Laser Scanner Object Detection for Robotic Depalletizing
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Solution Overview
Problem
Existing machine vision systems for palletizing and depalletizing require consistent ambient lighting, real-time interaction, and intense computation, making them inefficient and prone to errors in detecting object placement and orientation, especially when dealing with variations in light reflections and complex product arrangements.
Innovation Solution
A laser imaging-based object detection device that uses a 2D laser measuring scanner and linear actuator to determine the accurate placement and orientation of objects on a pallet, allowing for independent operation and improved accuracy in robotic palletizing and depalletizing processes, eliminating the need for lighting and real-time interaction with the robot arm.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If machine vision systems are used for object detection on pallets, then object placement and orientation can be detected, but the system requires consistent ambient lighting and real-time interaction with the robot arm, increasing system complexity and reducing reliability
Solution Approach 1:
The patent extracts the lighting requirement from the detection system by using laser imaging that does not depend on ambient light conditions. The laser scanner independently provides illumination and detection capability, eliminating the need for separate flood lighting systems and complex lighting control mechanisms.
Solution Approach 2:
The patent introduces a laser scanner as an intermediary device that mediates between the detection need and the robot arm. The laser scanner captures spatial coordinates of objects and their positions on the pallet, providing data that can be processed offline to generate pick and place paths, thereby eliminating the need for real-time interaction with the robot arm.
2Measurement precision
If machine vision systems perform intense computation to determine low tolerance dimensions and locations, then measurement precision improves, but processing time increases and real-time interaction becomes necessary
Solution Approach 1:
The patent applies preliminary action by capturing all necessary spatial coordinate data with the laser scanner before the robot arm operation begins. The system records the positions of all objects on the pallet in advance, allowing computation of pick and place paths to be performed offline or in advance, thereby eliminating real-time computation requirements and reducing processing time during actual operation.
3Measurement precision
If the vision lens is located near or on the end effecter to enable real-time interaction, then detection accuracy improves, but the mechanical equipment needed for picking blocks the field of view
Solution Approach 1:
The patent transitions from a two-dimensional camera-based vision system to a three-dimensional laser scanning system. The laser scanner measures spatial coordinates in three dimensions and can determine the location and orientation of objects without being positioned directly above or near them. This dimensional change allows the scanner to be located at a distance where mechanical picking equipment does not obstruct the measurement field.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution enables faster and more reliable detection and placement of objects, ensuring a stable and accurate 'built' load, even if the original load is not square or plumb, by providing precise spatial coordinates for the depalletizer, reducing product damage and shipping inefficiencies.
Implementation Method 1
a laser measuring scanner 1 that emits a laser beam 9 in an arc
Data Source
AI summary
An object detecting device for detecting the existence and general placement of an object residing upon a surface. A preferred embodiment of the invention uses a laser measuring scanner operated positioned by a servo motor to allow the laser measuring scanner to generate signals related to the placement of an object on a surface. Those placement signals are then processed by a computer to make a two or three dimensional determination of the object in coordinates that show the object's location in relation to another device such as a robotic depalletizer that can then be moved into position near the object to allow removal of the object by the robotic depalletizer.