Adaptive Bulk Picking Control for 3D Workpiece Detection
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional bulk picking devices face challenges in accurately detecting and grasping workpieces due to environmental changes and surface conditions, leading to a decrease in detection success rate as the picking operation progresses, especially when the number of workpieces decreases.
Innovation Solution
A workpiece picking device equipped with a sensor, a hand, and a control device that calculates positions and orientations of workpieces, determines situations based on measurement results, and modifies measurement and calculation parameters to improve detection and grasping success rates, including features like defective region extraction and parameter modification based on predetermined conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If three-dimensional measurement is performed with a distance sensor using predetermined measurement parameters, then positions and orientations of workpieces can be recognized, but measured values may be missed or omitted due to environmental changes and surface condition changes
Solution Approach 1:
The measurement parameters are made dynamic and adaptable rather than fixed. The system automatically adjusts measurement parameters based on real-time analysis of measurement results and environmental conditions, allowing the measurement system to adapt to changing workpiece surface conditions and environmental factors, thereby maintaining both precision and reliability
Solution Approach 2:
The system changes measurement parameters based on analyzed conditions. By modifying parameters such as measurement positions, angles, or sensor settings according to the actual state of workpieces and environment, the system overcomes limitations of fixed parameters and maintains reliable measurements under varying conditions
2Productivity
If workpieces with stable measured values are preferentially picked, then picking operation can proceed smoothly, but the proportion of workpieces with missed or omitted measured values increases as picking progresses
Solution Approach 1:
The system implements feedback by continuously analyzing measurement results and using this information to guide subsequent picking decisions. The analysis unit evaluates the quality and completeness of measured values, and this feedback is used to adjust the selection of next workpiece targets, ensuring that workpieces with reliable measurements are prioritized while maintaining overall picking efficiency
Solution Approach 2:
The system performs preliminary analysis of measurement results before executing picking operations. By pre-evaluating the quality of measured values for all workpieces and planning the picking sequence in advance based on this analysis, the system ensures that workpieces with stable measurements are picked first, preventing detection failures during operation
3Duration of action of stationary object
If the number of picking times increases and the number of remaining workpieces decreases, then the picking operation approaches completion, but the difficulty of detecting workpieces increases
Solution Approach 1:
The system dynamically adapts its detection strategy as the picking operation progresses. As workpieces are removed and the configuration changes, the system adjusts measurement parameters and selection criteria in real-time, making the detection process flexible enough to handle increasing difficulty throughout the operation duration
Solution Approach 2:
The system performs preliminary analysis of all detectable workpieces before each picking cycle. By identifying and prioritizing workpieces with reliable measurements in advance, the system ensures that detection can proceed efficiently even as the number of remaining workpieces decreases and detection difficulty increases
Data Source
AI summary
A workpiece picking device includes a sensor that measures the workpieces, a hand that grasps the workpieces, a robot that moves the hand, and a control device thereof. The control device has a position orientation calculation part that calculates position, orientation and the like of the workpieces, a grasping orientation calculation part that calculates a grasping orientation of the workpieces by the hand, a route calculation part that calculates a route through which the hand moves to the grasping orientation, a sensor control part, a hand control part, a robot control part, a situation determination part that determines the situation of the workpieces on the basis of measurement result or the like of the three-dimensional position, and a parameter modification part that modifies at least one of a measurement parameter and various calculation parameters, when the determination result of the situations of the workpieces satisfies a predetermined condition.