[1]曹金豪,朱 丹,薛 琰,等.基于机器视觉的智能送货小车的设计[J].工业仪表与自动化装置,2025,(06):64-69.[doi:10.19950/j.cnki.CN61-1121/TH.2025.06.012]
　CAO Jinhao,ZHU Dan,XUE Yan,et al.Intelligent delivery carts based on machine vision[J].Industrial Instrumentation & Automation,2025,(06):64-69.[doi:10.19950/j.cnki.CN61-1121/TH.2025.06.012]
点击复制

基于机器视觉的智能送货小车的设计()

《工业仪表与自动化装置》[ISSN:1000-0682/CN:61-1121/TH]

卷:
期数:
2025年06期
页码:
64-69
栏目:
出版日期:
2025-12-15

文章信息/Info

Title:
Intelligent delivery carts based on machine vision
文章编号:
1000-0682（2025）06-0064-06
作者:
曹金豪; 朱 丹; 薛 琰; 王 杨
南京理工大学紫金学院 智能控制学院，江苏 南京 21000
Author(s):
CAO Jinhao;  ZHU Dan;  XUE Yan;  WANG Yang
（School of Intelligent Control, Zijin College, Nanjing University of Science and Technology, Nanjing 21000, China）
关键词:
机器视觉; 目标检测; 物流自动化; 机械臂; 图像分类; 麦克纳姆轮
Keywords:
machine vision;  target detection;  logistics automation;  robotic arm;  image classification;  mecanum wheel
分类号:
TH24
DOI:
10.19950/j.cnki.CN61-1121/TH.2025.06.012
文献标志码:
A
摘要:
近年来，物流行业的迅猛发展推动了智能小车在货物配送领域的广泛应用。基于传统物流模式，对基于机器视觉的智能送货小车设计方案进行了研究，创新性地融合了图像分类及模糊比例积分微分(proportional integral differential，PID)控制，实现了多场景下的高效货物分拣搬运功能，设计了麦克纳姆轮底盘与三自由度机械臂的高效协同控制的策略，实验表明了该策略能够使小车灵活适应复杂地形并实现精准投递，验证了该设计方案在目标检测准确率及货物分类搬运性能方面的优势，显示其优于传统物流系统，为智能物流领域提供了新的技术解决方案。随着技术的进一步优化和应用场景的拓展，该方案有望在更多领域实现广泛应用，推动智能物流技术的持续进步。
Abstract:
In recent years, the rapid development of the logistics industry has driven the widespread application of intelligent vehicles in cargo delivery systems. Based on traditional logistics models, this study investigated a design scheme for an intelligent delivery vehicle that leverages machine vision technology. Integrating image classification and fuzzy proportional integral differential control to enable autonomous navigation and efficient cargo sorting and transportation across diverse scenarios. The research also reviewed the current state of synergistic control strategies involving Mecanum wheel chassis and 3-DOF robotic arms, demonstrating their ability to enhance vehicle adaptability in complex terrains and ensure precise delivery. Experimental results validated the design’s superiority in object detection accuracy and cargo classification performance, outperforming traditional logistics systems. This work provides a new technical solution for intelligent logistics applications. With further optimization of the technology and expansion of application scenarios, the proposed solution is expected to achieve broader implementation across multiple fields, driving the continuous advancement of intelligent logistics technology.

参考文献/References:

[1]MUVVALA K, LALAM S G, SHAIK A,et al. Design and Implementation of Versatile Delivery Robot[J].Engineering Proceedings, 2024, 66(1): 42-42.

[2]沈进超,冯思凯,彭辉,等.基于目标检测的六自由度机器臂麦轮机器人在物流搬运中的应用[J].电气时代,2024,(5): 32-36.
[3] 倪可凡,赵俊驰,朱文婷.基于RT1064单片机的智能车设计与实现[J].电子元器件与信息技术,2022,6(10): 59-62.
[4] 徐佳鹏,张朝辉,李智,等.基于YOLO模型的小麦外观分类算法研究[J].自动化仪表,2023,44(03):83-87.
[5] 丁一明,李文魁,张煦光.AUV运动控制器CAN通信模块在RT-Thread上的设计与实现[J].自动化仪表,2021, 42(09): 10-13.
[6] THANH P N, HUNG N, HA Q T N. Development of the robotic motion controller for a wheeled manipulator[J]. Measurement and Control, 2025, 58(3): 323-338.
[7] 马超,谢春仁,陈光晃,等.基于KEBA控制器的双臂装配机器人设计与实现[J].自动化仪表,2025,46(01):36-40+45.
[8] SATYABRATA S, ASIS K T. Real-time lane detection for autonomous vehicles using YOLOV5 Segmentation Model[J]. International Journal of Sustainable Engineering,2024,17(1): 718-728.
[9] 费春国,文章,庄子波.多尺度特征与注意力检测头的轻量化FOD检测[J].自动化仪表, 2024, 45(10): 110-116.
[10] MUGTABA A M A, ERSEN Y. Evaluating YOLOv4 and YOLOv5 for Enhanced Object Detection in UAV-Based Surveillance[J]. Processes, 2025, 13(1): 254-254.
[11] 冯忠国, 张小辉. 基于自整定模糊PID的柔性管道加热控制系统研究[J]. 自动化仪表, 2024, 45(05): 66-72.
[12] 漆小华. 基于模糊PID算法的三轮智能车应用[J]. 长江信息通信, 2024, 37(02): 141-144.

