3D Gripping Data Management for Obstacle-Aware Picking Trajectories
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Solution Overview
Problem
Current picking systems lack the capability to automatically calculate trajectories for picking and arranging objects while considering obstacles, requiring detailed three-dimensional information and gripping methods, which is not efficiently managed in existing systems.
Innovation Solution
An information processing apparatus that acquires three-dimensional and gripping information, and associates it with storage for managing trajectories, using a picking hand to pick and arrange objects between containers, with features like two-dimensional information acquisition and feature recognition to optimize the picking process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If three-dimensional information and gripping information are acquired and associated for trajectory calculation, then trajectory planning accuracy is improved, but information management complexity increases
Solution Approach 1:
The system performs preliminary acquisition and association of three-dimensional information and gripping information before trajectory calculation is needed. This pre-processing approach stores the information in advance in an information management unit, so that when trajectory planning is required, the data is already prepared and associated, eliminating the need for complex real-time information handling during critical operations.
Solution Approach 2:
An information management unit is introduced as an intermediary component that specifically handles the association and storage of three-dimensional information and gripping information. This dedicated intermediary module simplifies the overall system architecture by centralizing information management functions, making the complex task of managing multiple information types more systematic and easier to control.
2Extent of automation
If detailed three-dimensional information is required for automatic trajectory calculation, then picking system automation is improved, but data acquisition complexity increases
Solution Approach 1:
The information management unit is designed with multi-functionality, handling not only three-dimensional information but also gripping information, feature information, and other related data types. This universal information management approach consolidates multiple data acquisition and management functions into a single system, reducing the overall complexity of data acquisition while enabling comprehensive automation of the picking system.
3Productivity
If three-dimensional information and gripping information are stored in association, then picking process efficiency is improved, but storage and retrieval complexity increases
Solution Approach 1:
The system merges three-dimensional information and gripping information into a single associated data structure within the information management unit. By combining these related information types into one integrated storage system rather than separate systems, the patent simplifies the storage and retrieval operations. The merging approach allows the system to handle both information types together, improving picking process efficiency while avoiding the complexity of managing multiple separate storage and retrieval mechanisms.
Data Source
AI summary
A three-dimensional information acquiring unit for acquiring three-dimensional information of a target object, a gripping information acquiring unit for acquiring gripping information that defines a method of gripping the target object by using a picking hand, and an information management unit for storing, in a storage apparatus in association with each other, (i) three-dimensional information of the target object acquired by the three-dimensional information acquiring unit and (ii) gripping information acquired by the gripping information acquiring unit are included. The three-dimensional information of the target object may include at least one of origin position information and the coordinate axis information. A two-dimensional information acquiring unit for acquiring two-dimensional information of the target object may be further included.