롤테이너 적재 소포를 자동으로 디팔레타이징하기 위한 로봇 시스템 개발
Development of a Robot System for Automatic De-palletizing of Parcels loaded in Rolltainer
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This paper deals with a study on the automatic depalletizing robot for parcels loaded in rolltainer of domestic postal distribution centers. Specifically, we proposed a robot system that detect parcels loaded in a rolltainer with a 3D camera and perform de-palletizing using a cooperative robot. In addition, we developed the task flow chart for parcel de-palletizing and the method of retreat motion generation in the case of collision with rolltainer. Then, we implemented the proposed methods to the robot’s controller by developing robot program. The proposed robot system was installed at the Anyang Post Distribution Center and field tests were completed. Field tests have shown that the robotic system has a success rate of over 90% for depalletizing task. And it was confirmed that the average tact time per parcel was 7.3 seconds.
Abstract
This paper deals with a study on the automatic depalletizing robot for parcels loaded in rolltainer of domestic postal distribution centers. Specifically, we proposed a robot system that detect parcels loaded in a rolltainer with a 3D camera and perform de-palletizing using a cooperative robot. In addition, we developed the task flow chart for parcel de-palletizing and the method of retreat motion generation in the case of collision with rolltainer. Then, we implemented the proposed methods to the robot’s controller by developing robot program. The proposed robot system was installed at the Anyang Post Distribution Center and field tests were completed. Field tests have shown that the robotic system has a success rate of over 90% for depalletizing task. And it was confirmed that the average tact time per parcel was 7.3 seconds.
참고문헌 (7)
- 김동형, "비정형 디팔레타이징 작업을 위한 Multi-RRT 기반의 다관절 로봇 경로 계획", 제어.로봇.시스템학회 논문지, 26(4), pp.263~268 (2020), 제어·로봇·시스템학회[DOI]
- W. P. Yu, "Technical Trends of Robot Task Intelligence in Intelligent Logistics", Agriculture, 2021, pp.36(2), 22~31
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- D. Kim, "Motion Planning Method for Picking Inclined Parcels at the Corners of a Roll Container Using an Articulated Robot", Summer Annual Conference of IEIE (The Institute of Electronics and Information Engineers), pp.2230~2231 (2021)
- Development of Core Technology of Robot Task-Intelligence for Improvement of Labor Condition, 2nd year report, "W. P. Yu", ETRI, ~ (2019)