3D visual guidance based unstacking method and system

Abstract

The invention provides a 3D visual guidance based unstacking method and system, and relates to the technical field of logistics and warehousing. The method comprises steps as follows: point cloud dataand image data of stacked materials are acquired on the basis of 3D vision; a target box body is recognized from the image data with an instance segmentation algorithm, and current position coordinates of the target box body are determined according to the point cloud data; information of a path from a manipulator to the target box body is planned according to the current position coordinates ofthe target box body and current position coordinates of the manipulator, the manipulator is enabled to grab the target box body from the stacked material according to the information of the path, andthe target box body is placed in the target position. Manual work is replaced to complete unstacking, working efficiency is high, the worker is tireless, working properties are relatively stable, andaccuracy rate of goods unstacking is high.

Description

technical field [0001] The invention relates to the technical field of logistics and warehousing, in particular to a method and system for destacking based on 3D vision guidance. Background technique [0002] Depalletization is one of the important links of logistics. The traditional method is generally manual depalletization. The work efficiency of manual work is low, especially in the era of popular online shopping. If the strength is too high, it will take a long time to unstack, and fatigue will lead to work omissions. Once there is an error in unstacking, it is difficult to find and trace the source. Manually affected by one's own body and physical condition, it is easy to lead to unstable work performance of unstacking. Contents of the invention [0003] In view of this, the purpose of the present invention is to provide a depalletizing method and system based on 3D vision guidance, which replaces manual depalletizing, has high work efficiency, is not prone to fatigu...

AI Technical Summary

Problems solved by technology

[0002] Depalletization is one of the important links of logistics. The traditional method is generally manual depalletization. The work efficiency of manual work is low, especially in the era of popular online shopping. If the strength is too high, it will be unstacked for a long time, and fatigue will lead to work omissions. Once there is an error in unstacking, it is difficult to find and trace the source. The manual is affected by one's own body and physical condition, which may easily lead to unstable work performance of unstacking

Images