Mixed Size Depalletizing

Abstract

To provide a system and method for identifying a box to be picked up by a robot from a stack of boxes.SOLUTION: A method in a mix-size depalletizing system 30 which is a part of controller of a robot system that picks up boxes from a pallet acquires a two-dimensional red-green-blue color (RGB) image 32 of boxes and a two-dimensional depth map image 34 of boxes using a three-dimensional camera. A value identifying the distance from the camera to the boxes is assigned to pixels in the depth map image. The method further includes: a segmentation module 36 executing an image segmentation process of extracting features from the RGB image and depth map image, combining the extracted features in the images, and assigning a label to the pixels in a features image so that each box in the segmentation image has the same label: and a position module 64 identifying a location for picking up the box using the segmentation image.SELECTED DRAWING: Figure 2