| With the rapid development of the express industry,the problem of high speed and slow cost of artificial sorting has becoming more and more serious.The rapid development of robot technology let the sorting system based on robot technology has become a hot topic,for express mail sorting operation mode and environment,put forward the sorting robot navigation,path planning and intelligent scheduling scheme,and the development of automatic sorting robot intelligent control system.First of all,the sorting operation model was analyzed,and the site grid model was established.After determined the structure and function of the robot body layout,positioning and navigation of robots,accessed site coordinate nodes through the grid environment,using a two-dimensional code navigation mode,nodes in the paste contains coordinate information of the two-dimensional code image,the coordinate information was read and the pose of a robot was calculated by visual navigation,according to the deviation value to control robot.Then selected the A Star algorithm as the path planning algorithm and its improvement,introduced the cost in the algorithm to obtain the shortest path and the least number of turns,will save the planning path between the fixed station is good to the database by the host computer control system.The problem of robot robbing conflict is solved by introducing the evaluation function and the exclusive.each scheme was fused to develop the intelligent control system of the sorting robot.In the experiment,the robot successfully completed the calculation of its own positioning and attitude and the tracking of the path.Through the combination of intelligent control system and robot simulation system,many experiments under different number of robots have been carried out.The robot intelligent control system is stable,efficient,reasonable and flexible,and has practicability and feasibility.It can be applied to small and medium-sized sorting centers. |
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