Title: Design of a new type of logistics handling robot based on STM32

Authors: Xinliang Cheng; Jinyun Jiang; WanXin Fu; Shiyi Ying; Xiaoliang Jiang

Addresses: College of Mechanical Engineering, Quzhou University, Quzhou, 324000, China ' College of Mechanical Engineering, Quzhou University, Quzhou, 324000, China; Key Laboratory of Air-Driven Equipment Technology of Zhejiang Province, Quzhou University, Quzhou, 324000, China ' College of Mechanical Engineering, Quzhou University, Quzhou, 324000, China ' College of Mechanical Engineering, Quzhou University, Quzhou, 324000, China ' College of Mechanical Engineering, Quzhou University, Quzhou, 324000, China; Key Laboratory of Air-Driven Equipment Technology of Zhejiang Province, Quzhou University, Quzhou, 324000, China

Abstract: In order to improve the stability of the logistics handling robot and the accuracy of grasping logistics materials, this paper proposes a new type of logistics handling robot, which is designed by using the combination of PID closed-loop control algorithm and visual recognition technology. In the part of robot software, we use the PID closed-loop control algorithm to make real-time control of the robot, so that it can accurately patrol the line, and use the raspberry Pi call recognition algorithm (opencv) to complete the identification of two-dimensional code, bar code and logistics materials. In the structural part, we improved the five-degree-of-freedom articulated manipulator to realise three-dimensional grasping and ensure fast and accurate grasping and placing of logistics materials. In order to verify the performance of the robot, we design a mini logistics warehouse environment to simulate the real experimental scene. The experimental results show that the designed logistics handling robot can accurately locate and place logistics materials, and complete the handling task according to the task requirements.

Keywords: logistics handling robot; PID; recognition; articulated manipulator; STM32; image.

DOI: 10.1504/IJICT.2024.137928

International Journal of Information and Communication Technology, 2024 Vol.24 No.3, pp.245 - 261

Received: 27 Sep 2021
Accepted: 12 Jan 2022
Published online: 11 Apr 2024 *

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