3D Sensor Robot Conveyance for Stacked Objects
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Solution Overview
Problem
Existing robot systems face challenges in conveying stacked objects with unknown three-dimensional shapes and dimensions, leading to inefficient placement and potential damage due to excessive force or falling, as they require pre-defined dimensions and slow movement for accurate positioning.
Innovation Solution
A robot system equipped with a three-dimensional sensor that acquires and processes information to identify and position objects accurately, calculating the necessary distance and posture for stable placement, even when objects have varying dimensions and shapes, using a gripping device and multiple stages of three-dimensional information acquisition to ensure precise positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a sensor detects contact of the object with the target site to release the object, then the object can be placed at the target site, but the object has to be moved at a low speed from a position sufficiently far away, decreasing conveyance efficiency
Solution Approach 1:
The system performs preliminary acquisition of three-dimensional information about the object's shape and dimensions before the conveyance process. This allows the robot to pre-calculate the optimal release position and posture, eliminating the need for slow contact detection during actual placement. The robot can directly move to the calculated position and release the object without gradual approach, thereby improving conveyance efficiency while maintaining placement accuracy.
2Ease of operation
If the robot operates according to a command position prepared in advance to flush the bottom surface with the target site, then the placement process is simplified, but when actual dimensions differ from expected dimensions, the object is not suitably positioned and excessive pushing force may be applied or the object may fall off
Solution Approach 1:
The system incorporates feedback by using three-dimensional sensors to detect the actual shape and dimensions of each object. This information feeds back into the control system, which then adjusts the command positions and postures dynamically. Instead of using fixed pre-prepared positions, the system generates customized placement parameters based on actual object measurements, ensuring both operational simplicity and placement reliability even when objects vary from expected dimensions.
Solution Approach 2:
The system dynamically changes placement parameters (position, posture, release timing) based on the detected three-dimensional information of each object. Rather than using fixed parameters prepared in advance, the control system adjusts these parameters according to the actual object characteristics, allowing the robot to adapt to dimensional variations and prevent placement failures while maintaining a simple automated operation process.
3Extent of automation
If existing robot systems use sensors to acquire position information of stacked objects, then the conveyance process can be performed, but it has been difficult to suitably perform the conveyance process when the three-dimensional shapes and dimensions of the objects are unknown or when there are substantial differences between individual objects
Solution Approach 1:
The system enables objects to effectively 'introduce themselves' by using three-dimensional sensors to automatically detect and acquire the shape and dimension information of each object. The robot system then uses this self-provided information to autonomously determine the optimal gripping position, conveyance path, and release posture. This self-service approach allows fully automated conveyance handling of objects with unknown or varying three-dimensional shapes without requiring pre-programming or manual intervention.
Data Source
AI summary
A robot system is provided with a three-dimensional sensor which acquires three-dimensional information of an object, and a robot which includes a gripping device for gripping an object. The robot system uses first three-dimensional information which relates to a state before an object is taken out and second three-dimensional information which relates to a state after an object is taken out as the basis to acquire three-dimensional shape information of an object, and uses the three-dimensional shape information of the object as the basis to calculate a position and posture of the robot when an object is placed at a target site.