The development of palletizing platforms has received widespread attention as the global logistics market is expanding and the improvement of logistics efficiency has become a common goal of governments and enterprises. More technologies have been improved based from low-bed type palletizing platforms to omnidirectional wheel palletizing platforms or logistics sorting devices. In the omnidirectional wheel part, the DC brush motor is more often used for driving, but at present, the STM32F103 microcontroller only provides a 4-channel timer with encoder mode in hardware. Therefore, in terms of hardware, only 4-channel motors with an encoder are provided, so the motor control system of the palletizing platform with omnidirectional wheels puts forward greater requirements, both to meet the control effect of more motor closed-loop, to improve the accuracy, and also to reduce the cost. Based on this, a hardware platform using multiple analogue switches, which can input 9 encoder data as well as output 18 PWM waveforms, and adopts incremental PID for closed-loop control is investigated based on the STM32F103 microcontroller.

Control System Based on STM32 2D Palletising Platform Driving Multiple Motors

With the system interconnection and intelligence of application scenario equipment, the electromagnetic environment of chips is becoming more and more complex. Problems such as communication interruption and data loss caused by electromagnetic interference often occur. The electromagnetic reliability of chips has become an important index to measure their availability. In order to effectively detect the electromagnetic reliability of industrial chips applied to specific scenarios, it is necessary to measure and analyze the electromagnetic characteristics of the application scenarios, as the boundary conditions of the electromagnetic protection simulation analysis and design of the chip, and to develop Electromagnetic Compatibility (EMC) test items, test limits and test methods suitable for carrying out tests and monitoring on chips. The paper presents an acquisition system, which can complete the collection of transient electromagnetic interference, steady electromagnetic field, temperature, humidity and near-field data. The transient interference measurement frequency range is 300 kHz–500 MHz, with a rising edge of 1.5 ns; the steady-state electromagnetic field measurement frequency ranges from 100 Hz to 3 GHz. By collecting the electromagnetic environmental characteristics of chips and analyzing situations in which chips are prone to interference, protective measures can be implemented.

Research on Electromagnetic Environment Characteristic Acquisition System for Industrial Chips

This paper proposes an omnidirectional conveyor as a novel alternative to existing omnidirectional conveyors. With a symmetric and compact layout, this new structure ensures consistent kinematics and enhanced flexibility in trajectory planning. The kinematic model of the proposed omnidirectional conveyor is developed and verified through simulation in CoppeliaSim. Four typical classes of trajectories are generated and verified in the simulation environment. Using PID control, the actual trajectories of a package on the conveyor closely match the desired trajectories. In addition, this paper outlines the workspace and corresponding wheel patterns for the conveyor, demonstrating how different supported wheel patterns emerge when packages move across various areas of the conveyor. The discussion extends to fault tolerance and obstacle avoidance, examining the workspace and wheel patterns with one or two omni wheels failed. Furthermore, this paper provides a comprehensive analysis of the feasible desired movements for the packages on the conveyor under the constrained wheel speed. This provides insights and guidance on trajectory planning and design of the conveyor. 

Trajectory Planning and Performance Atlases of a New Omnidirectional Conveyor

Palletizing is an essential step in intralogistics and the key to palletizing lies in the arrangement and stacking of goods. In order to achieve palletizing automation, efficiency, and stability, this paper designs a transfer palletizing platform based on omnidirectional wheels. Our designed transfer palletizing platform consists of several square modules, each containing nine omnidirectional wheels in the vertical direction, each of which can work independently and cooperate with each other to achieve cargo transfer and attitude adjustment, and then cooperate with cameras and distance sensors, etc. to achieve the orderly arrangement of cargo and facilitate the subsequent palletizing robot arm to operate the whole layer of palletizing at one time. On this basis, the optimal path planning algorithm combining linear transportation and ant colony algorithm is studied.

Design of reconfigurable transfer palletizing platform based on omnidirectional wheels

This proper uses USB-3202N data acquisition card as the main hardware, and uses Labview as the development software to achieve four-channel data acquisition. The system can realize multi-channel data acquisition and real-time display, storage and other functions, and at the same time for the data obtained three-dimensional map. Compared with the traditional acquisition technology, this design has simple program design and simple interface. It is applied to the well drilling ultrasonic logging Instrument (ULISSD), which can solve the problems encountered in the ultrasonic transducer at the present stage and lay a certain foundation for the upgrade of the next generation.

Multi-channel acquisition and data processing based on Labview

In this paper, the positioning of downhole robots is studied, and the Ultra Wide Band(UWB)-based downhole robot positioning method is mainly investigated. There are two main parameters for determining the position of a downhole robot, one parameter is the moving direction of the robot, and the other parameter is the coordinates of the robot. From the study of the two parameters of coordinates and direction, the downhole robot carries a tag, adopts a round frame mechanism to occur the received signal, uses the time difference of sending and receiving information to determine the distance from the base station, and uses the regional determination strategy of DS-TWR to make judgments and determine the base station domain where the robot is located. The DS-TWR regional determination strategy has the advantages of achieving high accuracy and small error, which is useful for realizing the two-dimensional positioning system of the downhole robot The DS-TWR region determination strategy has the advantages of achieving high accuracy and low error and is a theoretical guide for the implementation of a 2D positioning system for downhole robots. Simulation and experiments show that the UWB-based approach can meet the requirement of precise positioning for downhole robots.

Downhole robot positioning system based on UWB

This paper proposes an ultrasonic transmitting and receiving circuit system based on DYSTM32F4 high-frequency ultrasonic development board, which is used in the research of drilling ultrasonic logging instrument (ULISSD). First of all, we introduce the DYSTM32F4 high-frequency ultrasonic development board, and then analyze the principle of ultrasonic transmitting and receiving from the circuit composition, at last, through experiments to verify the circuit system waveform, used for the whole design system test. Combined with the test results, it is evaluated that this system can achieve the function of ultrasonic wave transmitting and receiving.

Ultrasonic transceiver circuit design

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