摘要：随着“中国制造2025”规划以及工业4.0概念的提出，智能化生产理念受到越来越多的重视，而物流行业作为维系个大行业不可缺少的基础部分，成为了智能化发展的一个代表。传统的物流作业方式基本以人工为主导，因此导致了劳动力成本较高，效率也较为低下，满足不了当今物流行业的快速发展趋势以及不断扩大的需求。而采用智能化设备代替人力劳动完成搬运等基础工作可以弥补这类不足。在此背景下，本文设计并实现了一种顶升式仓储物流机器人的电气控制系统。

首先，根据顶升式仓储物流机器人的系统功能需求，分析了要完成电气控制所需要实现的功能模块。针对机器人的负载要求和整机重量等参数设计计算驱动电机，顶升电机以及回转电机的额定功率，从而计算出所需电池的容量进行选择。

其次， 引入模块化的思想，选择以单片机为主控制模块核心设计，通过查阅数据手册将引脚的功能配置加以设计，包括电源管理模块、导航定位模块、避障模块、无线通信模块等，并绘制电气连接图以及资源分配示意图。

然后，对导航定位方案进行了具体分析，结合实际工作环境等因素，设计以惯性导航和视觉导航相结合的导航方案，并对二维码导航原理进行了深入的设计和分析。

最后，对智能机器人的交互式人机接口进行了分析与设计，对各类人机接口方式进行了对比，并结合顶升式仓储物流机器人实际在仓库的工作场地，模拟设计了人机接口界面以及操作模式。

本文初步设计了顶升式仓储物流机器人的电气控制系统，通过对各电器元件的选型以及电气原理图的绘制为同类型的物流机器人研究提供了一定的参考价值。

关键词：顶升式仓储物流机器人、惯导导航、二维码、交互式人机接口

Design of Electric Control System for Lifting Warehouse Logistics Robot

Abstract:With the concept of “Made in China 2025” and the concept of Industry 4.0, the concept of intelligent production has received more and more attention, and the logistics industry has become an indispensable part of a large industry and has become a representative of intelligent development. The traditional logistics operation mode is mainly manpower, with high labor costs, poor safety, and low efficiency, which can no longer meet the rapid development and huge demand of the logistics industry. In order to make up for the inadequacies of the traditional model, smart devices need to be used instead of manually completing basic tasks such as handling. In this context, this paper designs and implements an electrical control system for a jack-up warehouse logistics robot.

First of all, according to the system functional requirements of jack-up warehousing and logistics robots, the functional modules needed to complete the electrical control are analyzed. Calculate the rated power of the drive motor, jacking motor and slewing motor according to the parameters such as the load requirements of the robot and the weight of the whole machine to calculate the required battery capacity for selection.

Secondly, the idea of modularization was introduced. The core design of the microcontroller as the main control module was selected. The functional configuration of the pins was designed by consulting the data sheet, including the power management module, navigation positioning module, obstacle avoidance module, and wireless communication module. Draw electrical connection diagrams and resource allocation diagrams.

Then, a specific analysis of the navigation and positioning program, combined with the actual work environment and other factors, designed a navigation program combining inertial navigation and visual navigation, and carried out in-depth design and analysis of the navigation principle of the two-dimensional code.