Low cost contour check of loading units using PMD sensors

Abstract

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

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

“…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.…”