DOI：10.3969/j.issn.1672-3872.2025.12.039
作 者：徐芷婷 1，3 ，余 江 1，3 ，熊铎云 1，3 ，徐文轩 1，3 ，黎科亮 1，3 ，刘锦辉 2，3
（1. 广东海洋大学机械工程学院，广东 湛江 524088；2. 广东海洋大学电子与信息工程学院，广东 湛江 524088；3. 广东海洋大学深蓝智能机电产品创新团队，广东 湛江 524088）
摘 要：【目的】为实现高效、有序、精准的搬运目标提供有力支持，推动自动化物流小车的发展。【方法】基于码垛任务要求，设计了一款智能码垛物流小车。以基于STM32F407ZGT芯片的pyboard开发板作为主控制器，利用PID循迹算法、OpenCV视觉识别技术实现对任务目标的识别；结合前、后循迹模块采用新的循迹算法——前后编号相减法设计运动系统，实现对数据的获取并反馈控制运行。【结果】在该智能码垛物流小车的控制系统方案中，系统的灵活性和准确性较高，精度也满足要求，在码垛任务中准确率达到了96%，精度达到了90%以上。【结论】对于工厂来说，这种智能物流小车不仅可以作为现有物流系统的补充，还可以作为全新自动化物流体系的一部分，具有较高的实用价值和较好的发展前景。
关键词：物流搬运；自动控制；PID算法；运动系统；OpenCV
Intelligent Palletizing Logistics Vehicle Based on a New PID Algorithm
Author: Xu Zhiting1,3, Yu Jiang1,3, Xiong Duoyun1,3, Xu Wenxuan1,3, Li Keliang1,3, Liu Jinhui2,3
(1.School of Mechanical Engineering, Guangdong Ocean University, Zhanjiang 524088, China; 2.College of Electronic and Information Engineering, Guangdong Ocean University, Zhanjiang 524088, China; 3.Deep Blue Intelligent Electromechanical Product Innovation Team, Guangdong Ocean University, Zhanjiang 524088, China)
Abstract: [Objective] To provide strong support for achieving efficient, orderly, and precise handling goals, and to promote the development of automated logistics vehicles. [Method] Based on the requirements of palletizing tasks, an intelligent palletizing logistics vehicle was designed. Using the pyboard development board based on STM32F407ZGT chip as the main controller, utilizing PID tracking algorithm and OpenCV visual recognition technology to achieve task target recognition; By combining the front and rear tracking modules, a new tracking algorithm — the front back number subtraction method is used to design the motion system, achieving data acquisition and feedback control of operation. [Result] In the control system scheme of the intelligent palletizing logistics vehicle, the system has high flexibility and accuracy, and the accuracy also meets the requirements. The accuracy rate in the palletizing task reached 96%, and the accuracy reached over 90%. [Conclusion] For factories, this intelligent logistics vehicle can not only serve as a supplement to existing logistics systems, but also as a part of a new automated logistics system, with high practical value and good development prospects.
Keywords: logistics handling; automatic control; PID algorithm; motion system; OpenCV
引文信息：[1]徐芷婷，余江，熊铎云，等.基于新型PID算法的智能码垛物流小车[J].南方农机，2025，56(12)：144-147.
查看全文请下载PDF文件↓
