机电工程技术2025，Vol.54Issue(7)：112-118,7.DOI:10.3969/j.issn.1009-9492.2025.07.022
基于机器人和视觉技术的智能拣货系统
Intelligent Picking System Based on Robot and Vision Technology
摘要
Abstract
To address the issues of recruitment difficulties,high labor costs,and low picking efficiency in instant retail supermarket order picking operations,an intelligent order picking system solution is proposed based on a mobile robot platform.The solution integrates AGV carts,a 6-degree-of-freedom robotic arm,and a machine vision module.It employs the LIO-SAM algorithm to construct a dynamic map of the warehouse and utilizes the Dijkstra algorithm to plan the optimal picking path.By combining hand-eye calibration,visual recognition technology,and robot programming,the system achieves precise picking of goods from various locations across a wide area of the warehouse.Through multiple simulation experiments,test results show that the system achieves a picking success rate of 91.3%,with positioning errors controlled within±3 mm.Compared to traditional fixed sorting systems,this system can meet the extensive picking demands of supermarket warehouses;in contrast to the hanging chain systems used by companies like Hema Fresh,it reduces the need for manual intervention.Furthermore,it can be extended to picking scenarios in various fields such as healthcare and manufacturing,providing valuable insights and references for technical personnel in related areas.关键词
机械臂/AGV小车/机器视觉/手眼标定/即时配送商超/智能拣货系统Key words
mechanical arm/AGV car/machine vision/calibration/instant delivery supermarket/intelligent picking system分类
信息技术与安全科学引用本文复制引用
冯凌云,陈锋锐,黄丹丹,刘汉翔,谢杭鑫,梁如兰,江雪儿,许振宇,蒋彦..基于机器人和视觉技术的智能拣货系统[J].机电工程技术,2025,54(7):112-118,7.基金项目
广东省国家级职业教育教师教学创新团队特色项目(CXTD013) （CXTD013）
广东省教育科学规划课题(2024GXJK1127) （2024GXJK1127）
广东省高职教育教学改革研究与实践项目(2023JG074) （2023JG074）
