CN105068534A - Intelligent logistics robot based on Zigbee - Google Patents
Intelligent logistics robot based on Zigbee Download PDFInfo
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- CN105068534A CN105068534A CN201510420284.4A CN201510420284A CN105068534A CN 105068534 A CN105068534 A CN 105068534A CN 201510420284 A CN201510420284 A CN 201510420284A CN 105068534 A CN105068534 A CN 105068534A
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Abstract
Provided is an intelligent logistics robot based on Zigbee. A main body of the intelligent logistics robot is a square structure, two direct current deceleration motors are respectively connected with two groups of universal wheels via decelerators, an ARM microprocessor is fixed at the top surface of the main body of the robot, the two direct current deceleration motors are connected with the ARM microprocessor via motor control modules, control wires of the direct current deceleration motors are connected with output ports of the motor control modules, the ARM microprocessor is connected with a Zigbee node and a wireless serial port module via serial ports, power supply systems are fixed at the bottom surface of the main body of the robot, and the power supply systems are connected with the ARM microprocessor and power supply terminals of the motor control modules via Dupont lines. According to the intelligent logistics robot, the newest wireless Zigbee technology is employed for indoor positioning, an intelligent algorithm is added so that the intelligent logistics robot can automatically know its own position information in real time and autonomously determine its operation direction, and the whole process is in no need of human help.
Description
Technical field
The present invention relates to a kind of Intelligent logistics robot of locating based on wireless ZigBee technology be applied under environment of internet of things, belong to Computer Applied Technology field.
Background technology
Along with the development of Internet of Things, increasing automatic machinery starts to apply to logistics field.These machinery and equipment start progressively to replace transport, these tasks of carrying, store and pack, and become one of important means promoting logistics level.Under standardized flow package promotes, fast-developing scattered control system, workstation mode universal gradually all further promote the application of robot in logistics field.At present, the robot application of logistic industry has become the second largest application of the robot after automobile industry.
Zigbee is the wireless network protocol of low-power consumption based on IEEE802.15.4 standard, low speed short-distance transmission.Zigbee protocol is respectively Physical layer (PHY), MAC layer (MAC), transport layer (TL), network layer (NWK), application layer (APL) etc. from top to bottom.ZigBee-network principal feature is low-power consumption, low cost, low rate, support great deal of nodes, support multiple network topology, low complex degree, quick, reliable, safety.Equipment in ZigBee-network can be divided into the Three roles such as telegon (Coordinator), aggregation node (Router), sensor node (EndDevice).
ZigBee technology is the wireless communication technology of a kind of short distance, low-power consumption, is mainly suitable for automatically controlling and remote control field, can embed various equipment.Meanwhile, ZigBee as a kind of short-distance wireless communication technology, because its network easily for user provides wireless data transmission function, therefore can have very strong applicability in Internet of Things field.
Summary of the invention
The object of the present invention is to provide a kind of Intelligent logistics robot of locating based on wireless ZigBee technology be applied under environment of internet of things, be different from the control mode that merchandising machine people that tradition is applied to warehouse or factory adopts camera and pre-buried circuit, the present invention, by using the wireless Zigbee location technology of current widespread use, realizes controlling to Intelligent logistics robot.
For achieving the above object, the technical solution used in the present invention is a kind of Intelligent logistics robot of locating based on wireless ZigBee technology be applied under environment of internet of things, this Intelligent logistics robot comprise built by aluminium sheet robot body 1, ARM microprocessor 3, universal wheel 2, DC speed-reducing 7, motor control module 6, Zigbee node 5, wireless serial module 4 and power-supply system 9, speed reduction unit 8.
Intelligent logistics robot body 1 is square structure, and four limit edge mid-points of this square structure are all provided with universal wheel 2; Two DC speed-reducing 7 are fixed on the bottom surface of robot body 1, adopt twin shaft control mode.Two DC speed-reducing 7 are connected by speed reduction unit 8 with two groups of universal wheels 2 respectively; ARM microprocessor 3 is fixed on the end face of robot body 1, two DC speed-reducing 7 are connected with ARM microprocessor 3 by motor control module 6, connected mode is that the control line of DC speed-reducing 7 is connected with the delivery outlet of motor control module 6, and the control end of motor control module 6 is connected with the PWM ripple output pin of ARM microprocessor 3; The micro-process 3 of ARM is connected by serial ports with Zigbee node 5 and wireless serial module 4; Power-supply system 9 is fixed on robot body 1 bottom surface, is connected by the power end of Du Pont's line with ARM microprocessor 3 and motor control module 6.
