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<p>In order to solve the difficult problem of feeding process in the process of disorderly logistics package stacking entering automatic sorting equipment in logistics package sorting industry, an algorithm based on 3D vision to determine the normal vector of three points-projection to determine the position of the central point is proposed, which is used to obtain the position information of the physical and geometric central point on the projection plane of spatial logistics package. The mathematical model of the algorithm is established. The method of calculating the normal vector and the attitude of the center point of the algorithm and the workflow of the algorithm are expounded. In order to verify the accuracy of the proposed algorithm, an experimental method of determining the center point with dual lasers and the spatial pose with dual probes is proposed, and an experimental scene based on 3D vision, industrial robot, dual lasers and PC (Personal Computer) is constructed. The experimental results show that the algorithm can solve the position and attitude information of the physical and geometric center of the projection plane of the target logistics package in the disorderly logistics package stacking, and the maximum positioning error is <InlineEquation ID="IEq1"> <EquationSource Format="TEX">\(\varepsilon_{\max } (1.521\ \text{mm},1.702\ \text{mm}, - 1.735\ \text{mm})\)</EquationSource> </InlineEquation>, and the average error is <InlineEquation ID="IEq2"> <EquationSource Format="TEX">\(\varepsilon_{{{\text{aver}}}} (1.017\ \text{mm},1.093\ \text{mm},1.071\ \text{mm})\)</EquationSource> </InlineEquation>. The average positioning time is 17.55&#xa0;ms. The algorithm of determining the normal vector of three points and determining the position of the center point by projection can solve the position information of the physical geometric center of the projection plane of spatial logistics packages, which provides reference for the research of disorderly logistics package sorting technology.</p>

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Research on positioning method in parcel sorting in disordered logistics

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年2月5日

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  • Yu Han,
  • Fengshou Zhang,
  • Aohui He,
  • Gaoshuai Zhuang,
  • Li Li

摘要

In order to solve the difficult problem of feeding process in the process of disorderly logistics package stacking entering automatic sorting equipment in logistics package sorting industry, an algorithm based on 3D vision to determine the normal vector of three points-projection to determine the position of the central point is proposed, which is used to obtain the position information of the physical and geometric central point on the projection plane of spatial logistics package. The mathematical model of the algorithm is established. The method of calculating the normal vector and the attitude of the center point of the algorithm and the workflow of the algorithm are expounded. In order to verify the accuracy of the proposed algorithm, an experimental method of determining the center point with dual lasers and the spatial pose with dual probes is proposed, and an experimental scene based on 3D vision, industrial robot, dual lasers and PC (Personal Computer) is constructed. The experimental results show that the algorithm can solve the position and attitude information of the physical and geometric center of the projection plane of the target logistics package in the disorderly logistics package stacking, and the maximum positioning error is \(\varepsilon_{\max } (1.521\ \text{mm},1.702\ \text{mm}, - 1.735\ \text{mm})\) , and the average error is \(\varepsilon_{{{\text{aver}}}} (1.017\ \text{mm},1.093\ \text{mm},1.071\ \text{mm})\) . The average positioning time is 17.55 ms. The algorithm of determining the normal vector of three points and determining the position of the center point by projection can solve the position information of the physical geometric center of the projection plane of spatial logistics packages, which provides reference for the research of disorderly logistics package sorting technology.