Ceiling stack robot for logistic application

The paper details about the procedure of automating the loading and unloading goods from trucks or wagon into depots. The aim is to control the actuators by combine Robot Operating System (ROS) with image processing methods. The entire system is divided into three nodes, of which node 1 includes the image processing unit that employs image processing methods to detect gunny bags and then determines the coordinates of the location of the gunny bag. The node 2 receives the coordinates and determines the step pulse that has to be delivered to the actuators. The proposed work created a custom robotic gripper to pick and position the gunny sacks. The grippers would be attached to a H Gantry system, which will allow the entire system to move freely. Based on the image processing and hardware analysis results, the proposed novel hardware prototype is widely used as a logistic automation system.