Robotic depalletising of mixed cases with 3D vision
Cases of different sizes are stacked mixed on the pallet. An overhead 3D camera captures a height map of the layer; planar regions are segmented into cases and the topmost accessible case is selected. The robot picks it by vacuum at the computed grasp point and places it on the conveyor.
The centre, height and angle of the selected case are sent to the robot as coordinates. A case that cannot be picked is flagged on the operator display and reported to the cell controller; every picked case is counted.
- 01 Acquire
- 02 Segment
- 03 Select
- 04 Pick
- 05 Place
Once the robot is clear, the 3D camera captures the height map of the layer.
- Plane deviation
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- Top surface height
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- Left on layer
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Scenes are illustrative simulations; they are not customer references or performance guarantees.
Need
When same-coloured cases sit tightly together, the boundary between them disappears in a colour image. Tape, labels and shadows create false edges; case size and layer height change from pallet to pallet, and a crushed top surface will not hold vacuum.
Solution approach
The 3D camera on the gantry looks straight down at the pallet and captures once the robot has left the field of view. Planar regions at the same level in the height map are separated as individual case tops; boundaries come from height steps and gap lines rather than colour. The highest surface not blocked by a neighbour is selected, and its centre and angle are converted to robot coordinates.
Process steps
- 01
Acquire
Once the robot is clear, the 3D camera captures the height map of the layer.
- 02
Segment
Planar regions are separated into individual case tops.
- 03
Select
The topmost accessible case is selected; a non-planar surface is rejected.
- 04
Pick
The robot lifts the case by vacuum at the grasp point.
- 05
Place
The case is placed on the outfeed conveyor and leaves the cell.
Related applications
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