The artificial square structure of described Intelligent logistics machine, each component is arranged in Intelligent logistics robot body top, bottom and side.Specifically, the main body frame 1 of Intelligent logistics robot is spliced by multiple aluminium sheet, forms the square structure of a 34cm*34cm.
The mid point on Ge Tiao limit, main body front, rear, left and right all has a universal wheel 2, and this is also the feature that the present invention is different from other merchandising machines people.Because the present invention improves universal wheel, thus when left and right take turns mobile time, front and rear wheel can't provide very large resistance; Vice versa, thus the present invention can be turned round just realize front, rear, left and right to move.
In order to make two wheels keep identical rotating speed, thus reach the object that can keep straight on, adopt twin shaft DC speed-reducing 7, namely a DC speed-reducing can control two wheels simultaneously.Two DC speed-reducing are put in bottom Intelligent logistics robot body, are connected with four universal wheels.The power of DC speed-reducing is 7.5W, and rotating speed is 100rpm, therefore possesses good load capacity.
DC speed-reducing adopts motor control module 6 to drive, and module model is BTS7960, and it is placed on body top.Module adopts the mode of PWM ripple to control motor, and module also has isolating chip simultaneously, the interference produced when can prevent DC speed-reducing from rotating.Pin is described as follows shown in table.
Table 1 motor control module pinouts
| BAT+ | Positive source | BAT- | Power cathode |
| OUT1 | Motor exports 1 | OUT2 | Motor exports 2 |
| PWM1 | Pwm signal input 1 | PWM2 | Pwm signal input 2 |
| VCC | 5V power supply inputs | GND | Digitally |
ARM microprocessor 3 adopts the STM32F103 chip of ST company to control, and it is placed on body top.Its effect receives by serial ports 1 control information that sent by Zigbee node 5 and received the routing information sent by wireless serial module 4 by serial ports 2.Serial communication is that the one of ARM commonly uses communication modes, realizes by connecting the RX pin of ARM, TX pin and GND pin.In ARM microprocessor, run respective algorithms, the input of this algorithm is the above-mentioned control information from serial ports reception and routing information; Output is the direction of motion of Intelligent logistics robot.This algorithm is based on weight thought and location fingerprint location thought.In the training stage, the Zigbee node in Intelligent logistics robot receives the content that each reference point sends successively, and calculates the signal intensity of each reference point.Because Zigbee node is when nearer apart from certain reference mode, signal strength values can obviously be greater than other reference point, and therefore the signal strength values weight of this reference mode is maximum, and namely this reference mode is to judging having the greatest impact of positional information.Then, Intelligent logistics robot is moved to next region, again receive the content of each reference mode and calculate signal intensity, until all regions in traversal region-of-interest.Due to affected by environment, wireless signal strength is also unstable, in order to overcome the unstable impact on location of signal intensity, is usually averaged at each region repetitive measurement.Through repeatedly training, can there be the stabilization signal intensity level from different reference mode in each region, this value is empirically worth and is stored in the program variable of ARM microprocessor.At positioning stage, existing data in the signal strength values of the different reference modes calculated in real time and program variable are compared, calculate the position coordinates at the current place of Intelligent logistics robot, and by this coordinate with compare from the coordinate the routing information that serial ports receives, output Intelligent logistics robot direction of motion.According to direction of motion, ARM microprocessor exports corresponding PWM ripple.The pin exporting PWM ripple is connected by Du Pont's line with PWM1 with the PWM2 pin of above-mentioned motor control module, realizes rotating and reverse control to motor.
