基于ARM架构和多信号采集融合的智能物流机器人控制

Design of intelligent logistics robot control system based on ARM architecture and multi-signal acquisition fusion

摘要:

针对智能物流机器人动态定位偏差较大、最优路径优化缺陷问题,提出一种基于欧式分割去噪以及三边定位理论的智能物流机器人控制系统。控制系统采用ARM嵌入式主板作为控制核心,集成高速数据处理单元和实时操作系统。通过欧式分割对激光雷达扫描位置进行去噪处理,同时结合位置拟合保证动态定位的准确性。进行路径选择以及避障规划时,结合ARM嵌入式主板实现,以保证路径选择的优越性以及避障规划的高效性以及及时性。为验证研究用控制系统的性能,在实际物流仓库环境中惊醒对比实验。实验结果表明,在进行轨迹规划和避障任务时,系统的响应时间比现有系统平均快20%,其在进行长时间运行测试中,路径偏差减少了30%,也即研究用系统在精确性以及实时性方面优势明显。

Abstract:

In order to solve the problems of large dynamic positioning deviation and optimal path optimization defect of intelligent logistics robot, an intelligent logistics robot control system based on Euclidean segmentation denoising and trilateral positioning theory was proposed. The control system adopts ARM embedded motherboard as the control core, integrating high-speed data processing unit and real-time operating system. The denoising of the lidar scanning position is carried out by Euclidean segmentation, and the accuracy of dynamic positioning is ensured by position fitting combined. When the path selection and obstacle avoidance planning are carried out, the ARM embedded motherboard is combined to ensure the superiority of path selection and the efficiency and timeliness of obstacle avoidance planning. In order to verify the performance of the research control system, a comparative experiment was conducted in the actual logistics warehouse environment. The experimental results show that the response time of the system is 20% faster than that of the existing system on average when carrying out trajectory planning and obstacle avoidance tasks, and the path deviation is reduced by 30% in the long-term operation test, that is, the research system has obvious advantages in accuracy and real-time.