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

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 drived 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.