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Research on positioning method in parcel sorting in disordered logistics.

Yu Han1,2, Fengshou Zhang3, Aohui He1

  • 1School of Mechanical Engineering, Henan University of Science and Technology, Luoyang, 471000, China.

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Summary
This summary is machine-generated.

This study introduces a 3D vision algorithm for precise logistics package positioning in automated sorting. The new method accurately determines package center points and orientation, improving feeding processes in disordered stacking.

Keywords:
Sorting packageThree-dimensional visionpositioning methodunordered logistics package

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Area of Science:

  • Robotics and Automation
  • Computer Vision
  • Logistics Technology

Background:

  • Automated logistics package sorting faces challenges with disordered stacking.
  • Accurate positioning of packages is crucial for efficient feeding into sorting equipment.

Purpose of the Study:

  • To develop and validate a 3D vision algorithm for determining the position and attitude of spatial logistics packages in disordered stacks.
  • To enhance the feeding process for automatic sorting equipment.

Main Methods:

  • A novel algorithm using 3D vision to calculate the normal vector of three points and projection to determine the central point's position.
  • Mathematical modeling of the algorithm, including normal vector calculation and center point attitude determination.
  • Experimental validation using dual lasers for center point determination and dual probes for spatial pose, integrated with a 3D vision system, industrial robot, and PC.

Main Results:

  • The algorithm successfully obtains position and attitude information for the physical and geometric center of logistics packages in disordered stacks.
  • Maximum positioning error was [Formula: see text], with an average error of [Formula: see text].
  • Average positioning time achieved was 17.55 ms.

Conclusions:

  • The proposed three-point normal vector and projection-based algorithm effectively determines the position of the physical geometric center of spatial logistics packages.
  • This method provides valuable reference for advancing research in disordered logistics package sorting technology.