Design And Key Technologies Of Multi AGV Logistics Sorting System

The sorting process of China's logistics industry is still at the stage of manual sorting,which has the problems of low sorting efficiency,high labor cost and high error rate.Automated logistics sorting is developing in the direction of intellectualization.AGV(automatic guide car)has the characteristics of high intelligence and high flexibility.Using a large number of AGV to pick up the express package can greatly improve the sorting efficiency,reduce the labor cost and reduce the error rate.The object of this paper is a multi AGV logistics sorting system.On the basis of the design of the multi AGV logistics sorting system,two key technologies of visual navigation,positioning and multi AGV path planning are studied.The main research work of this paper consists of three parts:(1)research and implementation of AGV vision navigation and positioning technology.This paper analyzes the shortcomings of the existing visual navigation and positioning techniques,such as the expensive and inaccurate location of the camera,and proposes a visual navigation and positioning method based on the coded logo for these shortcomings.By this method,AGV can be used to navigate accurately even when the ordinary camera is running at a high speed.And precise positioning.(2)the research of multi AGV path planning method.The multi AGV logistics sorting system has the characteristics of complex path network and large number of AGV.The traditional multi AGV path planning method based on static determination of network is not suitable for multi AGV logistics sorting system.In this paper,based on the characteristics of multi AGV logistics sorting system,a path planning model based on dynamic random network is established,and the A* algorithm is improved,such as introducing time variables,considering the cost of turning and optimizing the OPEN table.Finally,the two path planning methods are analyzed and compared through experiments.(3)design and implementation of multi AGV logistics sorting system.This paper focuses on the overall design of the multi AGV logistics sorting system.According to the design requirements,the express sorting robot is made,and the upper computer system software is developed based on the Java.The visual navigation and positioning method based on the coded symbol and the path planning method based on the dynamic random network are realized by using the C++ and OpenCv programming.The experimental results show that the visual navigation and location method based on the coded logo can achieve precise navigation and precise positioning,and the path planning method based on dynamic random network has good performance.The multi AGV logistics sorting system using the above two techniques is feasible,reliable and practical.