机器人操作器实现非凸三维物体的稳定装箱
Stable bin packing of non-convex 3D objects with a robot manipulator
摘要：
机器人操作领域的最新进展已经引起了对仓库中的全自动物体包装的兴趣。本文提出了一种配方的包装问题，是专门为自动化仓储领域。除了最大限度地减少容器内的浪费空间，该问题需要在包装过程中的对象堆的稳定性和执行放置计划的机器人运动的可行性。为了解决这个问题，制定了一组约束条件，并提出了一个建设性的包装管道来解决这些约束。该流水线能够稳定地包装几何复杂的非凸物体，同时满足机器人约束。特别地，提出了一种新的三维定位启发式算法，称为Heightmap-Minimization启发式算法，并使用高度图来加速搜索。该方法的实验评估进行了一个现实的物理模拟器上的数据集扫描的真实世界的项目，表现出稳定和高品质的包装计划相比，其他3D包装方法。
英文摘要：
Recent progress in the field of robotic manipulation has generated interest in fully automatic object packing in warehouses. This paper proposes a formulation of the packing problem that is tailored to the automated warehousing domain. Besides minimizing waste space inside a container, the problem requires stability of the object pile during packing and the feasibility of the robot motion executing the placement plans. To address this problem, a set of constraints are formulated, and a constructive packing pipeline is proposed to solve for these constraints. The pipeline is able to pack geometrically complex, non-convex objects with stability while satisfying robot constraints. In particular, a new 3D positioning heuristic called Heightmap-Minimization heuristic is proposed, and heightmaps are used to speed up the search. Experimental evaluation of the method is conducted with a realistic physical simulator on a dataset of scanned real-world items, demonstrating stable and high-quality packing plans compared with other 3D packing methods.
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