赵俊宏,吕恩利,陆华忠,王昱,王飞仁.基于激光雷达的托盘位姿识别算法及验证[J].仪器仪表学报,2017,(10):2469-2476
基于激光雷达的托盘位姿识别算法及验证
Pallet localization detecting algorithm based on laser scanning
  
DOI:
中文关键词:  2D激光雷达  托盘  位姿估计  识别算法
英文关键词:2D lidar  pallet  pose estimate  detection algorithm
基金项目: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
作者单位
赵俊宏 1.华南农业大学工程学院广州510642;2.广东省农产品冷链物流工程技术研究中心广州510642 
吕恩利 1.华南农业大学工程学院广州510642;2.广东省农产品冷链物流工程技术研究中心广州510642 
陆华忠 1.华南农业大学工程学院广州510642;2.广东省农产品冷链物流工程技术研究中心广州510642 
王昱 1.华南农业大学工程学院广州510642;2.广东省农产品冷链物流工程技术研究中心广州510642 
王飞仁 1.华南农业大学工程学院广州510642;2.广东省农产品冷链物流工程技术研究中心广州510642 
AuthorInstitution
Zhao Junhong 1.College of Engineering,South China Agricultural University,Guangzhou 510642,China;2.Guangdong Engineering Research Center of Agricultural Product Cold Chain Logistic,Ministry of Education,Guangzhou 510642, China 
Lv Enli 1.College of Engineering,South China Agricultural University,Guangzhou 510642,China;2.Guangdong Engineering Research Center of Agricultural Product Cold Chain Logistic,Ministry of Education,Guangzhou 510642, China 
Lu Huazhong 1.College of Engineering,South China Agricultural University,Guangzhou 510642,China;2.Guangdong Engineering Research Center of Agricultural Product Cold Chain Logistic,Ministry of Education,Guangzhou 510642, China 
Wang Yu 1.College of Engineering,South China Agricultural University,Guangzhou 510642,China;2.Guangdong Engineering Research Center of Agricultural Product Cold Chain Logistic,Ministry of Education,Guangzhou 510642, China 
Wang Feiren 1.College of Engineering,South China Agricultural University,Guangzhou 510642,China;2.Guangdong Engineering Research Center of Agricultural Product Cold Chain Logistic,Ministry of Education,Guangzhou 510642, China 
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中文摘要:
      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。
英文摘要:
      Pallet picking is one of the important links of automated warehousing. An algorithm was proposed for estimating the localization and angle of pallet with lake information, based on 2 D Lidar. It aims at improving the recognition pallet ability of forklift and the flexibility in automated warehousing. A detection model was built to define the geometry relationship between detection region the number of lidar point (detecting the pallet foot), the width of pallet foot and the resolution of Lidar. The algorithm extracted the lines as candidate pallet foot with the improved incremental algorithm and calculate the angle of pallet. Then the dynamic template was created and matched with sliding window, to calculated the position of the pallet. The result shows that the detect region was expend with smaller the threshold number of laser, longer the width of pallet foot and higher resolution of Lidar; the detect region met the result calculated based on the pallet detect model; error on x axis and y axis were ±60 mm mm and ±59 mm respectively; pallet angle error was . With the flexible pallet detecting algorithm, the requirement of localization of warehouse equipment and human was reduced and effect would be enhanced.
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