本文選題：Arduino　切入點(diǎn)：Enhanced　出處：《西安科技大學(xué)》2013年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著工業(yè)自動(dòng)化的高速發(fā)展，傳統(tǒng)的人工入庫(kù)已不能滿足倉(cāng)儲(chǔ)自動(dòng)化發(fā)展需求。本文的設(shè)計(jì)是以深圳市中科鷗鵬智能科技有限公司提供的基于Arduino Enhanced Board控制板的車載機(jī)械臂智能小車為實(shí)驗(yàn)平臺(tái)，針對(duì)傳統(tǒng)的人工入庫(kù)存在的問(wèn)題，設(shè)計(jì)了基于智能小車的模擬入庫(kù)系統(tǒng)，基于智能小車的模擬入庫(kù)系統(tǒng)實(shí)現(xiàn)的功能是小車巡線行走，到達(dá)取貨點(diǎn)后超聲波遠(yuǎn)距離測(cè)量物體位置，由機(jī)械臂抓取物體，然后進(jìn)行顏色識(shí)別并放置到與物體顏色對(duì)應(yīng)的位置完成入庫(kù)，最后小車回到初始位置。 論文是基于智能小車的模擬入庫(kù)系統(tǒng)的軟件設(shè)計(jì)，同時(shí)配合硬件的電路，完成了整體系統(tǒng)的制作，并對(duì)軟、硬件進(jìn)行了聯(lián)機(jī)調(diào)試，為深圳市中科鷗鵬智能科技有限公司開(kāi)發(fā)了第一代可行走的機(jī)械臂小車。硬件模塊包括Arduino Enhanced Board控制板、巡線模塊、超聲波模塊、顏色識(shí)別模塊、機(jī)械臂模塊；軟件模塊包括巡線模塊、超聲波測(cè)量模塊、顏色識(shí)別模塊以及機(jī)械臂控制模塊。 硬件方面首先對(duì)各個(gè)模塊所用到的器件進(jìn)行選型、分析與比較，針對(duì)不同的器件設(shè)計(jì)相應(yīng)的驅(qū)動(dòng)電路，然后對(duì)各個(gè)硬件模塊進(jìn)行設(shè)計(jì)，并對(duì)各個(gè)硬件模塊的功能進(jìn)行測(cè)試，最后將所有硬件模塊整合在一起進(jìn)行調(diào)試。 軟件方面主要是針對(duì)各個(gè)硬件模塊編寫(xiě)對(duì)應(yīng)的代碼，其中重點(diǎn)是顏色識(shí)別模塊和機(jī)械臂控制模塊軟件設(shè)計(jì)。顏色識(shí)別模塊是針對(duì)傳統(tǒng)的閾值法識(shí)別精度較低、魯棒性較弱的問(wèn)題以及基于神經(jīng)網(wǎng)絡(luò)的最小色差法計(jì)算量大、難以應(yīng)用的問(wèn)題，提出了基于TCS230傳感器的模糊識(shí)別顏色算法。算法實(shí)現(xiàn)過(guò)程是首先根據(jù)少量的標(biāo)準(zhǔn)樣本確定出模糊關(guān)系，將TCS230傳感器實(shí)時(shí)測(cè)得的RGB數(shù)據(jù)模糊化，根據(jù)離線求出的模糊關(guān)系解出模糊輸出，通過(guò)解模糊確定出識(shí)別的物體顏色。模糊識(shí)別算法不僅識(shí)別精度較高，計(jì)算量較少，而且魯棒性較強(qiáng)，能夠應(yīng)用到很多自動(dòng)化系統(tǒng)。機(jī)械臂模塊是采用傳統(tǒng)的D-H法離線對(duì)機(jī)械臂進(jìn)行建模，求出變換矩陣，通過(guò)對(duì)矩陣齊次變換得到逆解方程，求解方程后將結(jié)果寫(xiě)入程序以控制機(jī)械臂。D-H法相對(duì)于遺傳算法等智能算法計(jì)算量較少，而且易于實(shí)現(xiàn)，適合應(yīng)用在本文設(shè)計(jì)的智能小車系統(tǒng)中。 智能小車模擬入庫(kù)的100次實(shí)驗(yàn)結(jié)果證明，設(shè)計(jì)的智能小車模擬入庫(kù)系統(tǒng)對(duì)物體顏色識(shí)別率高，搬運(yùn)精確。同時(shí)系統(tǒng)的安全性較高，，而且響應(yīng)也較快，為倉(cāng)儲(chǔ)的入庫(kù)系統(tǒng)的發(fā)展提供了參考。
[Abstract]:With the rapid development of industrial automation, The traditional manual storage can no longer meet the requirement of warehouse automation development. The design of this paper is based on the Arduino Enhanced Board control board, which is provided by Shenzhen Zhongke Gupeng Intelligent Technology Co., Ltd. In view of the problems existing in the traditional manual storage system, an analog storage system based on intelligent trolley is designed. The function of the simulation storage system based on intelligent trolley is to inspect the track and measure the position of the object at a long distance by ultrasonic wave. The object is grabbed by the robot arm, then color recognition is carried out and placed in a position corresponding to the color of the object. Finally, the vehicle returns to the initial position. The paper is based on the intelligent car simulation system software design, and with the hardware circuit, completed the production of the whole system, and the software and hardware on-line debugging. For Shenzhen Zhongke Gupeng Intelligent Science and Technology Co., Ltd, the first generation walking robot is developed. The hardware module includes Arduino Enhanced Board control board, line patrol module, ultrasonic module, color identification module, robot arm module; The software module includes inspection module, ultrasonic measurement module, color identification module and manipulator control module. In the hardware aspect, the devices used in each module are selected, analyzed and compared, the corresponding driving circuit is designed for different devices, and then each hardware module is designed, and the function of each hardware module is tested. Finally, all the hardware modules are integrated together for debugging. In the software aspect, the corresponding codes are mainly written for each hardware module, in which the emphasis is on the software design of the color recognition module and the robot arm control module, and the color recognition module is aimed at the low accuracy of the traditional threshold method. The problem of weak robustness and the problem that the minimum chromatic difference method based on neural network is difficult to be applied, A fuzzy color recognition algorithm based on TCS230 sensor is proposed. Firstly, the fuzzy relation is determined according to a small number of standard samples, and the RGB data measured in real time by TCS230 sensor is fuzzied. The fuzzy output is solved according to the fuzzy relation obtained from the off-line, and the object color is determined by the fuzzy solution. The fuzzy recognition algorithm not only has higher recognition accuracy, less computation, but also has stronger robustness. It can be applied to many automation systems. The traditional D-H method is used to model the manipulator off-line, and the transformation matrix is obtained, and the inverse solution equation is obtained by homogeneous transformation of the matrix. After solving the equation, the results are written into the program to control the manipulator. D-H method has less computation than the intelligent algorithm such as genetic algorithm, and it is easy to realize. It is suitable for application in the intelligent car system designed in this paper. The results of 100 experiments show that the designed intelligent vehicle simulation storage system has high recognition rate of object color and accurate handling. At the same time, the security of the system is high and the response is fast. It provides a reference for the development of warehousing system.
【學(xué)位授予單位】：西安科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2013
【分類號(hào)】：TH692.3

