Research on Calculation Method of Warehouse Cargo Volume Based on RealSense
In the enterprise warehouse,viewing the amount of available space is an important link in the process of allocating cargo.As for the fixed warehouse,its total capacity is fixed,so you can calculate the existing amount of the warehouse cargo,and then the remaining available space can be obtained by reducing the two phases.For calculating the volume of the warehouse cargo,we first use the RealSense depth camera to obtain the initial point cloud of the cargo scene.Because the acquired initial point cloud data is often noisy,some preprocessing is needed during the cargo volume calculation.The point cloud of the cargo is obtained,and then calculated and measured by the projection method and integral method.In view of the different sizes of the warehouse,we propose two schemes.First,for small cargo piles(cargo with a volume less than 2 cubic meters),we use a camera to capture the top and ground of the cargo from top to bottom,and then use statistical analysis,projection,and integration to obtain the cargo volume.Second,for large cargo piles(cargo with a volume greater than or equal to 2 cubic meters),it is difficult to obtain the top surface of the cargo.Therefore,two cameras with a certain distance are used to obtain the two sides of the cargo pile,and then the method in Scheme 1 is deformed to obtain the cargo volume.The experimental results show that the difference between the volume of cargo measured by the proposed method and the actual volume of goods shall not exceed 3%,which meets the requirements of low cost and high precision measurement in the logistics site.
point cloud volumeprojection methodintegral methoddepth cameraRealSense
国家科技期刊平台
NSTL
万方数据
维普
