Toward Future Automatic Warehouses: An Autonomous Depalletizing System Based on Mobile Manipulation and 3D Perception

Toward Future Automatic Warehouses: An Autonomous Depalletizing System Based on Mobile Manipulation and 3D Perception

This paper presents a mobile manipulation platform designed for autonomous depalletizing tasks. The proposed solution integrates machine vision, control and mechanical components to increase flexibility and ease of deployment in industrial environments such as warehouses. A collaborative robot mount...

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Main Authors: Jacopo Aleotti, Alberto Baldassarri, Marcello Bonfè, Marco Carricato, Davide Chiaravalli, Roberto Di Leva, Cesare Fantuzzi, Saverio Farsoni, Gino Innero, Dario Lodi Rizzini, Claudio Melchiorri, Riccardo Monica, Gianluca Palli, Jacopo Rizzi, Lorenzo Sabattini, Gianluca Sampietro, Federico Zaccaria
Format: Article
Language:English
Published: MDPI AG 2021-06-01
Series:Applied Sciences
Subjects:
mobile manipulation
robot vision
industrial depalletizing
Online Access:https://www.mdpi.com/2076-3417/11/13/5959
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spelling doaj-d4eec25997b049dab4a513ad20cfa0e52021-07-15T15:30:05ZengMDPI AGApplied Sciences2076-34172021-06-01115959595910.3390/app11135959Toward Future Automatic Warehouses: An Autonomous Depalletizing System Based on Mobile Manipulation and 3D PerceptionJacopo Aleotti0Alberto Baldassarri1Marcello Bonfè2Marco Carricato3Davide Chiaravalli4Roberto Di Leva5Cesare Fantuzzi6Saverio Farsoni7Gino Innero8Dario Lodi Rizzini9Claudio Melchiorri10Riccardo Monica11Gianluca Palli12Jacopo Rizzi13Lorenzo Sabattini14Gianluca Sampietro15Federico Zaccaria16DIA—Department of Engineering and Architecture, University of Parma, 43124 Parma, ItalyDIN—Department of Industrial Engineering, University of Bologna, 40136 Bologna, ItalyDepartment of Engineering, University of Ferrara, 44122 Ferrara, ItalyDIN—Department of Industrial Engineering, University of Bologna, 40136 Bologna, ItalyDEI—Department of Electrical, Electronic and Information Engineering, University of Bologna, 40136 Bologna, ItalyDIN—Department of Industrial Engineering, University of Bologna, 40136 Bologna, ItalyDISMI—Department of Sciences and Methods for Engineering, University of Modena and Reggio Emilia, 42122 Reggio Emilia, ItalyDepartment of Engineering, University of Ferrara, 44122 Ferrara, ItalyDIN—Department of Industrial Engineering, University of Bologna, 40136 Bologna, ItalyDIA—Department of Engineering and Architecture, University of Parma, 43124 Parma, ItalyDEI—Department of Electrical, Electronic and Information Engineering, University of Bologna, 40136 Bologna, ItalyCIDEA—Center for Energy and Environment, University of Parma, 43124 Parma, ItalyDEI—Department of Electrical, Electronic and Information Engineering, University of Bologna, 40136 Bologna, ItalyDepartment of Engineering, University of Ferrara, 44122 Ferrara, ItalyDISMI—Department of Sciences and Methods for Engineering, University of Modena and Reggio Emilia, 42122 Reggio Emilia, ItalyDISMI—Department of Sciences and Methods for Engineering, University of Modena and Reggio Emilia, 42122 Reggio Emilia, ItalyDIN—Department of Industrial Engineering, University of Bologna, 40136 Bologna, ItalyThis paper presents a mobile manipulation platform designed for autonomous depalletizing tasks. The proposed solution integrates machine vision, control and mechanical components to increase flexibility and ease of deployment in industrial environments such as warehouses. A collaborative robot mounted on a mobile base is proposed, equipped with a simple manipulation tool and a 3D in-hand vision system that detects parcel boxes on a pallet, and that pulls them one by one on the mobile base for transportation. The robot setup allows to avoid the cumbersome implementation of pick-and-place operations, since it