Method of dynamically controlling robotic device to efficiently process products
By dynamically adjusting the configuration parameters of the robot device, the inefficiency of item handling in logistics picking and placement applications is solved, achieving efficient and dynamic item distribution control and improving the overall efficiency and speed of the robot device.
Patent Information
- Application Number
- CN202380098302.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-05-26
- Publication Date
- 2025-12-12
AI Technical Summary
In existing technologies, in logistics picking and placement applications, robotic devices need to be customized for each specific application or item when handling items, resulting in time-consuming and inefficient processes.
By determining the characteristic parameters of the product and the robot device, an equivalent output value is generated and compared with a reference product. The configuration parameters of the robot device are dynamically adjusted using adjustment factors to achieve efficient processing.
It achieves efficient and dynamic control of the robot device, reduces engineering debugging and testing time, improves overall efficiency and reduces product loss.
Smart Images
Figure CN121127343A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present invention relates to a method for dynamically controlling a robotic device for efficient handling of products. BACKGROUND
[0002] In logistics picking and placing applications, a large number of items or products need to be handled with the same robotic device and hardware. For example, a logistics robotic device performs a fully mixed de-palletizing or item picking. The items to be handled by the robotic device include blister packs, plastic bags, cardboard boxes, bottles, food and non-food items, etc.
[0003] Currently, the manipulation acceleration or speed of the items is fine-tuned on a case-by-case basis to optimize the speed of the robotic device when attached to the robotic gripper of the robotic device. For example, a compact lightweight item firmly gripped by 3 suction cups will be able to withstand high acceleration better than a large and heavy item gripped by only one suction cup with the center of gravity far from the gripper itself.
[0004] In the prior art, mathematical formulas are used to determine how an item or product needs to be handled depending on certain parameters such as weight, center of gravity, amount of suction cups, etc. However, the problem with such formulas is that they have to be customized for each specific application or item picking process.
[0005] Therefore, since the control of the robotic device dispensing these items needs to be adjusted according to each item handled by the robotic device, the process of dispensing items by the robotic device is very time-consuming and inefficient.
[0006] These problems need to be solved. SUMMARY
[0007] Therefore, it would be advantageous to provide an improved control concept of a robotic device for efficient handling of items or products by the robotic device.
[0008] The object of the present invention is solved by the subject matter of the independent claims, wherein further embodiments are incorporated in the dependent claims.
[0009] In a first aspect of the present invention, a method for dynamically controlling a robotic device for efficient handling of products is provided, comprising the steps of:
[0010] determining at least one product parameter related to a characteristic property of the product;
[0011] determining at least one robot parameter related to a characteristic property of the robot;
[0012] assigning at least a first weight parameter of the product to at least one product parameter and / or at least one robot parameter and generating an equivalent product output value;
[0013] comparing the product output value with a reference product output value of at least one reference product parameter of the reference product, the reference product output value being based on at least one characteristic property of the reference product; and
[0014] based on a result of the comparison of the output values, determining an adjustment factor, the adjustment factor to be used for calculating a respective configuration parameter of the robotic device to control the robotic device to process the product in a customized way.
[0015] In other words, the core idea behind the present invention is that, for example for logistics applications, a configurable or customizable setting of the speed modulation or speed control of the robotic device depending on the product is achieved when picking or processing the items. This results in an optimized and efficiently controllable logistics robotic device with optimized performance. A non-highly configurable speed modulation would result in a shorter cycle time, because the speed or acceleration at which certain products are processed would be lower than needed. Thus, one goal to be solved by the present invention is to achieve an efficient and dynamic control of the performance parameters of the robotic device, e.g. the speed / acceleration of the robotic device, while processing the products, while maintaining a very broad distribution of items.
[0016] The present invention achieves this goal by considering and introducing the reference product(s) when optimizing the performance parameters of the robotic device to control the robotic device. These reference products symbolize the "average product" of the customer. This creates a fully configurable setting.
[0017] Thus, in the speed modulation formula used to control the robotic device, the concept of "weights" is introduced, where each part of the formula (e.g. suction cup, inertia, item weight, offset,...) can have its own additional weight. Then, configuring these weights with the reference product(s) will form a formula that is optimized for the complete item set of the customer and allows for an optimized control of the robotic device to process the products or items in a more efficient way.
[0018] The present invention provides the following advantages:
[0019] - The configurable setting is generic, which can be used for various applications and also for a broad distribution of products.
[0020] - No programming is required, only configuring / parameterizing the robotic device.
[0021] - By using the reference products or functions, fine-tuning for a specific customer or project can easily be set.
[0022] - Every possible parameter can be added to the setting as a standard. They will not be used if they are not configured. This optimizes the use of available customer master data.
[0023] - Customization is easily achieved by parameters and respective weights of these parameters.
[0024] - Reduced engineering, commissioning and testing regarding speed modulation.
