The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Development of a Single-Arm Robotic System for Unloading Boxes in Cargo Truck

간선화물의 상자 하차를 위한 외팔 로봇 시스템 개발

  • Received : 2022.09.05
  • Accepted : 2022.10.18
  • Published : 2022.11.30
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Abstract

In this paper, the developed trunk cargo unloading automation system is introduced, and the RGB-D sensor-based box loading situation recognition method and unloading plan applied to this system are suggested. First of all, it is necessary to recognize the position of the box in a truck. To do this, we first apply CNN-based YOLO, which can recognize objects in RGB images in real-time. Then, the normal vector of the center of the box is obtained using the depth image to reduce misrecognition in parts other than the box, and the inner wall of the truck in an image is removed. And a method of classifying the layers of the boxes according to the distance using the recognized depth information of the boxes is suggested. Given the coordinates of the boxes on the nearest layer, a method of generating the optimal path to take out the boxes the fastest using this information is introduced. In addition, kinematic analysis is performed to move the conveyor to the position of the box to be taken out of the truck, and kinematic analysis is also performed to control the robot arm that takes out the boxes. Finally, the effectiveness of the developed system and algorithm through a test bed is proved.

Keywords

Acknowledgement

This work was supported by Korea Evaluation Institute of Industrial Technology (KEIT) grant funded by the Korea government (MSIT) (No.20015420, Development of stacker robot technology for standard pallet rack system having high degree of logistics stacking)

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