基于激光雷达的托盘位姿识别算法及验证

发布时间：2018-06-04 21:16

  本文选题：-D激光雷达 + 托盘　； 参考：《仪器仪表学报》2017年10期

【摘要】：托盘拾取是自动化仓储的重要环节之一,为提高叉车的托盘拾取能力,提出一种基于2-D激光雷达的托盘探测算法,实现托盘位置和姿态的识别。建立了托盘探测模型,确立了算法有效探测范围与激光点数量(分布于托盘支架正面)、托盘支架宽度和激光雷达分辨率的函数关系;通过改进的增量式直线提取算法,获取托盘姿态;根据托盘姿态,建立动态模板,以滑动窗口模式进行匹配,获取托盘位置。结果表明,有效探测范围,随激光点数量减小扩大,随托盘宽度增加而扩大,随分辨率增加而扩大;当激光扫描仪分辨率为0.33°,托盘支架宽度为90 mm时,实际探测范围符合托盘探测模型计算,x轴方向定位误差为±60 mm,y轴方向定位误差为±59 mm,托盘角度探测误差为±6°。本算法实现托盘位姿可靠识别,明确探测范围,为提高智能仓储装备拾取作业能力提供理论基础。
[Abstract]:Pallet pickup is one of the most important links in automatic storage. In order to improve the pallet picking ability of forklift truck, a pallet detection algorithm based on 2-D laser radar is proposed to realize the recognition of the position and attitude of the tray. A pallet detection model is established, and the functional relationship between the effective detection range of the algorithm and the number of laser points (distributed on the front side of the pallet bracket, the width of the pallet bracket and the lidar resolution) is established, and the improved incremental line extraction algorithm is used. According to the pallet posture, the dynamic template is established, and the pallet position is obtained by matching in sliding window mode. The results show that the effective detection range increases with the decrease of the number of laser points, increases with the width of the tray and increases with the increase of the resolution, when the resolution of the laser scanner is 0.33 掳and the width of the tray bracket is 90 mm. The actual detection range is in accordance with the pallet detection model. The positioning error of the x axis direction is 卤60 mm / y axis orientation error is 卤59 mm, and the pallet angle detection error is 卤6 掳. The algorithm realizes the reliable recognition of pallet posture and defines the detection range, which provides a theoretical basis for improving the picking ability of intelligent warehousing equipment.
【作者单位】： 华南农业大学工程学院;广东省农产品冷链物流工程技术研究中心;
【基金】：国家科技支撑计划课题(2015BAD18B0303) 现代农业产业技术体系建设专项资金(CARS-33-13)项目资助
【分类号】：TH692.3;TN958.98
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本文编号：1978852