设计一个具有货物姿势识别和调整能力的二维输送平台
Zhiguo Zhou1, Hui Zhang1, Kai Liu1
1School of Information and Automation Engineering, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250300, China.
Sensors (Basel, Switzerland)
|November 14, 2023
概括
本研究介绍了一种用于灵活物流的新型二维运输平台,能够调整货箱位置和方向. 该系统使用独特的算法,可以在没有深度学习的情况下准确地识别货物姿势,从而提高物流效率.
科学领域:
- 机器人和自动化机器人与自动化
- 计算机视觉 计算机视觉
- 物流 技术 技术 物流 技术
背景情况:
- 传统的线性输送机缺乏适合现代物流的灵活性,面临着姿势调整和方向限制的局限性.
- 目前的系统在精确的货物处理方面扎,需要在自动化运输和操纵方面取得进展.
研究的目的:
- 为精确的货箱操纵引入一个灵活的2D运输平台.
- 开发一个基于图像和点云的集成算法,用于货物姿势识别.
主要方法:
- 一个新的货物姿势识别算法,将图像数据 (Hough转换) 和点云数据 (RANSAC线性拟合) 结合起来.
- 使用深度摄像头数据通过轴对齐边界框 (AABB) 点来定义感兴趣的区域 (ROI).
- 将精细的图像特征与点云的定向边界框 (OBB) 集成在一起,以进行姿势估计.
主要成果:
- 该算法准确地识别和调整货箱姿势,而不需要深度学习或注册.
- 与基于加速度计的姿势获取相比,比较实验显示出最小的偏差 (<0.7°).
- 实验平台在实时调整过程中展示了稳定的货物角度.
结论:
- 拟议的2D输送平台为物流应用提供了简单性,高精度和增强的灵活性.
- 这种方法广泛适用于各种尺寸的矩形货箱.
- 该系统克服了传统输送机的局限性,为更具适应性的自动化物流解决方案铺平了道路.
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