Adaptive Carrying Plan Control for Stable Robotic Handling
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Solution Overview
Problem
Existing handling systems face challenges in stably carrying objects with varying shapes, sizes, and weights due to changes in object information, handling device defects, or other uncertainties, leading to potential instability during the carrying operation.
Innovation Solution
A handling system comprising a holding unit with sensors to detect the holding state and posture, a detection unit to gather object information, and a control device that generates a carrying operation plan, calculates a safety factor, and adjusts the plan based on detected stability to ensure stable object handling and transport.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a carrying operation plan is determined based on initial object information, then the carrying operation can be performed, but the object may not be stably carried when changes in object information or device defects occur
Solution Approach 1:
The carrying operation plan is made dynamic by continuously updating it based on real-time safety factor calculations. The plan adapts to changing conditions (object information changes, device defects) by recalculating safety factors and adjusting operations accordingly, rather than relying on a static initial plan
Solution Approach 2:
A feedback mechanism is implemented where the actual holding state and object information are continuously monitored, safety factors are calculated based on this feedback, and the carrying operation plan is adjusted accordingly. This closed-loop control ensures stable carrying even when conditions change
2Reliability
If real-time monitoring and dynamic adjustment of carrying operation plan are implemented, then the stability of carrying operation is improved, but the system complexity increases
Solution Approach 1:
The system performs self-monitoring and self-adjustment by automatically calculating safety factors based on detected holding states and autonomously updating the carrying operation plan without requiring external intervention, reducing the need for complex external control mechanisms
3Reliability
If safety factor calculation and dynamic plan adjustment are performed, then the carrying stability is enhanced, but the processing time and computational load increase
Solution Approach 1:
The system calculates safety factors and adjusts the carrying operation plan dynamically, performing computations only when necessary (when holding state changes or deviations are detected) rather than continuously, reducing unnecessary processing time while maintaining stability
Data Source
AI summary
According to one embodiment, a handling system includes: a holding unit configured to hold an object; a holding state sensor configured to detect a holding state; a detection unit configured to detect the object and a holding posture; and a control device configured to control an operation of the holding unit. The control device performs: generating a carrying operation plan for allowing the holding unit to carry the object; calculating a safety factor indicating stability of a state in which the holding unit holds the object on the basis of the holding state, the holding posture, and the carrying operation plan; determining whether the carrying operation plan is to be changed on the basis of the safety factor; and changing the carrying operation plan on the basis of the safety factor when it is determined that the carrying operation plan is to be changed.