在混乱的物流中对包裹分类中的定位方法的研究
Yu Han1,2, Fengshou Zhang3, Aohui He1
1School of Mechanical Engineering, Henan University of Science and Technology, Luoyang, 471000, China.
Scientific reports
|February 5, 2026
概括
本研究介绍了一种3D视觉算法,用于在自动排序中精确地定位物流包裹. 新方法准确地确定包装中心点和方向,改善无序堆叠的料过程.
科学领域:
- 机器人和自动化 机器人和自动化
- 计算机视觉 计算机视觉
- 物流 技术 技术 物流 技术
背景情况:
- 自动化物流包裹分类面临着无序堆叠的挑战.
- 精确的包装定位对于有效地输入分类设备至关重要.
研究的目的:
- 开发和验证3D视觉算法,用于确定无序堆中的空间物流包的位置和态度.
- 为了提高自动分拣设备的料过程.
主要方法:
- 一个新的算法使用3D视觉来计算三个点的正常向量和投影来确定中心点的位置.
- 算法的数学建模,包括正常向量计算和中心点态度的确定.
- 实验验证使用双激光来确定中心点和双探头来确定空间姿势,与3D视觉系统,工业机器人和PC集成.
主要成果:
- 该算法成功地获得了无序堆中物流包裹的物理和几何中心的位置和态度信息.
- 最大定位错误为[公式:查看文本],平均错误为[公式:查看文本].
- 实现的平均定位时间为17.55 ms.
结论:
- 提出的三点正常向量和基于投影的算法有效地确定空间物流包的物理几何中心的位置.
- 这种方法为推进无序物流包裹分类技术的研究提供了宝贵的参考.
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