Cargando…
Design of a Two-Dimensional Conveyor Platform with Cargo Pose Recognition and Adjustment Capabilities
Linear conveyors, traditional tools for cargo transportation, have faced criticism due to their directional constraints, inability to adjust poses, and single-item conveyance, making them unsuitable for modern flexible logistics demands. This paper introduces a platform designed to convey and adjust...
Autores principales: | , , , , , , |
---|---|
Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2023
|
Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10647742/ https://www.ncbi.nlm.nih.gov/pubmed/37960454 http://dx.doi.org/10.3390/s23218754 |
_version_ | 1785135178817994752 |
---|---|
author | Zhou, Zhiguo Zhang, Hui Liu, Kai Ma, Fengying Lu, Shijie Zhou, Jian Ma, Linhan |
author_facet | Zhou, Zhiguo Zhang, Hui Liu, Kai Ma, Fengying Lu, Shijie Zhou, Jian Ma, Linhan |
author_sort | Zhou, Zhiguo |
collection | PubMed |
description | Linear conveyors, traditional tools for cargo transportation, have faced criticism due to their directional constraints, inability to adjust poses, and single-item conveyance, making them unsuitable for modern flexible logistics demands. This paper introduces a platform designed to convey and adjust cargo boxes according to their spatial positions and orientations. Additionally, a cargo pose recognition algorithm that integrates image and point cloud data are presented. By aligning depth camera data, the axis-aligned bounding box (AABB) point serves as the image’s region of interest (ROI). Peaks extracted from the image’s Hough transform are refined using RANSAC-based point cloud linear fitting, then integrated with the point cloud’s oriented bounding box (OBB). Notably, the algorithm eliminates the need for deep learning and registration, enabling its use in rectangular cargo boxes of various sizes. A comparative experiment using accelerometer sensors for pose acquisition revealed a deviation of <0.7° between the two processes. Throughout the real-time adjustments controlled by the experimental platform, cargo angles consistently remained stable. The proposed two-dimensional conveyance platform, compared to existing methods, exhibits simplicity, accurate recognition, enhanced flexibility, and wide applicability. |
format | Online Article Text |
id | pubmed-10647742 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2023 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
spelling | pubmed-106477422023-10-27 Design of a Two-Dimensional Conveyor Platform with Cargo Pose Recognition and Adjustment Capabilities Zhou, Zhiguo Zhang, Hui Liu, Kai Ma, Fengying Lu, Shijie Zhou, Jian Ma, Linhan Sensors (Basel) Article Linear conveyors, traditional tools for cargo transportation, have faced criticism due to their directional constraints, inability to adjust poses, and single-item conveyance, making them unsuitable for modern flexible logistics demands. This paper introduces a platform designed to convey and adjust cargo boxes according to their spatial positions and orientations. Additionally, a cargo pose recognition algorithm that integrates image and point cloud data are presented. By aligning depth camera data, the axis-aligned bounding box (AABB) point serves as the image’s region of interest (ROI). Peaks extracted from the image’s Hough transform are refined using RANSAC-based point cloud linear fitting, then integrated with the point cloud’s oriented bounding box (OBB). Notably, the algorithm eliminates the need for deep learning and registration, enabling its use in rectangular cargo boxes of various sizes. A comparative experiment using accelerometer sensors for pose acquisition revealed a deviation of <0.7° between the two processes. Throughout the real-time adjustments controlled by the experimental platform, cargo angles consistently remained stable. The proposed two-dimensional conveyance platform, compared to existing methods, exhibits simplicity, accurate recognition, enhanced flexibility, and wide applicability. MDPI 2023-10-27 /pmc/articles/PMC10647742/ /pubmed/37960454 http://dx.doi.org/10.3390/s23218754 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/). |
spellingShingle | Article Zhou, Zhiguo Zhang, Hui Liu, Kai Ma, Fengying Lu, Shijie Zhou, Jian Ma, Linhan Design of a Two-Dimensional Conveyor Platform with Cargo Pose Recognition and Adjustment Capabilities |
title | Design of a Two-Dimensional Conveyor Platform with Cargo Pose Recognition and Adjustment Capabilities |
title_full | Design of a Two-Dimensional Conveyor Platform with Cargo Pose Recognition and Adjustment Capabilities |
title_fullStr | Design of a Two-Dimensional Conveyor Platform with Cargo Pose Recognition and Adjustment Capabilities |
title_full_unstemmed | Design of a Two-Dimensional Conveyor Platform with Cargo Pose Recognition and Adjustment Capabilities |
title_short | Design of a Two-Dimensional Conveyor Platform with Cargo Pose Recognition and Adjustment Capabilities |
title_sort | design of a two-dimensional conveyor platform with cargo pose recognition and adjustment capabilities |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10647742/ https://www.ncbi.nlm.nih.gov/pubmed/37960454 http://dx.doi.org/10.3390/s23218754 |
work_keys_str_mv | AT zhouzhiguo designofatwodimensionalconveyorplatformwithcargoposerecognitionandadjustmentcapabilities AT zhanghui designofatwodimensionalconveyorplatformwithcargoposerecognitionandadjustmentcapabilities AT liukai designofatwodimensionalconveyorplatformwithcargoposerecognitionandadjustmentcapabilities AT mafengying designofatwodimensionalconveyorplatformwithcargoposerecognitionandadjustmentcapabilities AT lushijie designofatwodimensionalconveyorplatformwithcargoposerecognitionandadjustmentcapabilities AT zhoujian designofatwodimensionalconveyorplatformwithcargoposerecognitionandadjustmentcapabilities AT malinhan designofatwodimensionalconveyorplatformwithcargoposerecognitionandadjustmentcapabilities |