Design Of Sorting System For Building Mobile Robot

The efficiency improvement of factory logistics transportation has always been a research hotspot.As the representatives of two industrial robots in the field of logistics transportation,mobile robot is responsible for transporting the materials to the designated place,and sorting robot is responsible for the identification and sorting of materials.With the development of laser slam technology and deep learning,the intelligent level of mobile robot and sorting robot is also increasing.The combination of the two to realize the identification,sorting and transportation of materials is very important for the automation of factory logistics transportation in the future.According to the actual situation of logistics transportation in the production Park of Beijing Zhongheng copying equipment Co.,Ltd.,a set of modular mobile robot sorting system for multi workshop,multi warehouse and cross floor is developed based on the robot operating system(ROS).The research focuses on the multi-point navigation and automatic sorting of materials in the building environment,and the combination of the two is realized through the control strategy The main work of self sorting transportation is as follows:1.The hardware platform of the building mobile robot sorting system based on mcnamm wheel is built.According to the ROS communication mechanism,the node design of the bottom control module is carried out.The functions of the bottom sensor data collection,wireless data transmission module data receiving and sending,chassis drive and fork drive are realized.2.The material sorting module is based on darket?In ROS framework,the material identification and location node and material fork node are designed,and the target identification of warehouse location and material is completed by using the trained neural network model.The functions of warehouse location state detection,material matching and material location are developed around whether there is material in the warehouse location,the existing material category and location.The functions are completed by combining the materialcategory and location results with the motion navigation module Forking and transportation of materials.3.Based on the laser slam technology,the node design of the motion navigation module is carried out by using the existing navigation framework of ROS,and the move is analyzed?Base mechanism design program completes the automatic navigation of single target point;develops the elevator interaction function,integrates the material categories and positioning results of the workshop,warehouse and floor elevator target points as well as the material sorting module,completes the multi-target point navigation control strategy design,extracts the corresponding target points according to the material transportation task flow,and realizes the material autonomy of multi workshop,multi warehouse and cross floor Sorting and transportation.4.According to the system design,build simulation logistics environment,test each module and the whole system,and verify the feasibility and effectiveness of the system.