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Home plate feeding and discharging oriented planar multi-plate positioning method based on laser radar

A technology of laser radar and positioning method, which is applied in the direction of reflection/re-radiation of radio waves, utilization of re-radiation, measurement devices, etc., which can solve the problems of manual positioning, low work efficiency and low precision.

Active Publication Date: 2018-05-15
杭州视熵科技有限公司
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  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to overcome the deficiencies of manual positioning, low precision, and low work efficiency of the existing plate positioning methods, the present invention provides a laser radar-based plane for automatic positioning, high precision, and high work efficiency for loading and unloading home plate materials. Multi-Plate Positioning Method

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  • Home plate feeding and discharging oriented planar multi-plate positioning method based on laser radar

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Embodiment Construction

[0027] The present invention will be further described below in conjunction with the accompanying drawings.

[0028] refer to figure 1 , a laser radar-based planar multi-panel positioning method for home panel loading and unloading, comprising the following steps:

[0029] designed a vision module platform (such as figure 1 As shown), the boards to be loaded and unloaded are placed on the platform, which originally consists of four laser radars, six cameras, and a robot.

[0030] (4) QR code positioning and recognition of the camera: locate the QR code based on the SSD, and identify the QR code based on the datamatrix library.

[0031] Two-dimensional code positioning is based on the current advanced caffe deep learning framework. It locates two-dimensional codes in a learning manner, and then uses the libdmtx library to identify them. Therefore, it is necessary to collect a large amount of data on two-dimensional codes in a constant environment in advance, and Carry out co...

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Abstract

The invention discloses a home plate feeding and discharging oriented planar multi-plate positioning method based on a laser radar. The positioning method comprises the following steps: (1) two-dimensional code location and identification of a camera, namely locating a two-dimensional code according to SSD, and identifying the two-dimensional code according to a datamatrix library; (2) performingdata acquisition and analysis on line laser; and (3) combining with two-dimensional code information and line laser information to calculate the center of mass, wherein the process comprises followingsub-steps: performing line clustering aiming at the shortest distance away from the two-dimensional code by utilizing the two-dimensional code information and outline information acquired by the laser radar, and combining a related right angle formed by the line clustering condition with the two-dimensional code information to calculate the center of mass. The positioning method disclosed by theinvention is automatic in positioning, high in accuracy and high in working efficiency.

Description

technical field [0001] The invention belongs to a planar multi-plate positioning method, and relates to the technical fields of computer vision, image processing, furniture plate loading and unloading, laser data reconstruction, plate automatic positioning, and the like, in particular to the plate automatic positioning method. Background technique [0002] Most of the existing furniture board loading and unloading rely on manual means, requiring workers to manually carry the boards. Few companies aim at combining vision modules and laser radars to position boards with high precision, and then use robots to efficiently absorb and release R&D. Therefore, there are very few studies on the positioning method of planar multi-plates at present. The only few materials systems in the market that combine robots for furniture panel loading and unloading only use cameras as data collectors. Few of them use laser radar to collect data with high precision and develop algorithms like this...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/89
CPCG01S13/89
Inventor 刘盛张剑华张少波
Owner 杭州视熵科技有限公司