Towards an Autonomous Unwrapping System for Intralogistics
Towards an Autonomous Unwrapping System for Intralogistics
复制标题
迈向内部物流自主拆包系统
DOI：
10.1109/lra.2019.2934710
复制
发表时间：
2019
影响因子：
5.2
通讯作者：
L. Pallottino
中科院分区：
文献类型：
--
作者：
C. Gabellieri;A. Palleschi;Anna Mannucci;Michele Pierallini;E. Stefanini;M. Catalano;D. Caporale;A. Settimi;Todor Stoyanov;Martin Magnusson;M. Garabini;L. Pallottino
仓库物流是机器人快速增长的市场。然而，一个关键的程序，并没有收到太多的关注是打开包装托盘准备他们的对象挑选。事实上，为了防止货物掉落和保护货物，托盘在进入仓库时通常是用塑料包裹的。目前，拆包主要由人工操作，由于其计划和控制阶段的复杂性。自主解决方案是存在的，但它们通常是为特定情况而设计的，需要很大的空间，并且具有灵活性低的特点。在这项工作中，我们提出了一种基于阻抗控制机器人的自主塑料薄膜去除的新型集成机器人解决方案。主要贡献有两方面：一方面，讨论了在不损坏货物的情况下执行切割的笛卡尔阻抗和轨迹规划策略；另一方面，我们展示了我们为此目的设计的切割装置。由于所采用的技术和与移动基地的集成，所提出的解决方案具有高通用性和减少占地面积的特点。实验结果验证了该方法的有效性。
Warehouse logistics is a rapidly growing market for robots. However, one key procedure that has not received much attention is the unwrapping of pallets to prepare them for objects picking. In fact, to prevent the goods from falling and to protect them, pallets are normally wrapped in plastic when they enter the warehouse. Currently, unwrapping is mainly performed by human operators, due to the complexity of its planning and control phases. Autonomous solutions exist, but usually they are designed for specific situations, require a large footprint and are characterized by low flexibility. In this work, we propose a novel integrated robotic solution for autonomous plastic film removal relying on an impedance-controlled robot. The main contribution is twofold: on one side, a strategy to plan Cartesian impedance and trajectory to execute the cut without damaging the goods is discussed; on the other side, we present a cutting device that we designed for this purpose. The proposed solution presents the characteristics of high versatility and the need for a reduced footprint, due to the adopted technologies and the integration with a mobile base. Experimental results are shown to validate the proposed approach.