By Topic

Robotic de-palletizing using uncalibrated vision and 3D laser-assisted image analysis

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Biao Zhang ; Corporate Research Center of ABB Inc., Windsor, CT 06095, USA ; Steven B. Skaar

In the paper-container industry, bag stacking and un-stacking are very labor-intensive work. It is hard for companies to find enough people to fill these positions. Also the repetitive stack and un-stack work can easily cause back and waist injury. Therefore robot de-palletizing system is highly desirable. Guiding a robot tool reliably and robustly to insert into the gap on bag stack to pick up a layer of bags without disturbing the stack is highly challenging due to the variation of the gap-center position and gap size under different pressure depending upon the number of layers above it, the so-called ¿variable crunch¿ factor. In this paper, the method combining an uncalibrated vision and 3D laser-assisted image analysis based on camera-space manipulation (CSM) is developed. The developed prototype system demonstrates the reliable gap insertion in de-palletizing process. It is ready to be installed to a factory floor at the Smurfit-Stone Container Corporation.

Published in:

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

10-15 Oct. 2009