Zigbee node 5 adopts CC2530 radio frequency chip to control, and it is placed on body top.Its effect is in Intelligent logistics robot moving process, gathers the signal intensity of other location nodes, and this signal intensity is sent to ARM microprocessor 3 by serial ports.
Wireless serial module 4 is wirelessly transferred to ARM microprocessor 3 for routing information computer end produced, and therefore places a wireless serial receiving end on Intelligent logistics robot body 1 top.
The all devices that power-supply system 9 is responsible for Intelligent logistics robot is powered, and it is divided into 6V and 12V, is realized respectively by rechargeable lithium battary, and it is placed on bottom Intelligent logistics robot body.
In modern logistics warehouse, Intelligent logistics robot can replace the work of people, carries out the carrying of goods as porter.Because Intelligent logistics robot can walk under shelf, therefore between shelf, the space of original reserved people's walking can be less, can improve the space utilisation in warehouse.The signal intensity that Intelligent logistics robot is received by Zigbee node and the intelligent algorithm run on the microprocessor, can realize real-time location, namely self-perception is at the position coordinates in warehouse.Be stored in the target location coordinate in micro-process by comparison, the movement that Intelligent logistics robot automatically performs upper and lower, left and right can be realized.By using Zigbee radio communication, can also collaborative work be carried out between multiple Intelligent logistics robot, making it be operated in logistics warehouse simultaneously, improve the operational efficiency in warehouse.By adding infrared or avoiding obstacles by supersonic wave module on Intelligent logistics robot body, the function of automatic obstacle-avoiding can also be realized, making Intelligent logistics robot be free to navigate within each position in warehouse.By fitting machine mechanical arm or launching and recovering equipment on Intelligent logistics robot body, Intelligent logistics robot can be made to have the function of packing and carrying.Owing to have employed Zigbee location technology, so add the control mode of pre-buried circuit compared to traditional camera, the realization of technology is more flexible, does not have the restriction of landform.
Compared with prior art, the present invention has following beneficial effect:
1, unique universal wheel mounting means can make Intelligent logistics robot not need to turn round, and only need keep straight on just can complete front, rear, left and right and move, and facilitates the mobile control of Intelligent logistics robot.
2, adopt up-to-date wireless ZigBee technology to carry out indoor positioning, and add intelligent algorithm, enable Intelligent logistics robot know the positional information of oneself automatically, in real time, independently judge the traffic direction of oneself, overall process is without the need to artificial help.
3, Intelligent logistics robot is owing to being all adopt existing module to build, and module cost is lower, therefore easy to assembly, and cheap.
Accompanying drawing explanation
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: 1, robot body, 2, universal wheel, 3, ARM microprocessor, 4, wireless serial module, 5, Zigbee node, 6, motor control module, 7, DC speed-reducing, 8, speed reduction unit, 9, power-supply system.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
The present invention is mainly divided into two parts: host computer and slave computer.Host computer is the operation interface of user, namely operates in the program of computer end.Operation interface has the grid of 4 × 4 to form, and user arbitrarily can put the position of barrier.After having put, user has needed input starting point and terminal, then clicks and determines complete operation.Program uses self-designed algorithm Automatic-searching to a suitable path, and is handed down to slave computer with the form of coordinate.Every a line of 4 × 4 grids and each row, based on greedy thought, are all provided with weights, and specify that the first row increases gradually to the weights of fourth line by this algorithm, and first row also increases gradually to the weights of the 4th row.From the off, when merchandising machine people current location and target location are in same a line, the weights of two position columns are compared.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 judge to move right, then consider up and down, finally consider to be moved to the left.Otherwise, then first judge to be moved to the left, then consider up and down, finally consider to move right.When merchandising machine people current location and target location are same arranging, compare the weights be expert in two positions.If the row weights of current location are less than the row weights of target location, explanation should be walked downwards.Therefore first judge to move down, then consider and to the right left, finally consider to move up.Otherwise, then first judge to move up, then consider and to the right left, finally consider to move down.If current location is identical with target location, algorithm recursive call calculates next target location, until terminal.
