基于CAN总线的特种自动化立体仓库设计

随着各行业对自动化立体仓库功能的要求越来越高,以及某些特殊货物在存储时的特殊需求,设计并实现了一种特种自动化立体仓库。系统以直线运动单元为运动载体构建了整体机械架构;以CAN总线作为现场总线,构建系统局域网,实现了高安全级别的分布实时控制;最后,采用有限状态机（FSM）的方式对自动化立体仓库控制器进行了建模和设计,实现了一种低成本、高性能的特种自动化立体仓库。

Design of special automated storage and retrieval system based on CAN bus

With the higher requirement of all the industry for the function of the automated storage and retrieval system,and some special requirement for storage of some goods,a special type of automated storage and retrieval system was designed and realized.Linear motion units was used as motion carrier to constitute the whole mechanical structure of the system,CAN bus was used as the field bus to constitute the local area network,the high safety distributed and real-time control was realized.And at last,finite stat...