Package Identification Code for Robotic Devanning
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Solution Overview
Problem
Existing methods for automatically unloading rectangular packages face challenges when packages are stacked tightly or in various orientations, as they struggle to accurately identify vertical and horizontal edges, leading to difficulties in positioning the robot hand and ensuring safe unloading, especially when packages are rotated or have varying sizes and weights.
Innovation Solution
A package identification code is displayed on each surface, including size information, position information, and rotation identification, which is read by a controller to accurately position a robot hand for smooth devanning and depalletizing, even when packages are stacked tightly or rotated, using a matrix-type two-dimensional code and adhesive sheets for easy application on existing packaging.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If markers are attached at respective four corners of all six surfaces of the rectangular box, then the robot hand can be positioned with the package and smooth unloading is possible even if packages having various sizes are mixed, but it takes time, labor, and cost and requires special package boxes with pre-printed markers
Solution Approach 1:
The invention extracts the essential function of corner markers (providing position and size information) and implements it through a simplified single-marker configuration. Instead of requiring markers at all 24 corners, a single marker on the front surface combined with code data containing size information achieves the same positioning function with reduced complexity
Solution Approach 2:
The invention uses code data (digital information) to represent the physical dimensions and positioning information that would otherwise require physical markers at multiple locations. The code data contains height size and width size information, allowing the system to reconstruct the package geometry without physical markers at all corners
2Productivity
If only markers on the front surface are read, then the unloading process is simplified, but the depth size cannot be identified and safe unloading may be difficult when the center of gravity is far from the holding position
Solution Approach 1:
The invention adds the dimension of information storage by embedding size information (height, width, depth) within the code data structure. This allows the system to obtain three-dimensional package information from a two-dimensional marker reading process, enabling accurate positioning and safe handling without requiring markers on all surfaces
3Extent of automation
If a camera capturing 2D or 3D vision is used to identify coordinates of a target package, then automatic unloading is possible with great reduction of labor by humans, but when rectangular packages are well aligned and stacked tightly, it becomes difficult to recognize vertical/horizontal edge positions
Solution Approach 1:
The invention introduces an intermediary element (the identification marker with encoded size information) that facilitates the automation process. Instead of relying solely on visual recognition of package edges (which fails when packages are tightly stacked), the marker serves as a reliable intermediary that provides precise position and dimension data regardless of stacking tightness
Data Source
AI summary
The present invention is provided to achieve smooth devanning or depalletizing of rectangular packages while managing various situations. Package identification codes 10a, 10b, 10c, 10d are displayed at a predetermined position of each of four surfaces of front, back, left and right or on each of all surfaces of a package 5A having a rectangular shape, and code data-of the identification codes is identified by a predetermined controller via a reading unit. The code data includes size information of a height size and a width size of a code display surface of the package 5A. The controller of a robot having the reading unit and a robot hand is configured to position the robot hand with the package 5A based on a code display position and the size information.