2D-POSITION DETERMINATION OF ORTHOGONAL R ECTANGULAR PACKAGES FOR RECOGNITION OF STAPLE SCHEME WITH MULTISENSOR SYSTEM

At the robot application in unpaletting of various packages, the dimen sion and order for the handling must be detected. Therefore, a multi-s ensor system (distance sensor and image processing) for the on-line re cognition of packages is adapted. This article describes a visuell met hod of 2D-position determination for orthogonal rectangular packages o n basis of the multi-sensor system. With this method, a straight of th e package can be detected efficient, and a disturbance during the oper ation eliminated. With the hardware of the image processing, this meth od is realizable in real time of the handling process.