Tray pose detection method, system and equipment based on image processing and medium

The embodiment of the invention provides a tray pose detection method, system and device based on image processing and a medium. The method comprises the following steps: acquiring a depth image of a tray by using a depth camera, generating original point cloud data, preprocessing the original point cloud data to obtain optimized point cloud data, determining a forking plane according to a normal vector orientation constraint of the front surface of the tray, and constructing a point cloud template library of a to-be-forked plane by using preset tray size information, the optimized point cloud data is matched with a template, and the center position and the rotation angle of the tray are determined. According to the invention, the accuracy and efficiency of tray pose detection are improved. 本发明的实施方式提供了一种基于图像处理的托盘位姿检测方法、系统、设备和介质。该方法包括：使用深度相机获取托盘的深度图像，并生成原始点云数据并进行预处理，以得到优化后的点云数据，根据托盘正面的法向量朝向约束确定叉取平面，并利用预设的托盘尺寸信息构建待叉平面点云模板库，通过将优化后的点云数据与模板进行匹配，确定托盘的中心位置和旋转角度。本发明提高了托盘位姿检测的准确性和检测效率。