Slave computer is mainly divided into two parts: Intelligent logistics robot body part and Zigbee locating module.Intelligent logistics robot body part adopts ARM microprocessor as control core, and is furnished with two DC speed-reducing and corresponding motor control module, power-supply system, a wireless transport module and a Zigbee node.The PWM ripple that motor control module receives arm processor transmission controls 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 node is defined as coordinator node, and it is connected with the serial ports 1 of arm processor, carries out data mart modeling process for the signal strength values of the terminal node received is transferred to arm processor.Merchandising machine human agent part also includes the location algorithm based on weight thought operated on arm processor.This location algorithm according to real-time reception to signal strength values calculate the positional information at the current place of merchandising machine people, enable merchandising machine people automatically identify the position at oneself current place.
Zigbee locating module is 4 Zigbee nodes, and this node is defined as terminal node, and puts a Zigbee node on each summit of 4 × 4 grids.The every 500ms of this node outside Auto broadcast message, coordinator node receives the message that each terminal node sends, and calculates signal strength values.
Embodiment
Suppose in Fig. 7 experiment scene, have 4 place's barriers, particular location is as shown in the table
Table 2 experiment scene is arranged
| A1 starting point | B1 | C1 barrier | D1 |
| A2 | B2 | C2 | D2 barrier |
| A3 | B3 barrier | C3 | D3 |
| A4 | B4 | C4 barrier | D4 terminal |
In table, A1 ~ A4, B1 ~ B4, C1 ~ C4, D1 ~ D4 represent the position coordinates in this region, in C1, D2, B3, C4 region, put into barrier, and selection starting point is A1, and terminal is D4.After the operation interface shown in Fig. 6 clicks confirming button, program can calculate a suitable path automatically, and is exported by serial ports, and it is as shown in the table in the path of output.
Table 3 routing information
| A1 | A2 | B2 | C2 | C3 | D3 | D4 |
Be connected with computer by USB port by the transmitting terminal of wireless serial module, above-mentioned path will be sent to Intelligent logistics robot by serial ports with sexadecimal, wireless mode.
Have the receiving end of wireless serial port module on Intelligent logistics robot body top, this receiving end can successfully receive above-mentioned routing information, and is sent to ARM microprocessor by serial ports.Therefore, need RX, TX, GND, VCC pin of wireless serial module to be connected with the corresponding pin Du Pont line of ARM microprocessor, complete the transmission of data.
Intelligent logistics robot is put into origin, and the Zigbee node on Intelligent logistics robot body top receives the message from other 4 Zigbee location node broadcast.This Zigbee node, after the broadcast receiving other 4 Zigbee location nodes, can calculate the signal intensity of the message from 4 different Zigbee location nodes respectively, and this signal intensity is sent to ARM microprocessor by serial ports.Therefore, need RX, TX, GND pin of Zigbee node to be connected with the corresponding pin Du Pont line of ARM microprocessor, complete the transmission of data.
ARM microprocessor, after successfully receiving the signal intensity from Zigbee node, can calculate the position coordinates in residing region now automatically according to algorithm.By the position coordinates calculated compared with the coordinate comprised in the routing information received, if equal, illustrate that now residing region is correct, move to next position.By comparing current position coordinates and next position coordinates determines to which direction to move.If two position coordinateses high four equal, the A namely in A1 equals the A in A2; And low four unequal, namely 1 in A1 is less than 2 in A2, and illustrate and now should move right, Intelligent logistics robot just can automatically move right.Otherwise if current position coordinates is A2, next position coordinates is A1, and Intelligent logistics robot can automatically be moved to the left.In moving process, Zigbee node can receive to the moment broadcast from other 4 Zigbee location nodes, and signal strength values is sent to ARM microprocessor, for calculating now residing position coordinates.If two position coordinateses high four unequal, the A namely in A2 is less than the B in B2; And low four equal, namely 2 in A2 equals 2 in B2, and illustrate and now should move down, Intelligent logistics robot just can automatically move down.Otherwise if current position coordinates is B2, next target location is A2, and Intelligent logistics robot can automatically move up.Intelligent logistics robot can repeat above-mentioned operation always, until current position coordinates is equal with the position coordinates of terminal, illustrates and arrives destination, and Intelligent logistics robot just can automatically stop mobile.From in the process of origin-to-destination, Intelligent logistics robot relies on the signal intensity of Zigbee node collection to calculate all the time, judges the position coordinates at current place, automatically moves, without the need to artificial help.
