基于激光雷达三维图像建模的机器人拆码垛控制系统  

Control System of Unstacking Robot by Image-Based Modeling Using Laser Radar

作　　者：魏志强[1] 李兵 屈玉丰[1] 沙群[1] 

机构地区：[1]北京航空航天大学机器人研究所,北京100191 [2]新奥特(北京)视频技术有限公司,北京100185

出　　处：《机械与电子》2013年第4期63-66,共4页Machinery & Electronics

摘　　要：为满足智能化仓储系统对高速自动拆码垛系统的实际需求,给出一种基于激光雷达的机器人拆码垛控制系统,由激光雷达扫描构建周转箱的三维图像,通过建立相应的坐标系统及目标识别算法,计算出周转箱的中心位置坐标和偏转角等信息,并将信息传输给机器人,从而实现机器人拆垛操作。实际应用表明,系统运行稳定可靠,实现了预期的设计目标。In order to meet the actual require-ment for high - speed automatic unstacking and palletizing in intelligent warehouse system, a con-trol system for unstacking robot based on laser ra-dar is given. The three - dimensional image of the containers is established from laser radar scanning data, and the information of center position and the deflection angle of the containers is obtained by target recognition based on the established coordi-nates. The data information is then sent to the ro-bot,and so the automatic unstacking operation is realized. Actual testing results indicate that the system is stable and reliable. The goal of anticipa-ted design is achieved.

关 键 词：拆码垛机器人 目标识别 激光雷达 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]