基于国产FPGA加速的物流分拣机器人设计

卢玉宁; 张贺; 于铭; 任佳云

doi:10.20193/j.ices2097-4191.2025.0111

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集成电路与嵌入式系统 ›› 2026, Vol. 26 ›› Issue (2) : 91-99. DOI: 10.20193/j.ices2097-4191.2025.0111

第九届全国大学生集成电路创新创业大赛优秀作品专刊

基于国产FPGA加速的物流分拣机器人设计

作者信息 +

Design of logistics sorting robot based on domestic FPGA acceleration

Author information +

文章历史 +

摘要

针对仓储物流机器人智能化发展中对高实时运动控制与多轴协同精度优化的需求,设计并实现了一套基于国产FPGA加速物流分拣机器人系统。系统核心在于对关键算法进行硬件级优化:利用定制化ISP模块处理实现分拣目标识别,结合硬件加速的CORDIC算法高效完成逆运动学解算,保障机械臂准确抓取;采用融合卡尔曼滤波的串级PID算法生成高精度的多通道PWM信号,驱动移动平台精确送达。此外,系统还集成了触摸屏人机交互功能以及基于LoRa通信与超声波测距反馈的双臂协同搬运策略。实验结果表明,机械臂单次作业周期优化至4 s,抓取准确率达90%,移动平台定位精度达厘米级,双臂协同搬运末端误差小于0.5 cm,为物流分拣领域提供了一种低成本、高可靠的国产化解决方案。

Abstract

In response to the demand for high real-time motion control and multi-axis collaborative precision optimization in the intelligent development of warehouse logistics robots, a logistics sorting robot system based on domestic FPGA acceleration has been designed and implemented. The core of this system lies in hardware-level optimization of key algorithms: utilizing a customized ISP module to process and achieve sorting target recognition, combined with a hardware-accelerated CORDIC algorithm to efficiently complete inverse kinematics solution, ensuring accurate grasping by the robotic arm, employing a cascade PID algorithm integrated with Kalman filtering to generate high-precision multi-channel PWM signals, driving the mobile platform to deliver accurately. Additionally, the system integrates touchscreen human-computer interaction functions and a dual-arm collaborative handling strategy based on LoRa communication and ultrasonic ranging feedback. The experimental results show that the robotic arm's single operation cycle is optimized to 4 seconds, with a grasping accuracy rate of 90%, the mobile platform's positioning accuracy reaches the centimeter level, and the end-effector error of dual-arm collaborative handling is less than 0.5 cm. This design provides a low-cost, high-reliability domestic solution for the logistics sorting field.

导出引用

卢玉宁, 张贺, 于铭, 等. 基于国产FPGA加速的物流分拣机器人设计[J]. 集成电路与嵌入式系统. 2026, 26(2): 91-99 https://doi.org/10.20193/j.ices2097-4191.2025.0111

LU Yuning, ZHANG He, YU Ming, et al. Design of logistics sorting robot based on domestic FPGA acceleration[J]. Integrated Circuits and Embedded Systems. 2026, 26(2): 91-99 https://doi.org/10.20193/j.ices2097-4191.2025.0111

中图分类号： TN402 (设计)

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