Collection from parts boxes and incorporation into a parts kit

(Grasp Position Determination and Pull-out Operation of a Box Using YOLACT)

Abstract

In this study, we developed a system that detects a specified parts box from a shelf and pulls out the parts box using YOLACT, an object detection method. We found that the proposed method can detect various shapes and colors of component boxes and pull them out using a robot arm. We also found that the proposed method can detect the grasping position and pull out the parts regardless of the presence or absence of unlearned part boxes or parts. However, in the case of a colorless transparent parts box, the depth information was not sufficient, so the parts moved to a different position from the detected grasping position, and the success rate of the withdrawal operation decreased.