集成电路与嵌入式系统2026，Vol.26Issue(2)：91-99,9.DOI:10.20193/j.ices2097-4191.2025.0111
基于国产FPGA加速的物流分拣机器人设计
Design of logistics sorting robot based on domestic FPGA acceleration
摘要
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 kinemat-ics solution,ensuring accurate grasping by the robotic arm,employing a cascade PID algorithm integrated with Kalman filtering to gen-erate 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 ul-trasonic 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 du-al-arm collaborative handling is less than 0.5 cm.This design provides a low-cost,high-reliability domestic solution for the logistics sor-ting field.关键词
物流分拣机器人/FPGA/图像处理/逆运动学/卡尔曼滤波/串级PID算法/双臂协同搬运Key words
logistics sorting robot/FPGA/image processing/inverse kinematics/Kalman filter/cascade PID algorithm/dual-arm collabora-tive handling分类
信息技术与安全科学引用本文复制引用
卢玉宁,张贺,于铭,任佳云..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):91-99,9.基金项目
辽宁省教育厅高等学校基本科研项目(LJ212410142116) （LJ212410142116）
辽宁省研究生教育教学改革研究资助项目(LNYJG2024033) （LNYJG2024033）
