Machine Vision-Assisted Design of End Effector Pose in Robotic Mixed Depalletizing of Heterogeneous Cargo

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.