After determining moving direction, ARM microprocessor can export PWM ripple to motor control module, for controlling rotating and reverse of motor, and then realizes upper and lower, left and right and moves.Therefore, need PWM ripple output pin Du Pont line corresponding with ARM microprocessor for PWM1 with the PWM2 pin of motor control module to be connected, realize the object of Electric Machine Control.The mode that motor control module controls motor forward and backward is as shown in the table.
The table 4 motor control module PWM way of output
| PWM1 | PWM2 | OUT1 | OUT2 | |
| Rotate forward | 0～100％ | 0 | 0～100％ | BAT- |
| Reversion | 0 | 0～100％ | BAT- | 0～100％ |
In table, the dutycycle of 0 ~ 100% expression PWM ripple, namely exports the ratio shared by high level in one-period.OUT1 with OUT2 is connected two control lines of motor.
Claims (9)
1., based on the Intelligent logistics robot of Zigbee, it is characterized in that: this robot comprise built by aluminium sheet robot body (1), ARM microprocessor (3), universal wheel (2), DC speed-reducing (7), motor control module (6), Zigbee node (5), wireless serial module (4) and power-supply system (9), speed reduction unit (8);
Intelligent logistics robot body (1) is square structure, and four limit edge mid-points of this square structure are all provided with universal wheel (2); Two DC speed-reducing (7) are fixed on the bottom surface of robot body (1), adopt twin shaft control mode; Two DC speed-reducing (7) are connected by speed reduction unit (8) with two groups of universal wheels (2) respectively; ARM microprocessor (3) is fixed on the end face of robot body (1), two DC speed-reducing (7) are connected with ARM microprocessor (3) by motor control module (6), connected mode is that the control line of DC speed-reducing (7) is connected with the delivery outlet of motor control module (6), and the control end of motor control module (6) is connected with the PWM ripple output pin of ARM microprocessor (3); The micro-process of ARM (3) is connected by serial ports with Zigbee node (5) and wireless serial module (4); Power-supply system (9) is fixed on robot body (1) bottom surface, is connected by the power end of Du Pont's line with ARM microprocessor (3) and motor control module (6).
2. the Intelligent logistics robot based on Zigbee according to claim 1, is characterized in that: the main body frame (1) of Intelligent logistics robot is the square structure be spliced by multiple aluminium sheet.
3. the Intelligent logistics robot based on Zigbee according to claim 1, is characterized in that: on the mid point on Ge Tiao limit, main body front, rear, left and right, all have a universal wheel (2).
4. the Intelligent logistics robot based on Zigbee according to claim 1, is characterized in that: DC speed-reducing adopts motor control module (6) to drive, and module model is BTS7960; Module adopts the mode of PWM ripple to control motor, and module also has isolating chip simultaneously, the interference produced when can prevent DC speed-reducing from rotating; Pin is described as follows shown in table;
Table 1 motor control module pinouts
ARM microprocessor (3) adopts the STM32F103 chip of ST company to control, and it is placed on body top; Its effect receives by serial ports 1 control information that sent by Zigbee node (5) and received the routing information sent by wireless serial module (4) by serial ports 2; Serial communication is that the one of ARM commonly uses communication modes, realizes by connecting the RX pin of ARM, TX pin and GND pin; In ARM microprocessor, run respective algorithms, the input of this algorithm is the above-mentioned control information from serial ports reception and routing information; Output is the direction of motion of Intelligent logistics robot; This algorithm is based on weight thought and location fingerprint location thought; In the training stage, the Zigbee node in Intelligent logistics robot receives the content that each reference point sends successively, and calculates the signal intensity of each reference point; Because Zigbee node is when nearer apart from certain reference mode, signal strength values can obviously be greater than other reference point, and therefore the signal strength values weight of this reference mode is maximum, and namely this reference mode is to judging having the greatest impact of positional information; Then, Intelligent logistics robot is moved to next region, again receive the content of each reference mode and calculate signal intensity, until all regions in traversal region-of-interest; Due to affected by environment, wireless signal strength is also unstable, in order to overcome the unstable impact on location of signal intensity, is usually averaged at each region repetitive measurement; Through repeatedly training, can there be the stabilization signal intensity level from different reference mode in each region, this value is empirically worth and is stored in the program variable of ARM microprocessor; At positioning stage, existing data in the signal strength values of the different reference modes calculated in real time and program variable are compared, calculate the position coordinates at the current place of Intelligent logistics robot, and by this coordinate with compare from the coordinate the routing information that serial ports receives, output Intelligent logistics robot direction of motion; According to direction of motion, ARM microprocessor exports corresponding PWM ripple; The pin exporting PWM ripple is connected by Du Pont's line with PWM1 with the PWM2 pin of above-mentioned motor control module, realizes rotating and reverse control to motor.
