摘要 现代物流技术是现代科学技术与经济发展相结合的产物。据有关资料统计，物料仓储，搬运管理等物料流程的费用占企业生产成本的25%以上，而物流周期则占企业生产周期的90%以上。由此看来，自动化立体仓库是先进物流系统的重要组成部分，已成为加快物流、降低成本、缩短生产周期、加速资金周转、提高经济效益等的重要手段。特别是在当前以小批量、多品种生产代替大批量、单一品种的生产，发展柔性生产方式情况下，对于物料搬运系统(即自动化立体仓库系统)显得更为重要。而构成这一系统的周边设备主要有无人搬运车、无人推垛机和自动化拣货系统等。这些设备都已经或正在采用工业机器人以代替人工操作，实现自动化无人化物料搬运。30603
本次设计以Keil C51为开发平台，智能小车控制系统采用51单片机作为核心控制单元，由安装在车身支架上的数字摄像头负责采集道路信号;智能小车后轮还安装有光电测速传感器，用来采集车轮的转速数据，并将信号传到核心控制单元进行分析处理，处理完毕后反馈到相应的驱动模块，驱动舵机和电机运转，从而完成智能小车的转向、前进及制动。
为了使智能小车能够快速稳定行驶，51核心控制单元必须能够快速准确的将路径判断、转向舵机的控制及直流驱动电机的控制有效地结合在一起，否则会导致智能小车偏离行进路线。
智能小车控制系统包括以下模块: 51单片机、转向舵机模块、蓝牙模块、电机及其驱动模块、测距模块和电源管理模块。
关键词：51单片机；Keil C51；转向舵机模块；自动化；电机及其驱动
Dissertation Subject:  Study On The System Of The Stacking Grane Walking Of Automated Warehouse
Abstract
The Storage management is an extremely important link in the project of Logistics in current era .The appearance of automated warehouse has enormously satisfied and promoted the development of Logistics in a large extent. The automated warehouse, a kind of new technique, which  is  an important  part of  Computer  Integrated Manufacturing System (CIMS) and modern technique of Logistics, is comprehensive engineering of science and technology on the pretreated  of  maternal in the science of warehouse. With the increasing  development  of  modern  commodity storage, shipment, management and the city modernization, the need for automated warehouse has  became  significant, for example, various aspects function, the performances request and so on.
The automated warehouse has many advantages. Such as effective storage space, optimum storage management, fast and accurate operation , economical resource use and so on.  Because  of so many features,  it  has been widely used to improve productivity. However, there are several problems which is unsolved, including the design of structure and shelf, the  loader  orientation  technology and the way of selection, correspondence between the main computer and the stacking crane and so on, all these has greatly limited the utilization of automated warehouse.

The aisle stacking crane which is the most significant loader equipment, is the heart of automated warehouse. The superiority of automated warehouse must be able fully to embody through it. There are several performances to show the advantage of the equipment: the walking speed, the promotion speed, the fork of speed, the stability of crane，the vibration and the noise of crane, the accuracy of orientation and so on.

The main content of this paper would discuss about aisle stacking crane automatic addressing and precise orientation, speed control in the course of the walking, column flexibility and vibration  analysis  while stacking crane walk .The walking speed of aisle stacking crane has been limited for dated the technology of orientation in some extent, especially in lager-scale automated warehouse. In long and narrow aisle , the walking speed has the significant influence in regarding to the deposit and withdrawal cargo time: the lower ratio of walking speed increase the round-trip cycle, decrease the working efficiency. This paper based on the newest orientation technology and the innovation of addressing device to improve the old control technology, enhance the stacking crane walking speed, reduce the time of circulation; at the same time, as a result of the enhancement of speed, the control project and its hardware device also occurrence change corresponding. KeilC51单片机立体仓库搬运机器人设计+源程序:http://www.751com.cn/zidonghua/lunwen_26401.html