Search Results (4)

Automated depalletizing systems aim to offer continuous and efficient operation in warehouse logistics, reducing cycle times and contributing to worker safety. However, most commercially available depalletizing solutions are designed primarily for highly homogeneous cargo arranged in orthogonal configurations. This paper presents a real-time approach for depalletizing heterogeneous pallets with boxes of varying sizes and arbitrary orientations, including configurations where the topmost surfaces of boxes are not necessarily parallel to each other. To accomplish this, we propose an algorithm that leverages deep learning-based machine vision to determine the size, position, and orientation of boxes relative to the horizontal plane of a robot arm from sparse depth data. Using this information, we implement a path planning method that generates collision-free trajectories to enable precise box grasping and placement onto a production line. Validation through both simulated and real-world experiments demonstrates the feasibility and accuracy of this approach in complex industrial settings, highlighting potential improvements in the efficiency and adaptability of automated depalletizing systems. Full article

In view of existing problems, such as the seed and fertilizer supply link for wheat seeders still relying on manual installation and the lack of practical application equipment, a seed–fertilizer replenishment device based on the three-degree-of-freedom mechanical arm and screw conveying principle is designed using the seed box installation and supply as the operation scenario to replace the manual installation process. Combined with the requirements of the seed box replenishment operation, the key parameters of the replenishment robot arm and the screw conveyor auger are determined. Then, the kinematic model of the replenishment robot arm is established based on the modified D-H method, forward and inverse kinematics calculations are performed, and the workspace is analyzed using the Monte Carlo method. Based on this, the robotic arm task path is designed, the fifth-degree polynomial interpolation method is used to complete the trajectory planning, and MATLAB R2016a software is used to simulate the motion trajectories of each joint, verifying the feasibility of the trajectory planning solution. Finally, a prototype is trial-produced and quadratic regression orthogonal testing and response surface analyses are conducted to obtain the optimal working parameters of the replenishment device. The verification test shows that when the angular velocity of the lumbar joint of the replenishment device is 4°/s, the speed of screw conveyor is 90 r/min, and the angle of the big arm is 12°, the conveying loss rate is 3.98%, and the conveying efficiency is 0.833 kg/s. The relative errors with the theoretical optimal values are 4.2% and 2.4%, respectively, both less than 5%. The supply trajectory is reasonable, and the robot arm runs smoothly. This study can provide reference for the design of seed–fertilizer replenishment device for wheat seeders. Full article

With the development of underwater technology and the increasing demand for ocean development, more and more intelligent equipment is being applied to underwater scientific missions. Specifically, autonomous underwater vehicle (AUV) clusters are being used for their flexibility and the advantages of carrying communication and detection units, often performing underwater tasks in formation. In order to locate AUVs with high precision, we introduce an unmanned surface vehicle (USV) with global positioning system (GPS) and propose a USV–AUV network. Furthermore, we propose an ultra-short baseline (USBL) acoustic cooperative location scheme with an orthogonal array, which is based on underwater communication with sonar. Based on the derivation of the Fisher information matrix formula under Cartesian parameters, we analyze the positioning accuracy of AUVs in different positions under the USBL positioning mode to derive the optimal array of the AUV formation. In addition, we propose a USV path planning scheme based on Dubins path planning functions to assist in locating the AUV formation. The simulation results verify that the proposed scheme can ensure the positioning accuracy of the AUV formation and help underwater research missions. Full article

Wind energy represents the dominant share of renewable energies. The rotor blades of a wind turbine are typically made from composite material, which withstands high forces during rotation. The huge dimensions of the rotor blades complicate the inspection processes in manufacturing. The automation of inspection processes has a great potential to increase the overall productivity and to create a consistent reliable database for each individual rotor blade. The focus of this paper is set on the process of rotor blade inspection automation by utilizing an autonomous mobile manipulator. The main innovations include a novel path planning strategy for zone-based navigation, which enables an intuitive right-hand or left-hand driving behavior in a shared human–robot workspace. In addition, we introduce a new method for surface orthogonal motion planning in connection with large-scale structures. An overall execution strategy controls the navigation and manipulation processes of the long-running inspection task. The implemented concepts are evaluated in simulation and applied in a real-use case including the tip of a rotor blade form. Full article