Overall structure design of photoelectric and RFID logistics robot
The photoelectric and RFID guided logistics robot system is a three-tier system, which is divided into a system layer, a control layer and an execution layer. It consists of system control software system, robot body control system, robot sensor acquisition, robot motion execution, robot operation site, RFID tag, wireless communication link and so on. The system structure hierarchy is shown in Figure 1.
The system layer is the core of the optoelectronic and RFID-guided logistics robot control system. It is the planning and dispatching center of the whole system, which is mainly composed of system control software and wireless communication links. The commands that the robot needs to execute, the tasks that need to be completed, the path optimization, and the obstacle information feedback processing are all completed by the system layer.
The control layer is an intermediate link in the photoelectric and RFID-guided logistics robot control system. It is the hub that receives the command or task information from the system layer and allocates it to each actuator. It collects the information of each sensor component and feeds back through the wireless communication link. The hub of the system control software; is the hub for automatic detection of the robot's own system functions, obstacle determination and information feedback during operation; mainly consists of a single-chip controller and a wireless communication link installed on the robot body.
The execution layer is the terminal of the photoelectric and RFID-guided logistics robot control system, and consists of information acquisition terminals such as robot trajectory detection information, external button control information, and robot attitude information; the robot advances and retreats, and posture adjustment and other driving terminals are composed. The main RFID information collection in this system is also at the execution level.
The optoelectronic and RFID-guided logistics robot systems in practical applications should also have corresponding auxiliary system (component) support, including robotic sports venues, RFID tags and RFID tag information writers.
2 Photoelectric and RFID Logistics Robot Hardware SystemThe optoelectronic and RFID-guided logistics robot hardware system is mainly composed of a computer, a wireless data transmission module, a robot body controller, a motor and a driver, an encoder, a sensor, and an RFID reader. Photovoltaic and RFID guided logistics robot hardware system structure diagram shown in Figure 2.
The computer is the hardware device of the photoelectric and RFID-guided logistics robot system layer. It is the carrier for the system control software installation. It can use ordinary PC, server, industrial computer or laptop computer. In the actual optoelectronic and RFID-guided logistics robot system application, Standard servers should be used, because the system control software has information backup and execution record functions. Relevant information should be recorded in the server database, and system security and data backup work should be done.
The wireless data transmission module is the data link between the optoelectronic and RFID-guided logistics robot system layer and the control layer, and is an important link to realize system control. The wireless data transmission module is composed of a transmitter and a receiver, the transmitter and the receiver are the same frequency module, or one transmitter and multiple receivers, and the communication control adopts a master-slave (point name) control mode, and the detailed control mode Information exchange according to the communication protocol. The robot body controller is the core of the photoelectric and RFID-guided logistics robot control layer. It mainly uses the AVR MEGA128 chip as the control core, assists the DI and DO interface circuits, communicates with the wireless data transmission module through the RS232 interface, and passes through the execution components. Interface communication such as UART and DI.
The motor of photoelectric and RFID-guided logistics robot adopts high-torque DC gear motor, and the drive is driven by H-bridge PWM speed regulation mode, which can realize the control of motor running speed. The encoder is a motion feedback component used in conjunction with a DC geared motor. It mainly realizes the feedback of the motor running distance information, and is used to dynamically balance and adjust the speed difference between the two DC geared motors as one of the auxiliary components of the robot attitude adjustment.
The sensor is the main information acquisition device in the photoelectric and RFID-guided logistics robot, including photoelectric color difference sensor, infrared obstacle detection sensor, and flat electronic compass. The RFID reader is an important information acquisition component in the photoelectric and RFID-guided logistics robot, and is installed on the robot body for collecting RFID tag information in the robot motion track.
3 Photoelectric and RFID Logistics Robot Software System DesignThe optoelectronic and RFID-guided logistics robot software system includes two parts: system control software and robot body controller control software.
The system control software is the core of the optoelectronic and RFID-guided logistics robot software system. It is developed by C# and has the functions of remote operation, command control and task control, which can realize real-time monitoring and information storage of the operation path. Path optimization algorithms and control commands in system control are issued by the system control software.
The robot body control software is the underlying control software for the operation of the single chip microcomputer. It mainly translates the information of the system control software into the control command information of each execution component, and translates and transmits the collected related information back to the system control software. The robot body control software application GCC development software development.
4 Photoelectric and RFID logistics robot auxiliary system designOptoelectronics and RFID Guided Logistics The robotic assistance system consists of a robotic field and RFID tags. The robot sports field is the application place of RFID Zhien's logistics-guided robot system, and the robot field for RFID and light electromagnetic guidance is white (light) as the background color, and black (dark) is laid on the path that needs to be moved. The trajectory line provides a reference path for robot motion. The RFID tag is a flag of the key point of the specified path, and the coordinates of the point of the field are written in the tag as the point coordinates of the guiding path.
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