- 专利标题: 3D-2D VISION SYSTEM FOR ROBOTIC CARTON UNLOADING
-
申请号: US15481969申请日: 2017-04-07
-
公开(公告)号: US20180111769A1公开(公告)日: 2018-04-26
- 发明人: Karthikeyan Yuvaraj , Sriram Pavan Tankasala , Benjamin E. Nilson , Feng Zhang , Matthew R. Wicks
- 申请人: Intelligrated Headquarters, LLC
- 主分类号: B65G67/02
- IPC分类号: B65G67/02 ; B25J9/00
摘要:
Robotic carton loader or unloader incorporates three-dimensional (3D) and two-dimensional (2D) sensors to detect respectively a 3D point cloud and a 2D image of a carton pile within transportation carrier such as a truck trailer or shipping container. Edge detection is performed using the 3D point cloud, discarding segments that are two small to be part of a product such as a carton. Segments that are too large to correspond to a carton are 2D image processed to detect additional edges. Results from 3D and 2D edge detection are converted in a calibrated 3D space of the material carton loader or unloader to perform one of loading or unloading of the transportation carrier. Image processing can also detect jamming of products sequence from individually controllable zones of a conveyor of the robotic carton loader or unloader for singulated unloading.
公开/授权文献
- US10315866B2 3D-2D vision system for robotic carton unloading 公开/授权日:2019-06-11