Concept of automated load detection for de-palletizing using depth images and RFID data

Prasse, Christian; Skibinski, Sebastian; Weichert, Frank; Stenzel, Jonas; Müller, Heinrich; Hompel, Michael ten

doi:10.1109/iccsce.2011.6190531

Cited by 20 publications

(6 citation statements)

References 14 publications

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“…For a detailed formally formulation of the developed contour check algorithm please refer to [7], [11], subsequent follows a brief description of the particular steps of the algorithm.…”

Section: B Detection Algorithmmentioning

confidence: 99%

Low cost contour check of loading units using PMD sensors

Prasse

Stenzel

Rudak

et al. 2013

2013 Seventh International Conference on Sensing Technology (ICST)

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In this paper, a novel approach for the detection of parcel loading positions on a pallet is presented. This approach realizes a substantial change in comparison to traditional system design of contour detection in de-palletizing processes. Complex 3D-vision systems, costly laser scanners or throughput decreasing local sensor solutions integrated in grippers are substituted by a low-cost Photonic Mixing Device (PMD) camera. By combining PMD technology and a predetermined model of loading situations, stored during the assembly of the pallet, this approach can compensate for the drawbacks of each respective system. An essential part of the approach are computer-graphics methods specific to the given problem to both detect the deviation between the nominal and the actual loading position and if necessary an automated correction of the packaging scheme. From an economic point of view this approach can decrease the costs of mandatory contour checking in automated de-palletizing processes

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“…For a detailed formally formulation of the developed contour check algorithm please refer to [7], [11], subsequent follows a brief description of the particular steps of the algorithm.…”

Section: B Detection Algorithmmentioning

confidence: 99%

Low cost contour check of loading units using PMD sensors

Prasse

Stenzel

Rudak

et al. 2013

2013 Seventh International Conference on Sensing Technology (ICST)

Self Cite

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“…Recent studies have looked at developing a depalletizing system for stacked cardboard boxes that have toppled, shifted, or been stacked in complex ways. Many studies have tackled the issue of target acquisition (Hashimoto et al 1999;Katsoulas et al 2002;Zhang et al 2009;Prasse et al 2011Prasse et al , 2013Prasse et al , 2016, and some systems have been developed recently (Yaskawa Motoman robot 2013; PICK WORKER 2016). However, there have been no studies on a high-speed depalletizing system for various complex arrangements of packages arbitrarily or heuristically stacked on RBPs by human workers.…”

Section: Related Workmentioning

confidence: 99%

Development of automated high-speed depalletizing system for complex stacking on roll box pallets

Eto

Nakamoto

Sonoura

et al. 2019

JAMDSM

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The need for automated distribution systems has recently grown due to labor shortages and an increasing preference among consumers to shop online. The process of depalletizing roll box pallets (RBPs) requires skillful work in a limited space, but an automated RBP depalletizing system with a speed equal to or exceeding that of human workers has yet to be developed. We solved this issue using two technologies. One is a system design and the other is an algorithm for prioritizing the packages to be removed from the stack. We designed a highspeed depalletizing system that can be installed in a narrow space at the distribution site. Equipped with a compact linear actuator mechanism, the system utilizes an end effector that can handle multiple packages simultaneously. Moreover, by optimizing the process of transferring packages on the system, we increased the speed. Our algorithm for prioritizing packages allows the proper selection of packages held simultaneously for faster depalletizing. However, if the height of complexly stacked packages is not known, depalletizing is difficult. To solve this issue, we developed an algorithm with special rules. Finally, we conducted depalletizing trials with the latest prototype system using different arrangements of stacked packages, and achieved an average speed of 683 packages per hour.

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“…The authors evaluate their system on an impressive dataset containing 8000 test images. Other approaches include: (Nygårds et al, 2000), (Prasse et al, 2011), (Pradalier et al, 2008).…”

Section: Related Work 21 Sensor Typesmentioning

confidence: 99%

Robust Pallet Detection for Automated Logistics Operations

Robert

Nedevschi

2016

Proceedings of the 11th Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications

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A pallet detection system is presented which is designed for automated forklifts for logistics operations. The system performs stereo reconstruction and pallets are detected using a sliding window approach. In this paper we propose a candidate generation method and we introduce feature descriptors for grayscale images that are tailored to the current task. The features are designed to be invariant to certain types of illumination changes and are called normalized pair differences because of the formula involved in their calculation. Experimental results validate our approach on extensive real world data.

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Concept of automated load detection for de-palletizing using depth images and RFID data

Cited by 20 publications

References 14 publications

Low cost contour check of loading units using PMD sensors

Low cost contour check of loading units using PMD sensors

Development of automated high-speed depalletizing system for complex stacking on roll box pallets

Robust Pallet Detection for Automated Logistics Operations

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