3D Workpiece Picking Path Planning for Stack Interference
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Solution Overview
Problem
Existing systems for picking up randomly stacked workpieces face challenges such as interference between pieces, which complicates robotic gripping, leading to reduced production efficiency and potential damage to robotic arms due to shaking or stirring methods.
Innovation Solution
A system comprising a three-dimensional sensing module, a pick-up apparatus, and a control module that captures 3D images, analyzes them to select a target workpiece, divides it into regions, calculates interference parameters, and sorts these regions to create an interference elimination path, allowing the pick-up apparatus to efficiently eliminate interference and grip the workpiece.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If workpieces are regularly arranged on a conveyor or in a container before being gripped, then the probability of successful robot grip is enhanced, but labor and time are required for pre-arrangement, reducing automation and production efficiency
Solution Approach 1:
The system performs preliminary 3D scanning and analysis of the workpiece stack to identify accessible workpieces and plan interference elimination paths before gripping, enabling successful grip without pre-arrangement and maintaining high production efficiency
Solution Approach 2:
A control module acts as an intermediary between the robot and the workpiece stack, using 3D sensing data to calculate interference parameters and determine optimal gripping strategies, thereby achieving high success probability without manual arrangement
2Reliability
If the robot shakes the box to change the relative positions of workpieces, then the gripped portion of at least one workpiece may be exposed, but shaking cannot ensure exposure, and stuck states cannot be released due to irregular workpiece shapes
Solution Approach 1:
The system performs preliminary 3D scanning and interference analysis before gripping, calculating interference parameters for each region and planning elimination paths in advance, ensuring workpiece accessibility without time-consuming shaking or stirring operations
Solution Approach 2:
The system replaces mechanical shaking or stirring operations with computational 3D image analysis and path planning, using information processing instead of physical disturbance to eliminate interference and expose grippable workpieces
3Adaptability or versatility
If the robot grips and throws back entangled workpieces to perform another grip, then the next grip can be attempted, but this process cannot ensure success and reduces production efficiency
Solution Approach 1:
The system performs preliminary 3D scanning and interference analysis before gripping, calculating interference parameters and planning elimination paths in advance, ensuring grip success on the first attempt and eliminating the need for retry operations that reduce productivity
4Reliability
If the robot bears the total weight of heavy metal workpieces and the box, then the robot specification must be enhanced, increasing system cost and complexity
Solution Approach 1:
The system performs preliminary 3D scanning and interference analysis before gripping, identifying accessible workpieces and planning elimination paths, enabling the robot to grip lighter, exposed workpieces rather than bearing the full weight of the box and all workpieces, thereby reducing robot specification requirements
Data Source
AI summary
A system for eliminating interference of randomly stacked workpieces is disclosed. The system includes a three-dimensional sensing module, a pick-up apparatus and a control module. The control module is coupled to the three-dimensional sensing module and the pick-up apparatus. The control module is configured to control the three-dimensional sensing module to capture a three-dimensional image, analyze the three-dimensional image to obtain an image information, select a target workpiece to be picked up according to the image information, arrange an interference elimination path for the target workpiece, and control the pick-up apparatus to eliminate interference of the target workpiece according to the interference elimination path.