Research on the Lidar-based Recognition and Location Method for Depalletizing Targets

被引：2

作者：

Li, Qian ^{[1
]}

Dong, Shuzhou ^{[1
]}

Zhang, Dong ^{[1
]}

Wang, Xuelin ^{[1
]}

机构：

[1] Qilu Univ Technol, Shandong Acad Sci, Inst Automat, Shandong Prov Key Lab Robot & Mfg Automat Technol, Jinan 250014, Peoples R China

来源：

2020 CHINESE AUTOMATION CONGRESS (CAC 2020) | 2020年

关键词：

lidar; robot; depalletizing; corner feature;

D O I：

10.1109/CAC51589.2020.9327723

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Depalletizing refers to the process of picking materials from a pallet to a designated location. In order to improve the robot system's ability to perceive the depalletizing target, a method of target recognition and positioning based on lidar is proposed. firstly, The laser scanner delved by the vertical lifting mechanism on the side of the stack performs batch-by-layer and layer-by-layer horizontal scanning to obtain multiple straight line features and corner features of the item boundary. Secondly, the item's number and their pose coordinates is calcuated by the controller, and then send to the robot system. Finally, the SLAMTEC RPLIDAR A1 lidar was selected for single-layer identification and positioning experiments, and the effectiveness of the method was initially verified.

引用

页码：683 / 687

页数：5

共 8 条

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