基于无人机的物流自动投放系统设计研究

Design and research of logistics automatic delivery system based on UAV

为了能够提高物流系统投放的工作效率,采用成熟的投放技术达到缩减投放派送时长、减少人力成本投入的效果。提出了一种引入无人机技术的物流自动投放系统设计思路,在ODROID-U3开发环境下,设计采用的主控芯片型号为STM32F103C8T6,并运用六轴运动组件和超声波模块,ROS拓展架构成功搭载Linux操作系统,开发无人机物流自动投放终端控制模块,并编写控制程序。还引入了PID控制算法和系统数据处理模块。通过将以上算法及系统设计思路应用于实际物流自动投放中,在不断对PID参数进行调整的多次投放试验中,发现提出的基于无人机的物流自动投放系统设计,能够通过各模块组件对投放系统信息进行实时采集,并且可以通过对PID控制参数进行调整,成功控制无人机机械爪的具体升降速度和定点高度,可以准确稳定地展开投放工作,从而达到预期系统设计目标,证实了该系统设计思路的可行性。

In order to improve the efficiency of the delivery of logistics system,the mature delivery technology is used to reduce the delivery time and labor cost.A design idea of the logistics automatic delivery system with UAV technology is presented.In the development environment of ODROID⁃U3,the main control chip model is STM32F103C8T6,and the six axis motion component and ultrasonic module are used,the ROS extended architecture successfully carries the Linux operating system,develops the UAV logistics automatic delivery terminal control module,and compiles the control program.PID control algorithm and system data processing module are introduced.By applying the above algorithm and system design idea to the actual automatic delivery of logistics,it is found that in the multiple delivery tests that constantly adjust PID parameters,the proposed design of automatic delivery system of logistics based on UAV can collect the real⁃time information of the delivery system through each module component,and can be successfully controlled by adjusting PID control parameters.The specific lifting speed and fixed⁃point height of the mechanical claw of the UAV can accurately and stably launch the work,so as to obtain theexpectedsystem designgoal,which confirms the feasibility of the system design idea.