[0025] - More efficient picking and placing cycles are achieved and less product is lost during robot movements.
[0026] - Higher overall efficiency and speed of the robot device is achieved.
[0027] According to one example, the characteristic property of the at least one product parameter of the product is at least one of: a size of the product, a material or weight of the product, a number of dynamically movable components of the product. This enables an efficient way of adapting the control of the robot device to the product, thereby ensuring an efficient robot control process.
[0028] According to one example, the characteristic property of the at least one robot parameter is at least one of: a type of suction cup, a number of suction cups. In this way, the advantages of efficiently controlling the robot device are achieved.
[0029] According to one example, the at least product parameter and / or at least robot parameter is based on externally or internally provided customer information. In this way, efficient control of the robot device is achieved while taking into account the actual needs of the product to be handled.
[0030] According to one example, the reference output value is calculated based on a reference function. In this way, the advantage of efficiently adjusting the control of the robot device is achieved.
[0031] According to one example, the configuration parameter is at least one of: a speed value or an acceleration value of the robot device. In this way, the robot device can be controlled in an efficient way.
[0032] In a second aspect of the invention, a computer is provided, the computer comprising a processor configured to perform the method according to the first aspect.
[0033] In a third aspect of the invention, a computer program product comprising instructions which, when the computer program is executed by a processor of a computer, cause the computer to control the method according to the first aspect is provided.
[0034] In a fourth aspect, a machine readable data medium and / or a download product is provided, comprising the computer program according to the third aspect. BRIEF DESCRIPTION OF DRAWINGS
[0035] The exemplary embodiments will be described below with reference to the following drawings:
[0036] Figure 1 a schematic flow chart of the method according to the invention is shown; and
[0037] Figure 2 A parameterized setup for controlling a robotic device is shown according to embodiments of the present application. DETAILED DESCRIPTION
[0038] Figure 1 A schematic flow chart of a method 100 for dynamically controlling a robotic device 50 for efficient handling of products 10 is shown. In the following, reference is also made to the embodiments of Figure 2 which are useful for understanding the scope of the present application.
[0039] In a first step 102, at least one product parameter 16 related to a characteristic property 14 of a product 10 is determined. The characteristic property 14 can also comprise physical properties of the product 10, such as material or whether the product is fragile or not, etc.
[0040] Optionally, at least the product parameter 16 and / or at least the robotic parameter 56 is based on externally or internally provided customer information. This aspect can be important since depending on the capabilities or skills of the robotic device 50, such as no vision or camera system, it can not be possible to detect the product characteristic property and thus the customer needs to provide the required product information.
[0041] Optionally, the characteristic property 14 of the at least one product parameter 16 of the product 10 is at least one of a size of the product 10, a material or weight of the product 10, a number of dynamically movable parts of the product 10. However, this list is not limited to these examples.
[0042] It should be noted in this regard that the input parameters are a collection of parameters that will influence the robotic cell capabilities or the respective parameters of the robotic device, such as weight, center of gravity, product type, number of suction cups, moment of inertia, etc. This list is not limited. The use of these parameters is configurable. This means that the commissioning engineer of a specific project does not need to write any code, but only needs to change some parameters of the product and / or parameters of the robotic device.
[0043] In a second step 104, at least one robotic parameter 56 related to a characteristic property 54 of the robot 50 is determined.
[0044] The robotic parameter 56 can be for example a gripper of the robotic device 50. The characteristic property 54 can be for example any characteristic property that enables the robotic device 50 to perform product handling, such as number of suction cups, size, vacuum power, coverage area of all suction cup cups, etc.
[0045] Optionally, the characteristic property 54 of the at least one robotic parameter 56 is for example at least one of a type of suction cup, a number of suction cups.
[0046] In a third step 106, at least a first weight parameter 17, 171, 172 of the product 10 is assigned to at least one product parameter 16 and / or at least one robot parameter 56. According to Figure 2 , a first weight parameter 171 is assigned based on the product parameter 16 and a second weight parameter 172 is assigned based on the robot parameter 56. One or both of these weight parameters 171, 172 can be used to generate an equivalent product output value 18.
[0047] The relevance of the project properties can differ from project to project. Therefore, the weight of a specific property can also differ in the same project. Therefore, the weight of each parameter can be used. This is easy to configure and does not require any code.
[0048] In a fourth step 108, an equivalent product output value 18 is generated. It is noted in this context that only the same characteristic properties or weights are used to calculate the output value.
[0049] In a fifth step 110, the product output value 18 is compared with a reference product output value 28 of at least one reference product parameter 24 of a reference product 20, the reference product output value 28 being based on at least one characteristic property 22 of the reference product 20.
[0050] Optionally, the reference output value 28 is calculated based on a reference function 23, for example as shown in Figure 2 .
