Open container loading three-dimensional sensing and stacking planning method and system

Abstract

The invention provides an open container loading three-dimensional sensing and stacking planning method and system. The open container loading three-dimensional sensing and stacking planning method mainly comprises the technical schemes of three-dimensional laser point cloud data collection, open container size, position and posture estimation, stacking planning, automatic calibration of a sensingunit and an automatic loading unit, loading three-dimensional visualization and the like. The three-dimensional perception has the advantages of being high in precision and high in speed, stacking planning supports various stacking modes such as pattern stacking, and the automation level and efficiency of open container loading are greatly improved.

Description

technical field [0001] The invention belongs to the field of machine vision perception, and further relates to a method and system for three-dimensional perception and palletizing planning of open container loading. Background technique [0002] The open container truck is a widely used means of transportation, and many articles in daily life need to be transported by it, such as white granulated sugar, chemical fertilizer, cement, flour and so on. Such objects generally have a relatively large weight per bag, and the transportation volume of a single loading is also large. The traditional manual loading method has a heavy workload for workers, and the loading efficiency is very low. In addition, high temperature, high humidity, and high dust Due to the harsh working environment, labor difficulties have gradually emerged in recent years, and the manufacturer also pays a high loading fee for this every year. [0003] With the advancement of automation technology in our count...

AI Technical Summary

Problems solved by technology

However, the current automatic loading equipment lacks three-dimensional perception of open container trucks, or requires the truck driver to accurately park the truck in a specific area, or manually adjusts the posture of the automatic loading equipment according to the posture of the truck. Therefore, the automation level of this kind of automatic loading equipment is not high, and it cannot adapt well to the type of truck, and it is not particularly convenient to use.

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