5. the Intelligent logistics robot based on Zigbee according to claim 1, is characterized in that: Zigbee node (5) adopts CC2530 radio frequency chip to control, and it is placed on body top; Its effect is in Intelligent logistics robot moving process, gathers the signal intensity of other location nodes, and this signal intensity is sent to ARM microprocessor (3) by serial ports.
6. the Intelligent logistics robot based on Zigbee according to claim 1, it is characterized in that: wireless serial module (4) is wirelessly transferred to ARM microprocessor (3) for routing information computer end produced, therefore place a wireless serial receiving end on Intelligent logistics robot body (1) top.
7. the Intelligent logistics robot based on Zigbee according to claim 1, it is characterized in that: all devices that power-supply system (9) is responsible for Intelligent logistics robot is powered, it is divided into 6V and 12V, realized by rechargeable lithium battary respectively, it is placed on bottom Intelligent logistics robot body.
8. the Intelligent logistics robot based on Zigbee according to claim 1, is characterized in that: be divided into two parts: host computer and slave computer; Host computer is the operation interface of user, namely operates in the program of computer end; Operation interface has the grid of 4 × 4 to form, and user arbitrarily can put the position of barrier; After having put, user has needed input starting point and terminal, then clicks and determines complete operation; Program uses self-designed algorithm Automatic-searching to a suitable path, and is handed down to slave computer with the form of coordinate; Every a line of 4 × 4 grids and each row, based on greedy thought, are all provided with weights, and specify that the first row increases gradually to the weights of fourth line by this algorithm, and first row also increases gradually to the weights of the 4th row; From the off, when merchandising machine people current location and target location are in same a line, the weights of two position columns are compared; 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 judge to move right, then consider up and down, finally consider to be moved to the left; Otherwise, then first judge to be moved to the left, then consider up and down, finally consider to move right; When merchandising machine people current location and target location are same arranging, compare the weights be expert in two positions; If the row weights of current location are less than the row weights of target location, explanation should be walked downwards; Therefore first judge to move down, then consider and to the right left, finally consider to move up; Otherwise, then first judge to move up, then consider and to the right left, finally consider to move down; If current location is identical with target location, algorithm recursive call calculates next target location, until terminal;
Slave computer is divided into two parts: Intelligent logistics robot body part and Zigbee locating module; Intelligent logistics robot body part adopts ARM microprocessor as control core, and is furnished with two DC speed-reducing and corresponding motor control module, power-supply system, a wireless transport module and a Zigbee node; The PWM ripple that motor control module receives arm processor transmission controls 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 node is defined as coordinator node, and it is connected with the serial ports 1 of arm processor, carries out data mart modeling process for the signal strength values of the terminal node received is transferred to arm processor; Merchandising machine human agent part also includes the location algorithm based on weight thought operated on arm processor; This location algorithm according to real-time reception to signal strength values calculate the positional information at the current place of merchandising machine people, enable merchandising machine people automatically identify the position at oneself current place;
Zigbee locating module is 4 Zigbee nodes, and this node is defined as terminal node, and puts a Zigbee node on each summit of 4 × 4 grids; The every 500ms of this node outside Auto broadcast message, coordinator node receives the message that each terminal node sends, and calculates signal strength values.