相似文献/References:

[1]李志明.基于机器视觉的鲜枣群体大小检测算法[J].工业仪表与自动化装置,2016,(05):29.
　LI Zhiming.Fresh jujubes group size detection algorithm based on Machine Vision[J].Industrial Instrumentation & Automation,2016,(06):29.
[2]任晓芳,林 娟.六自由度机械手抓取系统的OPC通信技术研究[J].工业仪表与自动化装置,2017,(02):109.
　REN Xiaofang,LIN Juan.Research on OPC technology with fetching system of robot with six DOF[J].Industrial Instrumentation & Automation,2017,(06):109.
[3]魏元焜,吴丹阳.基于NI myRIO的机器视觉搬运车设计[J].工业仪表与自动化装置,2019,(05):53.[doi:1000-0682(2019)05-0000-00]
　WEI Yuankun,WU Danyang.Design of machine vision carrier vehicle based on NI myRIO[J].Industrial Instrumentation & Automation,2019,(06):53.[doi:1000-0682(2019)05-0000-00]
[4]黄金梭,沈正华,鲁文杰.基于机器视觉的微动开关正反面外观检测与分拣系统的设计与实现[J].工业仪表与自动化装置,2020,(03):121.[doi:1000-0682(2020)03-0000-00]
　HUANG Jinsuo,SHEN Zhenghua,LU Wenjie.Design and implementation of double face appearance inspection and sorting system of micro-switch based on machine vision[J].Industrial Instrumentation & Automation,2020,(06):121.[doi:1000-0682(2020)03-0000-00]
[5]张 恒,何文雪.基于机器视觉的坚果尺寸检测系统设计[J].工业仪表与自动化装置,2020,(06):52.[doi:1000-0682(2020)06-0000-00]
　ZHANG Heng,HE Wenxue.Design of nut size detection system based on machine vision[J].Industrial Instrumentation & Automation,2020,(06):52.[doi:1000-0682(2020)06-0000-00]
[6]陈 杰,王宏彦.基于视觉的汽车轮毂打磨实训系统设计[J].工业仪表与自动化装置,2021,(01):36.[doi:10.3969/j.issn.1000-0682.2021.01.008]
　CHEN Jie,WANG Hongyan.Design of practical training system of wheel hub grinding based on vision[J].Industrial Instrumentation & Automation,2021,(06):36.[doi:10.3969/j.issn.1000-0682.2021.01.008]
[7]董 杰,刘文峰,乔法起,等.基于SVM的井下水仓淤泥识别系统的研究[J].工业仪表与自动化装置,2021,(05):112.[doi:10.19950/j.cnki.cn61-1121/th.2021.05.024]
　DONG Jie,LIU Wenfeng,QIAO Faqi,et al.Research on sludge recognition system of underground water silo based on SVM[J].Industrial Instrumentation & Automation,2021,(06):112.[doi:10.19950/j.cnki.cn61-1121/th.2021.05.024]
[8]杨 利,谢永超*.基于PLC和机器视觉的工件自动分拣系统设计[J].工业仪表与自动化装置,2022,(01):48.[doi:10.19950/j.cnki.cn61-1121/th.2022.01.010]
　YANG Li,XIE Yongchao*.Design of automatic sorting system for workpieces based on PLC and machine machine vision[J].Industrial Instrumentation & Automation,2022,(06):48.[doi:10.19950/j.cnki.cn61-1121/th.2022.01.010]
[9]沈正华,黄金梭,仇文奎.基于机器视觉的六面外观检测与分拣系统的设计与实现[J].工业仪表与自动化装置,2022,(02):36.[doi:10.19950/j.cnki.cn61-1121/th.2022.02.008]
　SHEN Zhenghua,HUANG Jinsuo,QIU Wenkui.Design and implementation of double face appearance inspection and sorting system of micro-switch based on machine vision[J].Industrial Instrumentation & Automation,2022,(06):36.[doi:10.19950/j.cnki.cn61-1121/th.2022.02.008]
[10]滕 腾,樊春玲,张春堂.基于机器视觉的托盘生产线上原料木板的识别[J].工业仪表与自动化装置,2022,(02):67.[doi:10.19950/j.cnki.cn61-1121/th.2022.02.014]
　TENG Teng,FAN Chunling,ZHANG Chuntang.Identification of raw board in pallet production line based on machine vision[J].Industrial Instrumentation & Automation,2022,(06):67.[doi:10.19950/j.cnki.cn61-1121/th.2022.02.014]

备注/Memo

备注/Memo:
收稿日期：2024-05-15基金项目：2024 年江苏省高等学校大学生创新创业训练计划项 目“基于视觉的智能送货小车的设计”(202413654030Y)；2024 年南 京理工大学紫金学院校级科研项目(2024ZRKX0401009)第一作者：曹金豪(2004— )，男，本科，研究方向为智能机器人。E-mail：cjh15380962393＠ outlook.com。通信作者：朱丹(1984— )，女，硕士，讲师，研究方向为嵌入式系统研究、C 语言、智能机器人。E-mail：149954751＠
更新日期/Last Update: 1900-01-01