Article Transfer Positioning Using Lifted Reference Detection

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Solution Overview

Problem

Existing article transfer apparatuses face challenges in accurately positioning articles for transfer due to difficulties in detecting the outer edge or reference holding position, especially when the article's housing state, color, or shape makes it hard to recognize the edge, leading to potential misalignment and failure to fit within the destination container.

Innovation Solution

An article transfer apparatus with a holding portion, driving portion, and control unit that includes a reference detection portion to detect the reference position of the article when lifted from the origin, determining the positional relationship and calculating a movement destination position to ensure the article's outer edge fits within the destination region, even if the holding position is displaced from the reference.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Difficulty of detecting and measuring

If the reference position is detected when the target article is located at the movement origin, then the detection process is simple, but the detection accuracy deteriorates due to difficulty in recognizing the outer edge or reference position

Engineering Contradiction:

Improvedifficulty of detecting reference positionVSAvoiddetection accuracy of reference position

Core Design Contradiction:

Difficulty of detecting and measuringVSMeasurement precision

Solution Approach 1:

The patent applies preliminary action by lifting the target article from the movement origin to a detection position before detecting the reference position. This preliminary lifting action removes the article from the complex housing state at the origin, creating optimal conditions for accurate detection of the outer edge or reference position by the image capturing device.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The patent applies beforehand cushioning by performing preliminary detection of the reference position at the detection position before the actual transfer operation. This advance detection compensates for potential positioning errors that would otherwise occur during the transfer, ensuring accurate placement within the movement region.

Inventive Principle:

Principle #11Beforehand cushioning (Prior cushioning)

2Ease of operation

If the holding portion holds the target article at a fixed reference position, then the holding control is simple, but the article may not fit within the movement region due to detection errors

Engineering Contradiction:

Improvesimplicity of holding controlVSAvoidpositioning accuracy of article

Core Design Contradiction:

Ease of operationVSManufacturing precision

Solution Approach 1:

The patent applies feedback by using the detected reference position information to calculate and determine the optimal movement destination position. The control unit receives detection results, processes them to account for any holding position displacements, and adjusts the movement destination accordingly, creating a closed-loop feedback system that ensures accurate article placement.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The patent applies parameter changes by dynamically adjusting the movement destination position based on the detected reference position and determined positional relationship. Instead of using a fixed predetermined position, the system modifies the destination parameters (coordinates, orientation) to compensate for detection results, achieving high positioning accuracy.

Inventive Principle:

Principle #35Parameter changes

3Ease of operation

If the target article is moved using a predetermined movement destination position, then the movement control is simple, but the outer edge of the article may not fit within the movement region

Engineering Contradiction:

Improvesimplicity of movement controlVSAvoidfitting accuracy within movement region

Core Design Contradiction:

Ease of operationVSManufacturing precision

Solution Approach 1:

The patent applies dynamics by transitioning from a static predetermined movement destination position to a dynamic calculated position. The movement destination is no longer fixed but is determined in real-time based on the detected reference position and the positional relationship between the holding portion and the article, allowing the system to adapt to variations in article positioning.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The patent applies feedback by using detection results to inform and adjust the movement destination position. The control unit receives information about the actual reference position, processes this feedback, and calculates the appropriate destination that ensures the article will fit within the movement region, creating an adaptive control system.

Inventive Principle:

Principle #23Feedback

Data Source

PatentUS11458633B2Article transfer apparatus

Publication Date: 2022.10.04 DAIFUKU CO LTD

AI summary

An article transfer apparatus includes a holding portion, a driving portion that moves the holding portion, a control unit, and a reference detection portion that detects a reference position of a target article held by the holding portion. The control unit performs reference detection control to detect, by the reference detection portion, the reference position in a state in which the target article is lifted, determination control to determine a positional relationship between the holding portion and the reference position based on a result of detection by the reference detection control, and position calculation control to calculate, based on the positional relationship determined by the determination control, a movement destination position that is a position, of the holding portion at the movement destination, at which an outer edge of the target article held by the holding portion fits within a movement region.