9. the Intelligent logistics robot based on Zigbee according to claim 1, is characterized in that: if there are 4 place's barriers in experiment scene, particular location is as shown in the table
Table 2 experiment scene is arranged
In table, A1 ~ A4, B1 ~ B4, C1 ~ C4, D1 ~ D4 represent the position coordinates in this region, in C1, D2, B3, C4 region, put into barrier, and selection starting point is A1, and terminal is D4; After operation interface clicks confirming button, program can calculate a suitable path automatically, and is exported by serial ports, and it is as shown in the table in the path of output;
Table 3 routing information
Be connected with computer by USB port by the transmitting terminal of wireless serial module, above-mentioned path will be sent to Intelligent logistics robot by serial ports with sexadecimal, wireless mode;
Have the receiving end of wireless serial port module on Intelligent logistics robot body top, this receiving end can successfully receive above-mentioned routing information, and is sent to ARM microprocessor by serial ports; Therefore, need RX, TX, GND, VCC pin of wireless serial module to be connected with the corresponding pin Du Pont line of ARM microprocessor, complete the transmission of data;
Intelligent logistics robot is put into origin, and the Zigbee node on Intelligent logistics robot body top receives the message from other 4 Zigbee location node broadcast; This Zigbee node, after the broadcast receiving other 4 Zigbee location nodes, can calculate the signal intensity of the message from 4 different Zigbee location nodes respectively, and this signal intensity is sent to ARM microprocessor by serial ports; Therefore, need RX, TX, GND pin of Zigbee node to be connected with the corresponding pin Du Pont line of ARM microprocessor, complete the transmission of data;
ARM microprocessor, after successfully receiving the signal intensity from Zigbee node, can calculate the position coordinates in residing region now automatically according to algorithm; By the position coordinates calculated compared with the coordinate comprised in the routing information received, if equal, illustrate that now residing region is correct, move to next position; By comparing current position coordinates and next position coordinates determines to which direction to move; If two position coordinateses high four equal, the A namely in A1 equals the A in A2; And low four unequal, namely 1 in A1 is less than 2 in A2, and illustrate and now should move right, Intelligent logistics robot just can automatically move right; Otherwise if current position coordinates is A2, next position coordinates is A1, and Intelligent logistics robot can automatically be moved to the left; In moving process, Zigbee node can receive to the moment broadcast from other 4 Zigbee location nodes, and signal strength values is sent to ARM microprocessor, for calculating now residing position coordinates; If two position coordinateses high four unequal, the A namely in A2 is less than the B in B2; And low four equal, namely 2 in A2 equals 2 in B2, and illustrate and now should move down, Intelligent logistics robot just can automatically move down; Otherwise if current position coordinates is B2, next target location is A2, and Intelligent logistics robot can automatically move up; Intelligent logistics robot can repeat above-mentioned operation always, until current position coordinates is equal with the position coordinates of terminal, illustrates and arrives destination, and Intelligent logistics robot just can automatically stop mobile; From in the process of origin-to-destination, Intelligent logistics robot relies on the signal intensity of Zigbee node collection to calculate all the time, judges the position coordinates at current place, automatically moves, without the need to artificial help;
After determining moving direction, ARM microprocessor can export PWM ripple to motor control module, for controlling rotating and reverse of motor, and then realizes upper and lower, left and right and moves; Therefore, need PWM ripple output pin Du Pont line corresponding with ARM microprocessor for PWM1 with the PWM2 pin of motor control module to be connected, realize the object of Electric Machine Control; The mode that motor control module controls motor forward and backward is as shown in the table;
The table 4 motor control module PWM way of output
In table, the dutycycle of 0 ~ 100% expression PWM ripple, namely exports the ratio shared by high level in one-period; OUT1 with OUT2 is connected two control lines of motor.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105242666A (en) * | 2015-09-02 | 2016-01-13 | 小米科技有限责任公司 | Equipment movement control method and device |
| CN105978078A (en) * | 2016-06-15 | 2016-09-28 | 广州尚云在线科技有限公司 | Wheeled robot automatic charging method based on wireless and infrared location |
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