Intelligent Handling Robot Based on Mecanum Wheel

Abstract

This paper proposes an intelligent handling robot based on Mecanum wheel, which can be set to recognize and handle the goods in the inherently known site, and can be adapted to the logistics sorting and other scenarios. The robot to NXP's RT1064 microcontroller as the main control, the use of RT-Thread embedded system development, the Mecanum wheel as a framework, the independent construction of the car model structure, equipped with a Raspberry Pi and robotic arm structure, as well as the MT9V032 total drilling wind camera to build the hardware circuit. The robot can recognize the position of the handling object through the off-site camera, then the upper computer for path planning, through the PID parameter adjustment and vehicle attitude solving to control the movement of the handling robot, to reach the handling location and then by the total drilling wind camera for detailed position adjustment. The robot equipped with Openart mini can recognize the type of objects to be handled, pick them up and place them on the pallet through robotic arm attitude solving, and correct the deviation through remote manual control, and finally realize fast omni-directional handling through Mecanum wheels to deliver the objects to the end point.