Basics

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This section introduces the basic information about the single-case carton depalletizing solution, including the applicability, unsupported functions and technical specifications.

Applicability

This section introduces the applicability of the single-case carton depalletizing solution from the aspects of carton types, project requirements, carton surface features, etc.

Carton Types

The table below illustrates the solution’s applicability to carton types.

Feasible Illustration Not feasible Illustration

Regular paper cartons with a standard rectangular upper surface.

single case cartons basic info scope of application 0 1

Flattened irregular rectangular cardboard, waste cartons, etc.

single case cartons basic info scope of application 0 2

Project Requirements

The table below illustrates the solution’s applicability to project requirements.

Feasible Illustration Not feasible Illustration

Single-Case Carton Depalletizing

single case cartons basic info scope of application 1 1

Mixed-Case Carton Depalletizing

single case cartons basic info scope of application 1 2

Single-Case Carton Palletizing

single case cartons basic info scope of application 1 3

Mixed-Case Carton Palletizing

single case cartons basic info scope of application 1 4

Pick one box at a time, pick multiple boxes at a time, pick an entire row at a time, pick one layer at a time, pick as many boxes as possible at a time, divide the vacuum gripper into sections, etc.

Customize picking rules or quantity.

Carton Surface Features

The table below illustrates the solution’s applicability to carton surface features.

Feasible Illustration Not feasible Illustration

Carton edges are clear. The carton’s surface can be either a single color or plain, , and it can feature patterns, text, strapping, or tapes.

single case cartons basic info scope of application 2 1 single case cartons basic info scope of application 2 2

Unable to clearly distinguish whether the cartons are single or multiple. For example, the carton body is divided by distinct patterns or stripes, or the cartons are closely packed together.

single case cartons basic info scope of application 2 3 single case cartons basic info scope of application 2 4

Carton Placement

The table below illustrates the solution’s applicability to carton placement.

Feasible Illustration Not feasible Illustration

Individual carton sizes are moderate, that is, each carton occupies an appropriate proportion within the camera’s field of view.

single case cartons basic info scope of application 3 1

Individual carton sizes are excessively large, with each carton occupying the entire camera field of view, which could potentially impact the effectiveness of deep learning recognition.

single case cartons basic info scope of application 3 2

The camera is horizontally placed within the camera’s field of view, and the angle between the carton and the camera ranges from 0° to 45°.

single case cartons basic info scope of application 3 3

The camera is inclined within the camera’s field of view, and the angle between the carton and the camera is greater than 45°. This may lead to deep learning recognition errors.

single case cartons basic info scope of application 3 4

Object Carriers

The table below illustrates the solution’s applicability to object carriers.

Feasible Illustration Not feasible Illustration

Cartons are placed on a pallet.

single case cartons basic info scope of application 4 1

Cartons are placed in four-wall bins, containers, or turnover boxes, or there are other obstructions around the carton pallet.

single case cartons basic info scope of application 4 2

Vacuum Gripper Design

The table below illustrates the solution’s applicability to vacuum gripper design.

Feasible Illustration Not feasible Illustration

Single-section vacuum gripper

single case cartons basic info scope of application 5 1

Multi-row, multi-section vacuum gripper

single case cartons basic info scope of application 5 3

Single-row, multi-section vacuum gripper

single case cartons basic info scope of application 5 2

Dimensions

The table below illustrates the solution’s applicability to carton dimensions.

Feasible Not feasible

Ensure the dimensions of the real carton input to the software are accurate.

Not applicable for cartons with unknown dimensions.

Sorting Methods for Carton Poses

The table below illustrates the solution’s applicability to sorting methods for carton poses.

Feasible Illustration Not feasible Illustration

Sort by rows/columns.

single case cartons basic info scope of application 6 1

Custom sorting by pallet pattern, gripper picking method, etc.

single case cartons basic info scope of application 6 4

Sort by S shape on plane.

single case cartons basic info scope of application 6 2

Sort by the horizontal and vertical distance from the carton to the robot base.

single case cartons basic info scope of application 6 3

Carton Orientation during Picking/Placing

The table below illustrates the solution’s applicability to carton orientations during picking/placing.

Feasible Illustration Not feasible Illustration

When the conveyor belt is too narrow, the carton should be placed in the center, and the carton’s long side should align with the direction where the conveyor belt moves.

single case cartons basic info scope of application 7 1

  • Labels that need to be recognized by the vision system are attached to the side of the carton and are out of the camera’s field of view. The requirement that the carton orientations should be recognized based on labels is difficult to be met.

  • When the upper surface of the carton is nearly square (difference between the length and width ≤ 20 mm), the orientation of the carton cannot be recognized.

single case cartons basic info scope of application 7 2

Collision Detection

The table below illustrates the solution’s applicability to collision detections.

Feasible Not feasible
  • Detect collisions between the robot, robot tool, and scene objects.

  • Detect collisions between the robot, robot tool, and other cartons when picking the carton(s).

Detect collisions between objects with dynamically changing shapes, such as highly flexible dresspacks or dynamic robot tools that may be switched during picking.

Unsupported Functions

The single-case carton depalletizing solution does not support the following functions.

  • Identification of the carton orientation. When the difference between the length and width of the carton is less than 20 mm, this solution does not support the identification of the carton’s orientation.

  • Identification of the carton dimensions. When the carton is deformed, the vision recognition accuracy will be affected. Generally, the identification of carton dimensions is completed by the scanning equipment.

  • Detection of damage on the carton’s surface. This solution does not currently support the defect detection function.

Technical Specifications

The technical specifications for the single-case carton depalletizing solution are as follows.

  • Positioning accuracy: ±5 mm

  • Recognition success rate: more than 99%

  • Execution time of vision system: within 4 s

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