[0051] In a sixth step 112, based on the result of the comparison of the output values 18, 28, an adjustment factor 30 is determined, which will be used to calculate a corresponding configuration parameter 57 of the robot device 50 to control the robot device 50 to process the product 10 in a customized way.
[0052] The adjustment factor 30 is determined based on a formula. The specific formula for a configurable speed modulation is not relevant to the present invention. Many integrators use similar formulas, but lack the related setting possibilities. What is relevant to the present invention is that the formula is a weighted formula with configurable parameters and weight parameters and uses a reference value or reference function as a base value.
[0053] The configuration parameter 57 can be for example a speed or acceleration of the robot device 50 and is the end result or parameter needed to control or adjust the control to the robot device 50 (see Figure 2 ). In this case, the adjustment factor 30 is actually an influence of the robot parameter 56, for example the number or size of the suction cups.
[0054] Furthermore, the adjustment factor 30 represents a normalized number relative to the reference product output value 28 and can for example be used to adjust the speed, acceleration, motion path, etc. of the robot device 50.
[0055] Figure 2 A parameterized setup for controlling a robot device is shown according to an embodiment of the application.
[0056] In principle, Figure 2 This is merely an easier to understand version of the dynamic control method 100 of the robot device 50. Repetition is thus avoided.
[0057] Figure 2 Embodiments of the application also show an important aspect of the application: obtaining all necessary or required properties of the product 10 and calculating a product output value 18. This product output value 18 is then compared to a reference output value 28, calculated in the same way but based on properties of a reference product 20, which will be defined during commissioning of the robot device 50 and which can be different for each customer. Figure 2 A reference function 23 is shown for calculating the reference output value 28.
[0058] With respect to the reference product, the following should be noted:
[0059] The reference product(s) is / are very important in the application. It / they serves as a base value for the entire speed modulation process or setup or configurable control of performance parameters of the robot device 50 (and for the robot device). The product 20 designated as the reference product should be an average product that can be processed at 100% speed or acceleration.
[0060] It is important that the reference should be determined for each individual setup of the robot device 50, so that the speed modulation is optimized for the entire product series. In practice, this will mean that a set of products of a specific customer that can represent the entire series is tested.
[0061] Furthermore, the reference product need not be limited to only one parameter, but various parameters can also be used, resulting in a multi-dimensional scatter plot. A selection can be made within this scatter plot using the reference function 23 (see Figure 2 The reference function 23 is then used as an input for the reference product 20.
[0062] Reference numerals 10 product / object 14 product characteristic properties 16 product parameters 17, 171, 172 weight parameters 18 product output value 20 reference product 22 characteristic properties of the reference product 23 reference function 24 reference product parameters 28 reference product output value 50 robot device 54 characteristic properties of the robot 56 robot parameters 57 configuration parameters of the robot device 100 method 102 determining 104 determining 106 assigning 108 generating 110 comparing 112 determining
Claims
1. A method (100) for dynamically controlling a robotic device (50) to efficiently handle a product (10), comprising the following steps: Determine (102) at least one product parameter (16) related to the characteristic attribute (14) of the product (10); Determine (104) at least one robot parameter (56) related to the characteristic attribute (54) of the robot (50). Assign (106) at least the first weight parameters (17, 171, 172) of the product (10) to the at least one product parameter (16) and / or the at least one robot parameter (56), and generate (108) an equivalent product output value (18). Compare (110) the product output value (18) with the reference product output value (28) of at least one reference product parameter (24) of the reference product (20), the reference product output value (28) being based on at least one characteristic attribute (22) of the reference product (20). Based on the results of the comparison output values (18, 28), an adjustment factor (30) is determined (112), which will be used to calculate the corresponding configuration parameters (57) of the robot device (50) to control the robot device (50) so as to process the product (10) in a customized manner.
2. The method (100) according to claim 1, wherein, The characteristic attribute (14) of the at least one product parameter (16) of the product (10) is at least one of the following: the size of the product (10), the material or weight of the product (10), and the number of dynamically movable parts of the product (10).
3. The method (100) according to any one of the preceding claims, wherein, The characteristic attribute (54) of the at least one robot parameter (56) is at least one of the following: suction cup type, number of suction cups, size of the robot (50), and weight of the robot (50).
4. The method (100) according to any one of the preceding claims, wherein, The at least product parameter (16) and / or the at least robot parameter (56) are based on customer information provided externally or internally.
5. The method (100) according to any one of the preceding claims, wherein, The reference output value (28) is calculated based on the reference function (23).
6. The method (100) according to any one of the preceding claims, wherein, The configuration parameter (57) is at least one of the velocity value or acceleration value of the robot device (50).
7. A computer, comprising a processor configured to perform the method according to any one of claims 1 to 6.
8. A computer program product comprising instructions which, when executed by a processor of a computer, cause the computer to perform the method according to any one of claims 1 to 6.
9. A machine-readable data medium and / or downloadable product comprising the computer program according to claim 8.