Automated detection of euro pallet loads by interpreting PMD camera depth images

摘要: In this study, a novel approach for the detection of parcel loading positions on pallet is presented. This was realized as substantial change in comparison with traditional system design contour de-palletizing processes. Complex 3D-vision systems, costly laser scanners or throughput decreasing local sensor solutions integrated grippers are substituted by low-cost photonic mixing device (PMD) camera. By combining PMD technology and predetermined model situations, stored during assembling pallet, can compensate drawbacks each respective system. An essential part computer-graphics methods specific to given problem both detect deviation between nominal actual position if necessary an automated correction packaging scheme. From economic point view, decrease costs mandatory checking