3D Workpiece Removal Path Planning for Robot Interference Avoidance
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Solution Overview
Problem
Existing robot systems struggle to accurately determine interference between workpieces and a robot hand when removing workpieces with complex shapes and arrangements, as they rely solely on distance images and cannot account for insertions or hidden back sides.
Innovation Solution
A robot system equipped with a three-dimensional sensor and a control device that generates a removal path for workpieces by modeling their three-dimensional shapes and simulating their positions in a virtual space to avoid interference with other workpieces and obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If distance image-based overlap determination is used, then the system can determine interference between workpieces, but it cannot accurately detect insertions or hidden back sides of workpieces
Solution Approach 1:
The patent transitions from two-dimensional distance image analysis to three-dimensional point cloud data processing. By constructing a 3D model of the workpiece and the robot hand, the system can accurately detect insertions and hidden back sides that are invisible in 2D distance images, thereby resolving the contradiction between measurement precision and information loss.
2Reliability
If three-dimensional point cloud data and modeling are used, then the system can accurately determine interference in complex arrangements, but the computational complexity and processing time increase
Solution Approach 1:
The patent creates simplified 3D models (copies) of workpieces and the robot hand from point cloud data. These models are used for virtual overlap determination instead of processing raw point cloud data directly, reducing computational complexity while maintaining accuracy in interference detection.
Solution Approach 2:
The system performs preliminary 3D modeling and virtual overlap determination before actual robot operation. By pre-calculating interference scenarios using simplified models, the system reduces real-time processing requirements and computational complexity during actual execution.
Data Source
AI summary
A robot system according to one aspect of the present disclosure comprises: a model storing unit that stores a workpiece model; a workpiece detecting unit that detects the position and orientation of a workpiece by comparing features of a surface shape measured by a three-dimensional sensor to features of the workpiece model; a workpiece model positioning unit that positions the workpiece model in a virtual space; and a path setting unit that, in the virtual space, sets a removal path so as to move and withdraw the workpiece model that is an object to be removed without interfering with another workpiece model.