智慧倉儲

Abstract

中文摘要 本專題旨在針對現代產業對於自動化物流與倉儲整合之迫切需求，開發並實作一套「全自動倉儲搬運車」系統。隨著工業 4.0 的推進，提升物流效率與降低人力成本已然成為關鍵議題，本研究旨在解決傳統倉儲搬運作業中，如何透過微控制器整合感測技術與動力機械，實現倉儲場域內自動化搬運與精準作業之技術，並以此作為物流自動化之驗證模型。 本專題以 8051 微控制器作為核心控制單元，硬體架構不採用現成模組，而是從基礎電路設計著手，自行規劃並實作紅外線感測電路以偵測障礙物，並設計伺服馬達之驅動電路。軟體開發部分，完全採用組合語言編寫底層控制程式，直接處理感測器類比訊號之輸入、轉換與邏輯判斷，並精確控制馬達驅動時序。研究前期，針對電路架構進行深入規劃與元件選用，並於實作階段反覆進行硬體調試與軟體邏輯除錯，確保車體運動與貨物夾取動作之協調性。待各單元功能穩定後，進一步完成電路佈線、洗板、焊接與全系統整合測試，以確保電路與機械結構之穩定度，並透過系統性驗證搬運車能自動化執行作業。 研究結果成功開發出一台具備自動化功能之智慧倉儲搬運車，經實測驗證，該系統能有效利用紅外線感測器進行環境感知與避障，並透過伺服馬達實現精準停靠與貨物夾取動作，達成模擬自動化倉儲之搬運需求。本專題之研究成果展現了 8051 微控制器於自動化倉儲應用之潛力，其控制邏輯不僅具備實作價值，未來亦可進一步延伸應用於更複雜的物流路徑規劃與倉儲管理系統，為智慧物流場域提供具體的技術實踐參考。

Abstract This project aims to develop and implement a smart warehouse based on the automated guided vehicle system to address the urgent demand for integrated logistics and warehouse automation in modern industry. With the advancement of Industry 4.0, enhancing logistics efficiency and reducing labor costs have become critical issues. This study focuses on solving the technical challenges of integrating microcontrollers, sensor technology, and mechanical systems to achieve automated transport and precise operations within a warehouse environment, further serving as a validation model for logistics automation. The system utilizes an 8051 microcontroller as the central control unit. Instead of using off-the-shelf modules, the hardware architecture is built from the ground up: we independently designed and implemented the infrared sensing circuits for obstacle detection and the drive circuits for servomotors. Regarding software development, the control program was written entirely in assembly language, allowing for direct handling of analog sensor signal inputs, data conversion, logic processing, and precise timing control of motor operations. During the initial phase, the team conducted in-depth planning of the circuit architecture and component selection. Throughout the implementation phase, rigorous debugging of both hardware and software logic was performed to ensure coordination between vehicle movement and object gripping. Once individual unit functionality was stabilized, the project proceeded to circuit layout, PCB etching, soldering, and comprehensive system integration testing to guarantee the stability of both the electronic and mechanical structures. The research successfully developed an automated warehouse transport vehicle. Experimental results verify that the system can effectively utilize custom infrared sensing circuits for environmental perception and obstacle avoidance, while using servomotors to achieve precise docking and object retrieval, thereby simulating the functional requirements of automated warehousing. This project demonstrates the potential of the 8051 microcontroller in automated warehouse applications. The developed control logic possesses significant practical value, and future iterations can be extended to more complex logistics path planning and warehouse management systems, providing a concrete technical reference for smart logistics environments.