Robot technologies for order picking

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Presentation transcript:

Robot technologies for order picking Martijn Wisse Professor Biorobotica Scientific director – TU Delft Robotics Institute

“claim to fame” (1) DRI (2) APC

Amazon Picking Challenge 15 minutes 12 objects out of 39 5 minutes preparation after receiving task file 10 cm distance Metal + cardboard + crooked Deep bins (compartments) + picked object ++ difficult objects ++ full bins - high drops / damage - misplaced items Success (Traction, Popularity, Fame)

Success (Traction, Popularity, Fame)

Stow task Pick task Success (Traction, Popularity, Fame)

Object recognition Pose estimation Motion planning System integration

Success (Traction, Popularity, Fame)

Deep Learning

Object recognition Pose estimation Motion planning System integration

3D vision Structured Light Xbox Kinect 1

3D vision Time of Flight Xbox Kinect 2

3D vision Stereo Normal cameras

“hooguit een half flesje”

Success (Traction, Popularity, Fame)

Object recognition Pose estimation Motion planning System integration

Success (Traction, Popularity, Fame)

The challenge in motion planning “The Curse of Dimensionality”

Object recognition Pose estimation Motion planning System integration

ROS Community

One of the largest open source projects in the world. ros-users@lists.ros.org subscribers: 2445 (18% increase) wiki.ros.org users: 5875 (20% increase) answers.ros.org users: 14,774 (30% increase) Meer dan een half miljoen regels code

Success (Traction, Popularity, Fame)

Object recognition Pose estimation Motion planning System integration “if you want to apply these things, here are a few options

Herbert ten Have CEO h.tenhave@ delftrobotics.com

Herbert ten Have CEO h.tenhave@ delftrobotics.com

ROSIN Success (Traction, Popularity, Fame) Gijs van der Hoorn