Package Registration Using Image-Guided Robotic Depalletizing
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Solution Overview
Problem
Current robotic systems for de-palletizing packages often rely on human intervention or fail to accurately identify physical characteristics, leading to mishandling and inefficiencies, especially when packages are heavy or irregularly shaped.
Innovation Solution
A robotic system equipped with a package registration mechanism that includes a de-palletizing platform, a receiving platform, a robotic arm, an image system, a registration data source, and a force-torque sensor, which captures images, determines registration status, and adjusts its grip and lifting position based on calculated minimum viable regions to handle unregistered packages efficiently.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If human workers perform de-palletizing operations, then flexibility and adaptability to unknown packages are improved, but labor cost and safety risks increase
Solution Approach 1:
The system enables automated package identification and registration without human intervention. The imaging device captures images, the processor analyzes them to identify physical characteristics, and the system automatically updates registration data sources, allowing the robotic system to handle unknown packages independently
Solution Approach 2:
The patent replaces human manual operations with an automated system comprising imaging devices, processors, and robotic mechanisms. The system uses computer vision and image processing algorithms to substitute human visual inspection and decision-making capabilities
2Ease of manufacture
If industrial robots perform de-palletizing operations, then labor cost and safety are improved, but ability to handle unknown packages deteriorates
Solution Approach 1:
The system performs preliminary registration of packages by capturing images and storing physical characteristics in a registration data source before the robotic arm attempts to handle them. This pre-registration process enables the robot to recognize and adapt to package characteristics in advance
Solution Approach 2:
The system uses feedback from image analysis to update registration data sources dynamically. When the processor identifies physical characteristics from captured images, it feeds this information back to update the registration database, enabling continuous learning and adaptation to new package types
3Measurement precision
If the system relies on registered images for package identification, then handling accuracy is improved, but system complexity increases due to manual registration requirements
Solution Approach 1:
The system automatically performs registration by capturing images with the imaging device and processing them through the processor to extract physical characteristics. This self-registration capability eliminates the need for separate manual registration procedures while maintaining high identification accuracy
4Productivity
If the robotic arm handles packages without accurate physical characteristic data, then operational speed is improved, but package mishandling increases
Solution Approach 1:
The system performs preliminary image capture and analysis before the robotic arm executes handling operations. By pre-identifying physical characteristics such as center of mass and dimensions, the system ensures accurate and safe package handling while maintaining operational throughput
Data Source
AI summary
A method of operating a robotic system includes: receiving first image data representative of a package surface; identifying a pair of edges based on the first image data; determining a minimum viable region based on the pair of edges; receiving second image data representative of the package after the lift; and creating registration data based on the first and second image data.