Simulated Storage System Based On Intelligent Car

With the rapid development of the industry automation, the traditional system of manual storage can’tsatisfy the development demand of automated warehouse. The experimental platform is based on vehiclemechanical arm intelligent car, which was designed by Arduino Enhanced Board control board, and ismade by Shenzhen Cas Open Intelligent Technology Co.,Ltd.. According to solve the problems abouttraditional manual storage, the simulated storage system based on intelligent vehicle is designed. Thefunction of simulated storage system based on intelligent vehicle includes to traveling along the line,measuring distance based on ultrasonic when vehicle arriving at the pickup position, grasping object by therobotic arm, identifying color, placing object to the corresponding color location, and returning to the initialposition.The software design of the simulated storage system based on intelligent vehicle is the focus, which iscombined with the hardware circuit at the same time, the overall system and the on-line debugging of softand hardware have been completed, and the first generation of walking car with arm is developed for theShenzhen Cas Open Intelligent Technology Co., Ltd.. Hardware module includes Arduino Enhanced Board,line inspection module, ultrasonic module, color recognition module, and mechanical arm module; systemsoftware includes line inspection module, ultrasonic measuring module, color recognition module andcontrol module for mechanical arm.In terms of hardware, first, the devices of various modules were selected, analysed and compared; thecorresponding drive circuits for different devices were designed; then the various hardware modules weredesigned and the function of each hardware module was tested; finally, all the hardware modules wereintegrated together to be adjusted.In the aspect of software, the corresponding code combined with the various hardware modules wasdeveloped, and the software design of color recognition module and control module for mechanical armwere the key point. The fuzzy recognition algorithm based on TCS230color sensor is proposed, aiming atthe existing problem of low recognition accuracy and weak robustness in the traditional threshold method,and large calculation and difficulty of application in the minimum difference of color method based on neural network. The process of algorithm realization was that, first of all, the fuzzy relation was determinedbased on little of standard samples, the on-line RGB data from TCS230sensor were to be fuzzy, the fuzzyoutput was calculated according to fuzzy relation, and object color was recognized based on the solution offuzzy identify. This fuzzy recognition method is with higher recognition accuracy, less calculation, thestronger robustness, and applied to many automation systems. The traditional method of D-H was used inmechanical arm module to offline model, the transformation matrix was obtained, and inverse kinematicequation was solved according to homogeneous transformation of the matrix. finally, the equation wassolved into the program to control the mechanical arm. The D-H method is with less computationalcomplexity, and easy to realize, compared with other intelligent algorithm, such as genetic algorithms, it issuitable that algorithm is applied in the designed intelligent vehicle system in this paper.100experimental results of the simulated storage system based on intelligent vehicle show that, thedesigned simulation system of storage based on the intelligent car has higher rate of color recognition andhigher handling precision. This system was not only with higher safety, but also with quicker response, andprovided a reference for the development of storage system.