TY  - JOUR
U1  - Wissenschaftlicher Artikel
A1  - Kharitonov, Aleksei
A1  - Kirchheim, Alice
A1  - Hentsch, Maximilian
A1  - Seibold, Johannes
A1  - Echelmeyer, Wolfgang
T1  - Evaluation of grasps in an automatic intermodal container unloading system
JF  - Procedia computer science
N2  - Today, many industrial tasks are not automated and still require human intervention. One of these tasks is the unloading of oversea containers. After the end of transportation to the sorting center, the containers must be unloaded manually for further sending the parcels to the recipients. A robot-based automatic unloading of containers was therefore researched. However, the promising results of the system developed in these projects could not be commercialized due to problems with its reliability. Mechanical, algorithmic or other limitations are possible causes of the observed errors. To analyze errors, it is necessary to evaluate the results of the robot’s work without complicating the existing system by adding new sensors to it. This paper presents a reference system based on machine learning to evaluate the robotics grasps of parcels. It analyzes two states of the container: before and after picking up one box. The states are represented as a point cloud received from a laser scanner. The proposed system evaluates the success of transferring a box from an overseas container to the sorting line by supervised learning using convolutional neural networks (CNN) and manual labeling of the data. The process of obtaining a working model using a hyperband model search with a maximum classification error of 3.9 % is also described.
KW  - automatic parcel unloading evaluation
KW  - laser scanner
KW  - machine learning point cloud
KW  - automated container unloading
Y1  - 2021
UN  - https://nbn-resolving.org/urn:nbn:de:bsz:rt2-opus4-35537
SN  - 1877-0509
SS  - 1877-0509
U6  - https://doi.org/10.1016/j.procs.2021.08.234
DO  - https://doi.org/10.1016/j.procs.2021.08.234
VL  - 192
IS  - Knowledge-Based and Intelligent Information & Engineering Systems: Proceedings of the 25th International Conference KES2021
SP  - 2211
EP  - 2220
S1  - 10
PB  - Elsevier
CY  - Amsterdam
ER  -