本文選題：-D激光雷達 + 托盤��； 參考：《儀器儀表學報》2017年10期

【摘要】：托盤拾取是自動化倉儲的重要環(huán)節(jié)之一,為提高叉車的托盤拾取能力,提出一種基于2-D激光雷達的托盤探測算法,實現(xiàn)托盤位置和姿態(tài)的識別。建立了托盤探測模型,確立了算法有效探測范圍與激光點數(shù)量(分布于托盤支架正面)、托盤支架寬度和激光雷達分辨率的函數(shù)關系;通過改進的增量式直線提取算法,獲取托盤姿態(tài);根據(jù)托盤姿態(tài),建立動態(tài)模板,以滑動窗口模式進行匹配,獲取托盤位置。結果表明,有效探測范圍,隨激光點數(shù)量減小擴大,隨托盤寬度增加而擴大,隨分辨率增加而擴大;當激光掃描儀分辨率為0.33°,托盤支架寬度為90 mm時,實際探測范圍符合托盤探測模型計算,x軸方向定位誤差為±60 mm,y軸方向定位誤差為±59 mm,托盤角度探測誤差為±6°。本算法實現(xiàn)托盤位姿可靠識別,明確探測范圍,為提高智能倉儲裝備拾取作業(yè)能力提供理論基礎。
[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 擄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 鹵60 mm / y axis orientation error is 鹵59 mm, and the pallet angle detection error is 鹵6 擄. 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.
【作者單位】： 華南農(nóng)業(yè)大學工程學院;廣東省農(nóng)產(chǎn)品冷鏈物流工程技術研究中心;
【基金】：國家科技支撐計劃課題(2015BAD18B0303) 現(xiàn)代農(nóng)業(yè)產(chǎn)業(yè)技術體系建設專項資金(CARS-33-13)項目資助
【分類號】：TH692.3;TN958.98
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本文編號：1978852