Abstract
At present, the existing express sorting in the market has low accuracy and cannot be solved from manual handling. In addition, the management of express delivery sites is confusing, and the phenomenon of lost shipments is also endless. Regarding the issues above, we have proposed unmanned sorting site combining path planning and barcode identification. The site uses STM32 as the main control chip to realize barcode recognition and robotic arm control. Among them, barcode recognition uses calibration, image pre-processing and other related OpenMV technologies to realize fast identification, classification of express barcodes and obtain the location information of express shipments. The control of the robotic arm is achieved by using the D-H parameter method to locate each node of the robotic arm. And we are using introducing fuzzy adaptive PID algorithm to improve the control precision after path planning. After a large amount of experimental data analysis and comparison, the final conclusion is that the system can maintain high bar code recognition and fast picking accuracy under different conditions of different objects. And it can make up for many shortcomings of traditional express delivery sites and has certain market value.et value.
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