Depalletizer system and controlling method for the same
AssigneeCj Logistics Corporation
InventorsKyung Min Kwak, Mu Kyun Park
Life of this patent
Estimating the term…
Abstract
The present invention relates to a depalletizing system and a method for controlling the same. The depalletizing system, which picks up a plurality of objects to move the picked up objects to a predetermined position, includes: a camera unit for acquiring image data of tops of the plurality of objects; a controller for performing vision recognition for the acquired image data of tops of the plurality of objects to determine whether two neighboring objects among the plurality of objects are pickable at a time; and a picking robot for at a time picking up the two objects determined as pickable objects at a time to move the picked up objects to the predetermined position.
Claims16
A depalletizing system for picking up a plurality of objects to move the picked up objects to a predetermined position, comprising:
- a camera unit for acquiring image data of tops of the plurality of objects;
- a controller for performing vision recognition for the acquired image data of tops of the plurality of objects to determine whether two neighboring objects among the plurality of objects are pickable at a time;
- and
- a picking robot for at a time picking up the two objects determined as pickable objects at a time to move the picked up objects to the predetermined position,
- wherein the controller produces a depth map from the image data of tops of the plurality of objects, selects any object that has the highest top level among the plurality of objects as a reference object according to the produced depth map, and determines whether the neighboring object of the reference object has the same size and surface image as the reference object to determine whether the reference object and the neighboring object are pickable at a time according to the determined result.
A method for controlling a depalletizing system for picking up a plurality of objects to move the picked up objects to a predetermined position, comprising the steps of:
- acquiring image data of tops of the plurality of objects;
- performing vision recognition for the acquired image data of tops of the plurality of objects;
- determining whether two neighboring objects among the plurality of objects are pickable at a time according to a vision recognition result;
- and
- at a time picking up the two objects determined as pickable objects at a time to move the two objects to the predetermined position,
- wherein the step of performing vision recognition for the acquired image data of tops of the plurality of objects comprises the steps of producing a depth map from the image data of tops of the plurality of objects and selecting any object that has the highest top level among the plurality of objects as a reference object according to the produced depth map, and the step of determining whether two neighboring objects among the plurality of objects are pickable at a time comprises the step of determining whether the neighboring object of the reference object has the same size and surface image as the reference object to determine whether the reference object and the neighboring object are pickable at a time according to the determined result.
Dependencies are inferred from the claim text.