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Computer vision guided unstacking method and equipment

A computer vision and algorithm technology, applied in the direction of destacking, computing, transportation and packaging of objects, can solve problems such as being difficult to apply and difficult to adapt to the needs of different application scenarios.

Pending Publication Date: 2022-07-29
ROBERT BOSCH GMBH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This limits the relative position of the stack and the camera device, and it is difficult to adapt to the needs of different application scenarios. For example, when there is not enough space on the top of the stack to install the camera device, such a method is difficult to apply

Method used

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  • Computer vision guided unstacking method and equipment
  • Computer vision guided unstacking method and equipment

Examples

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Embodiment Construction

[0015] figure 1 A depalletizing system 1 according to one embodiment is shown. In logistics or industrial manufacturing, it is not only necessary to depalletize regularly shaped objects such as cubes, but also objects with irregular shapes in some cases. For example, as figure 1 The illustrated stack of objects 6 is formed by stacking a number of parts with irregular shapes, it is also necessary to de-stack such objects using computer vision guidance.

[0016] like figure 1 The depalletizing system 1 shown supports performing depalletizing operations on a stack of objects 6 comprising irregularly shaped objects, of course, this is not limiting, the depalletizing system 1 can also be used for regularly shaped objects such as cubes Perform depalletizing operations.

[0017] The depalletizing system 1 includes a stereo vision device 2 , a computer vision-guided depalletizing device 3 , a control device 4 and a robotic arm 5 . The stereo vision device 2 includes a 3D stereo v...

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Abstract

A computer vision guided unstacking method and apparatus are provided. The method includes receiving 2D images and 3D point cloud data of a stack of objects; determining the vertical direction of the stack of objects by utilizing a principal component analysis algorithm based on the 3D point cloud data; extracting first 3D point cloud data corresponding to the current highest layer from the 3D point cloud data based on the vertical direction; projecting the first 3D point cloud data into the 2D image to obtain a first 2D image of the current highest layer; extracting one or more objects included in the current highest layer from the first 2D image; projecting the extracted one or more objects back to the 3D point cloud data to obtain second 3D point cloud data corresponding to each of the one or more objects; and for one object in the one or more objects, determining a 3D pose of the object based on the second 3D point cloud data of the object and the corresponding 3D point cloud template so as to unstack the object. Therefore, unstacking of irregular objects can be realized under the condition that positioning of the stereoscopic vision device does not need to be limited.

Description

technical field [0001] The invention relates to the field of logistics or industrial manufacturing, in particular to depalletizing under the guidance of computer vision. Background technique [0002] Depalletizing is a necessary operation in the field of logistics or industrial manufacturing. Manual depalletization is a common scenario in factories, but it is labor-intensive and unsafe for workers. Computer vision-guided depalletization has been developed and used, in which computer vision technology is used to drive a robotic arm to perform depalletization. [0003] Current computer vision guided depalletizing methods are usually used for objects with smooth flat surfaces such as cube objects, therefore, only the 2D information of the object is derived without considering the 3D information for depalletizing the cube object, but in practical In logistics or industrial manufacturing scenarios, there is a need to depalletize irregularly shaped objects, so it would make sens...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06T3/00B65G59/00
CPCG06T7/73B65G59/00G06T2207/10028G06T3/08G06T3/06
Inventor 丁万丁凯刘柯
Owner ROBERT BOSCH GMBH
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