Bin Picking Apparatus with Real-Time Position Update
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Solution Overview
Problem
Existing bin picking technologies face inefficiencies due to the need for repeated position and orientation measurements of multiple works, which are affected by interference between the robot arm and the picking target, leading to time-consuming processing.
Innovation Solution
An object gripping apparatus that captures images and obtains distance information to measure the three-dimensional positions and orientations of multiple works, selects a gripping target, and updates this information during the picking process, allowing for efficient selection of the next target based on updated data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the three-dimensional positions and orientations of a plurality of works are measured at once, then the number of measurement operations is reduced, but the measured positions and orientations may vary due to interference between the robot arm and the picking target work
Solution Approach 1:
The system performs preliminary measurement of all works' positions and orientations before the robot arm approaches for picking. This preliminary action captures the initial state of all works simultaneously, avoiding the need for repeated measurements during the picking process.
Solution Approach 2:
The system updates the three-dimensional position and orientation information at predetermined time intervals during the gripping process. This feedback mechanism allows the system to detect and compensate for any variations caused by interference, ensuring accurate picking even when works shift during manipulation.
2Measurement precision
If position and orientation measurement processing is repeated for each work, then accurate picking is achieved, but the processing time increases significantly
Solution Approach 1:
The system merges the measurement operations by capturing images and measuring positions and orientations of multiple works simultaneously in a single operation, rather than measuring each work separately. This combining approach dramatically reduces the total measurement time while maintaining accuracy through subsequent updates.
Solution Approach 2:
All measurement operations are performed preliminarily before the picking sequence begins, establishing a baseline for all works. This eliminates the need for repeated measurement cycles during picking, significantly reducing processing time.
3Ease of operation
If the robot arm approaches the picking target work, then gripping is achieved, but interference causes variation in the position and orientation of the work
Solution Approach 1:
The system completes all position and orientation measurements before the robot arm approaches the works. This preliminary measurement ensures that the recorded positions and orientations reflect the works' states before any interference occurs during manipulation.
Solution Approach 2:
The system continuously updates the position and orientation information during the gripping process at predetermined time intervals. This real-time feedback allows the system to track and compensate for any variations caused by interference between the robot arm and the works.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach reduces the influence of interference-induced variations in work position and orientation, thereby shortening the time required for position and orientation measurement and improving the efficiency of the bin picking process.
Implementation Method 1
an image capturing unit adapted to capture an image of a region including a plurality of works
Implementation Method 2
an obtaining unit adapted to obtain distance information of the region including the plurality of works
Data Source
AI summary
An object gripping apparatus includes an image capturing unit for capturing a region including a plurality of works, an obtaining unit for obtaining distance information of the region, a measurement unit for measuring three-dimensional positions/orientations of a plurality of gripping-candidate works out of the plurality of works based on the image and distance information, thereby generating three-dimensional position/orientation information, a selection unit for selecting a gripping-target work based on the three-dimensional position/orientation information, a gripping unit for gripping the gripping-target work, and an updating unit for updating the three-dimensional position/orientation information by measuring three-dimensional positions/orientations of the gripping-candidate works at a time interval during gripping of the gripping-target work. When the gripping ends, the next gripping-target work is selected based on the updated three-dimensional position/orientation information of the gripping-candidate works.