基于激光传感技术的电子商务配送机器人自动化控制系统设计

Design of an automated control system for e-commerce delivery robots based on laser sensing technology

为了缩短电子商务配送机器人配送耗时,提升避障效果,对基于激光传感技术的电子商务配送机器人自动化控制系统进行了研究。采用了激光传感技术设计激光传感器,对环境实施扫描,获取了环境的二维轮廓信息;设计工业控制器,设计模糊自适应快速变结构路径跟踪控制器,配合工业控制器实现电子商务配送机器人自动化控制,采用了优化后的A*算法实施电子商务配送机器人的路径规划。经实验测试实现了电子商务配送机器人配送用时的缩短,以及避障效果的提升。其中,在不同路面坡度和障碍物的工况下,设计系统的花费时间在53 s以内,通过速度较快,能够灵活避让桌子、椅子、货架这三种静态障碍物以及行人、其他机器人等动态障碍物,顺利到达了目标点。

In order to shorten the delivery time of e-commerce delivery robots and improve obstacle avoidance effects,a research was conducted on the automation control system of e-commerce delivery robots based on laser sensing technology.Laser sensing technology was used to design laser sensors,which scanned the environment and obtained two-dimensional contour information of the environment;Design an industrial controller,design a fuzzy adaptive fast variable structure path tracking controller,and cooperate with the industrial controller to achieve automated control of e-commerce delivery robots.The optimized A algorithm is used to implement path planning for e-commerce delivery robots.Through experimental testing,the e-commerce delivery robot has achieved a reduction in delivery time and an improvement in obstacle avoidance effect.Among them,under different road slopes and obstacles,the design time of the system is within 53 seconds.With fast speed,it can flexibly avoid static obstacles such as tables,chairs,and shelves,as well as dynamic obstacles such as pedestrians and other robots,and successfully reach the target point.