logistics robot away from
When nearer from some reference mode, signal strength values can be significantly greater than other reference points, therefore the signal strength of the reference mode
It is worth weight maximum, i.e. influence of the reference mode to judging positional information is maximum；Then, Intelligent logistics robot is moved to down
One region, receives the content of each reference mode and calculates signal strength again, until all areas in traversal region-of-interest
Domain；Due to affected by environment, wireless signal strength is simultaneously unstable, for the influence for overcoming signal strength unstable to positioning, leads to
Often in each region, repeatedly measurement is averaged；By repeatedly training, each region can have the stabilization from different reference modes
The value, is empirically worth storage into the program variable of ARM microprocessor by signal strength values；In positioning stage, will count in real time
The signal strength values of the different reference modes calculated calculate Intelligent logistics machine compared with existing data in program variable
Device people at present where position coordinates, and by the coordinate with the coordinate in the routing information received from serial ports compared with pair, output intelligence
The direction of motion of energy merchandising machine people；According to the direction of motion, ARM microprocessor exports corresponding PWM ripples；PWM ripples will be exported
Pin is connected with PWM1 the and PWM2 pins of above-mentioned motor control module by Du Pont's line, is realized and is rotated and reverse control to motor
System.
5. the Intelligent logistics robot according to claim 1 based on Zigbee, it is characterised in that：Intelligent logistics robot
On Zigbee nodes (5) be controlled using CC2530 radio frequency chips, it is placed on body top；Its effect is in intelligent thing
Flow in robot moving process, gather the signal strength of other positioning nodes, and the signal strength is sent to ARM by serial ports
Microprocessor (3).
6. the Intelligent logistics robot according to claim 1 based on Zigbee, it is characterised in that：Wireless serial module
(4) it is used to the routing information that computer end produces wirelessly being transferred to ARM microprocessor (3), therefore in Intelligent logistics
Place a wireless serial receiving terminal in robot body (1) top.
7. the Intelligent logistics robot according to claim 1 based on Zigbee, it is characterised in that：Power-supply system (9) is negative
The all devices blamed as Intelligent logistics robot are powered, it is divided into 6V and 12V, is realized respectively by rechargeable lithium battary,
It is placed on Intelligent logistics robot body bottom.
8. the Intelligent logistics robot according to claim 1 based on Zigbee, it is characterised in that：If in experiment scene
There is barrier at 4, specific location is as shown in the table
2 experiment scene of table is arranged
In table, A1~A4, B1~B4, C1~C4, D1~D4 represent the position coordinates in the region, in C1, D2, B3, C4 region
Barrier is put into, it is A1, terminal D4 to select starting point；After operation interface clicks on confirming button, program can calculate one automatically
The suitable path of bar, and exported by serial ports, it is as shown in the table in the path of output；
3 routing information of table
The transmitting terminal of wireless serial module is connected by USB port with computer, above-mentioned path will by serial ports with hexadecimal,
Wirelessly it is sent to Intelligent logistics robot；
There is the receiving terminal of wireless serial port module on Intelligent logistics robot body top, which can be properly received above-mentioned road
Footpath information, and ARM microprocessor is sent to by serial ports；Therefore, it is necessary to by the RX, TX, GND, VCC pin of wireless serial module
It is connected with the corresponding pin of ARM microprocessor with Du Pont's line, completes the transmission of data；
Intelligent logistics robot is put into origin, the Zigbee nodes on Intelligent logistics robot body top, which receive, to be come from
The message of other 4 Zigbee positioning nodes broadcast；The Zigbee nodes are receiving the wide of other 4 Zigbee positioning nodes
After broadcasting message, the signal strength of the message from 4 difference Zigbee positioning nodes can be calculated respectively, and the signal is strong
Degree is sent to ARM microprocessor by serial ports；Therefore, it is necessary to by RX, TX of the Zigbee nodes in Intelligent logistics robot,
GND pin is connected with the corresponding pin of ARM microprocessor with Du Pont's line, completes the transmission of data；
ARM microprocessor, can root after the signal strength for the Zigbee nodes being successfully received in Intelligent logistics robot
Calculate the position coordinates for appearing in residing region automatically according to algorithm；By in the position coordinates calculated and the routing information received
Comprising coordinate compare, if equal, illustrate that now residing region is correct, moved to next position；Worked as by comparing
Front position coordinate determines moved to which direction with next position coordinates；If high four of two position coordinateses are equal, i.e.,
A in A1 is equal to the A in A2；And low four unequal, i.e. 1 in A1 is less than 2 in A2, illustrates to move right at this time
Dynamic, Intelligent logistics robot will automatically move right；, whereas if current position coordinates are A2, next position coordinates
It is A1, Intelligent logistics robot can be automatically moved to the left；In moving process, the Zigbee nodes in Intelligent logistics robot
The broadcast message from other 4 Zigbee positioning nodes can be received to moment, and signal strength values are sent to ARM microprocessors
Device, for calculating location coordinate now；If high four of two position coordinateses are unequal, i.e. A in A2 is less than B2
In B；And low four equal, i.e. 2 in A2 are equal to 2 in B2, illustrate to move down at this time, Intelligent logistics robot
Will automatically it move down；, whereas if current position coordinates are B2, next target location is A2, Intelligent logistics machine
People can automatically move up；Intelligent logistics robot can repeat above-mentioned operation always, until current position coordinates and end
The position coordinates of point is equal, illustrates to have arrived at destination, Intelligent logistics robot will automatically stop moving；From starting point
During terminal, signal of the Intelligent logistics robot all the time by the Zigbee nodes collection in Intelligent logistics robot is strong
Degree is calculated, and is judged the position coordinates being currently located, is automatically moved, and is helped without artificial；
After moving direction is determined, ARM microprocessor can export PWM ripples to motor control module, for controlling motor just
Turn and invert, and then realize that upper and lower, left and right are moved；Therefore, it is necessary to by PWM1 the and PWM2 pins and ARM of motor control module
The corresponding PWM ripples output pin of microprocessor is connected with Du Pont's line, realizes the purpose of motor control；Motor control module control electricity
The mode of machine forward and backward is as shown in the table；
The 4 motor control module PWM way of outputs of table
In table, 0~100% represents the duty cycle of PWM ripples, i.e., exports the ratio shared by high level in one cycle；OUT1 and
Two control lines of OUT2 connection motors.
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