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...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-10-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/23/21/8754 |
| _version_ | 1797631344085303296 |
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| author | Zhiguo Zhou Hui Zhang Kai Liu Fengying Ma Shijie Lu Jian Zhou Linhan Ma |
| author_facet | Zhiguo Zhou Hui Zhang Kai Liu Fengying Ma Shijie Lu Jian Zhou Linhan Ma |
| author_sort | Zhiguo Zhou |
| collection | DOAJ |
| 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. |
| first_indexed | 2024-03-11T11:21:30Z |
| format | Article |
| id | doaj.art-8d862a2c9f034316bf7161a327570b8c |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-11T11:21:30Z |
| publishDate | 2023-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-8d862a2c9f034316bf7161a327570b8c2023-11-10T15:11:56ZengMDPI AGSensors1424-82202023-10-012321875410.3390/s23218754Design of a Two-Dimensional Conveyor Platform with Cargo Pose Recognition and Adjustment CapabilitiesZhiguo Zhou0Hui Zhang1Kai Liu2Fengying Ma3Shijie Lu4Jian Zhou5Linhan Ma6School of Information and Automation Engineering, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250300, ChinaSchool of Information and Automation Engineering, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250300, ChinaSchool of Information and Automation Engineering, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250300, ChinaSchool of Information and Automation Engineering, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250300, ChinaSchool of Information and Automation Engineering, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250300, ChinaSchool of Information and Automation Engineering, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250300, ChinaSchool of Information and Automation Engineering, Qilu University of Technology (Shandong Academy of Sciences), Jinan 250300, ChinaLinear 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.https://www.mdpi.com/1424-8220/23/21/8754information fusionpose recognitiontwo-dimensional conveying |
| spellingShingle | Zhiguo Zhou Hui Zhang Kai Liu Fengying Ma Shijie Lu Jian Zhou Linhan Ma Design of a Two-Dimensional Conveyor Platform with Cargo Pose Recognition and Adjustment Capabilities Sensors information fusion pose recognition two-dimensional conveying |
| 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 | information fusion pose recognition two-dimensional conveying |
| url | https://www.mdpi.com/1424-8220/23/21/8754 |
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