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 盧川英;于浩成;孫敬輝;孟中;;基于TCS230傳感器的顏色檢測(cè)系統(tǒng)[J];吉林大學(xué)學(xué)報(bào)(信息科學(xué)版);2008年06期

2 唐圣學(xué),劉波峰,徐東峰;基于模糊神經(jīng)網(wǎng)絡(luò)的顏色識(shí)別方法[J];傳感器技術(shù);2003年11期

3 李致金;吳文娟;;基于MSP430微控制器的帶USB通信的顏色識(shí)別系統(tǒng)[J];電子技術(shù)應(yīng)用;2009年08期

4 趙光藝;趙光興;欒曉霄;;基于顏色實(shí)現(xiàn)溫度測(cè)量的方法及實(shí)驗(yàn)研究[J];儀器儀表用戶;2010年03期

5 張英華;李明海;趙傳峰;李麗;楊小弟;;基于顏色傳感器的水質(zhì)硬度在線自動(dòng)測(cè)試儀的研制[J];分析儀器;2010年05期

6 閆賀;吳懷宇;彭晟遠(yuǎn);鄭秀娟;;四自由度模塊化機(jī)械臂運(yùn)動(dòng)學(xué)建模[J];信息技術(shù);2011年10期

7 黃大昌;史寶庫(kù);劉冰;馬汝?yáng)|;;基于顏色傳感器的酚酞堿度自動(dòng)測(cè)量裝置[J];黑龍江電力;2012年01期

8 廖鋒;;機(jī)械臂逆運(yùn)動(dòng)學(xué)模型控制新方法[J];計(jì)算機(jī)工程與應(yīng)用;2012年12期

9 李愛(ài)勤;張緒坤;徐剛;徐建國(guó);顧震;;顏色檢測(cè)系統(tǒng)及其在果蔬干燥中的應(yīng)用[J];江西科學(xué);2009年01期

10 王安敏;楊起;;一種結(jié)合SVM的顏色識(shí)別系統(tǒng)研究[J];機(jī)械與電子;2012年04期

本文編號(hào)：1575976