does not require lifting the boxes. The 3D vision system is used to provide an initial estimation of the pose of the boxes on the top layer of the pallet, and to accurately detect the separation between the boxes for manipulation. Force measurement provided by the robot together with admittance control are exploited to verify the correct execution of the manipulation task. The proposed system was implemented and tested in a simplified laboratory scenario and the results of experimental trials are reported.https://www.mdpi.com/2076-3417/11/13/5959mobile manipulationrobot visionindustrial depalletizing
collection DOAJ
language English
format Article
sources DOAJ
author Jacopo Aleotti
Alberto Baldassarri
Marcello Bonfè
Marco Carricato
Davide Chiaravalli
Roberto Di Leva
Cesare Fantuzzi
Saverio Farsoni
Gino Innero
Dario Lodi Rizzini
Claudio Melchiorri
Riccardo Monica
Gianluca Palli
Jacopo Rizzi
Lorenzo Sabattini
Gianluca Sampietro
Federico Zaccaria
spellingShingle Jacopo Aleotti
Alberto Baldassarri
Marcello Bonfè
Marco Carricato
Davide Chiaravalli
Roberto Di Leva
Cesare Fantuzzi
Saverio Farsoni
Gino Innero
Dario Lodi Rizzini
Claudio Melchiorri
Riccardo Monica
Gianluca Palli
Jacopo Rizzi
Lorenzo Sabattini
Gianluca Sampietro
Federico Zaccaria
Toward Future Automatic Warehouses: An Autonomous Depalletizing System Based on Mobile Manipulation and 3D Perception
Applied Sciences
mobile manipulation
robot vision
industrial depalletizing
author_facet Jacopo Aleotti
Alberto Baldassarri
Marcello Bonfè
Marco Carricato
Davide Chiaravalli
Roberto Di Leva
Cesare Fantuzzi
Saverio Farsoni
Gino Innero
Dario Lodi Rizzini
Claudio Melchiorri
Riccardo Monica
Gianluca Palli
Jacopo Rizzi
Lorenzo Sabattini
Gianluca Sampietro
Federico Zaccaria
author_sort Jacopo Aleotti
title Toward Future Automatic Warehouses: An Autonomous Depalletizing System Based on Mobile Manipulation and 3D Perception
title_short Toward Future Automatic Warehouses: An Autonomous Depalletizing System Based on Mobile Manipulation and 3D Perception
title_full Toward Future Automatic Warehouses: An Autonomous Depalletizing System Based on Mobile Manipulation and 3D Perception
title_fullStr Toward Future Automatic Warehouses: An Autonomous Depalletizing System Based on Mobile Manipulation and 3D Perception
title_full_unstemmed Toward Future Automatic Warehouses: An Autonomous Depalletizing System Based on Mobile Manipulation and 3D Perception
title_sort toward future automatic warehouses: an autonomous depalletizing system based on mobile manipulation and 3d perception
publisher MDPI AG
series Applied Sciences
issn 2076-3417
publishDate 2021-06-01
description This paper presents a mobile manipulation platform designed for autonomous depalletizing tasks. The proposed solution integrates machine vision, control and mechanical components to increase flexibility and ease of deployment in industrial environments such as warehouses. A collaborative robot mounted on a mobile base is proposed, equipped with a simple manipulation tool and a 3D in-hand vision system that detects parcel boxes on a pallet, and that pulls them one by one on the mobile base for transportation. The robot setup allows to avoid the cumbersome implementation of pick-and-place operations, since it does not require lifting the boxes. The 3D vision system is used to provide an initial estimation of the pose of the boxes on the top layer of the pallet, and to accurately detect the separation between the boxes for manipulation. Force measurement provided by the robot together with admittance control are exploited to verify the correct execution of the manipulation task. The proposed system was implemented and tested in a simplified laboratory scenario and the results of experimental trials are reported.
topic mobile manipulation
robot vision
industrial depalletizing
url https://www.mdpi.com/2076-3417/11/13/5959
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