基于点云数据的智能盘点技术研究

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中图分类号：F253.9 文献标志码：ADOI： 10.13714/j.cnki.1002-3100.2025.09.014

Abstract： In an automated stereoscopic warehouse， the inventory of cardboard box goods on pallets requires the use ofa stacker crane to transport the pallets from the vertical warehouse to the entry and exit platforms for manual inventory， and then transport the pallets back to the vertical warehouse. Onlythencantheinventoryofapalletbecompleted，and the entire calculation process will inevitably lead to time-consuming and labor-intensive work. In order to improve inventory efficiency andreduce energy consumption， and avoid the transportation of stacker cranes during inventory work， this articleadopts an intelligent inventory technology based on point cloud data to directly inventory the goods on pallets in the vertical warehouse，without the need to manually transport palletsto the entry and exit platforms for inventory. This technology mainly uses LiDAR to collect three-dimensional point cloud data （x，y，z） of cardboard boxes on pallets. A mapping grid matrix detection method is proposed to vertically analyze the three-dimensional point cloud data，and the least squares method is used to fit the plane shape data of stacked cardboard boxes in the vertical direction. The three-dimensional data is gridded and converted into two-dimensional data，and then subjected to plane fitting processing to obtain a matrix dataof fitting plane height and plane area，and then calculate thenumberofcardboard boxes.

Key words： point cloud data; stereoscopic warehouse; least squares method;planar detection; LiDAR

0引言

在全球化及电子商务的日益发展下，立体仓库作为存储效率及空间利用率的重要提升者，已在现代供应链管理中扮演着不可或缺的角色。（剩余6366字）