An Omnidirectional and Movable Palletizing Robot based on Computer Vision Positing

摘要

The palletizing robot is a type of industrial robot that performs the tasks of obtaining, transporting, stacking, and unstacking large quantities of workpieces or packages in an industrial production process. It is a high-tech mechanical and electrical product that integrates mechanical, electronics, communications, intelligent technology, computer science, and other technologies. Palletizing robotics technology has great potential in solving labor shortages, improving labor productivity, saving production costs, reducing labor intensity, and improving the production environment. Current palletizing robots are large in structure and have limited stacking heights. This paper develops a compact palletizing robot that integrates transport and stacking functions for light-weight cargo stacking. We apply an omnidirectional chassis to the palletizing robot, which allows the robot to move in any direction and expands its working range. By using the lifting mechanism, the block can be embedded from the lower end. This not only reduces the overall size of the robot but also allows for higher stacking. This paper also adds computer vision positioning for palletizing robots. On the one hand, it greatly improves the robot's own movement accuracy, on the other hand, it realizes the complete automation of robots. Finally, we verified the feasibility of the palletizing robot through experiments. In the absence of intervention, the robot successfully transported the blocks to the designated area and stacked them to four times the height of the robot itself.