关键词: 物流分拣, Delta机器人, 移动平台, 视觉定位, 闭环控制

Abstract: To address the large footprint,fixed deployment,and limited workspace of a single Delta robot in conventional conveyor-based logistics sorting systems,a large-scale sorting system based on a mobile platform and a Delta robot is proposed. The system integrates a gantry-type two-dimensional mobile mechanism with a Delta parallel robot,and establishes a closed-loop framework of vision processing,motion control,and end-effector execution. A two-stage visual localization method,combined with quintic polynomial trajectory planning and online error correction,is adopted to realize integrated target recognition,localization,grasping,and placement. Experimental results show that the long-range detection accuracy exceeds 95 %,the short-range localization error is better than ±0.5 mm,and both the mobile platform and the Delta robot achieve millimeter-level positioning performance,enabling stable continuous sorting of multiple targets. This work provides a reference for flexible and low-cost logistics sorting equipment design.

Key words: logistics sorting, Delta robot, mobile platform, visual localization, closed-loop control