Bulk Object Repositioning by Support Vibration for Robotic Picking
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Solution Overview
Problem
Existing robotized picking systems struggle to efficiently pick up objects from chaotic, overlapping arrangements due to the limitations of three-dimensional viewing systems, requiring manual or vibratory methods that prolong processing times.
Innovation Solution
A system comprising a support with moving means, acquisition means, and a computer that analyzes and repositions objects using vibratory motion and image processing to align gripping zones for efficient picking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Difficulty of detecting and measuring
If three-dimensional viewing systems are used to detect objects, then object detection capability is improved, but processing time increases and hidden objects cannot be detected
Solution Approach 1:
The support structure incorporates vibratory means that apply controlled vibrations to the pile of objects, causing them to shift and redistribute. This mechanical vibration approach quickly exposes hidden objects without requiring complex 3D scanning processing, thereby reducing detection time while maintaining effectiveness.
Solution Approach 2:
The patent replaces the reliance on complex optical 3D viewing systems with a simpler mechanical vibration-based redistribution system. Instead of using advanced vision technology to detect and plan picks, the system uses mechanical vibrations to physically reposition objects, substituting a mechanical solution for an optical-computational one.
2Ease of operation
If vibratory motion is applied to unravel objects, then object distribution is improved, but processing time increases
Solution Approach 1:
The vibratory means apply periodic vibrations to the object pile in controlled cycles. This periodic action efficiently redistributes objects through repeated small-scale movements rather than requiring continuous or prolonged vibration, achieving good distribution while minimizing processing time.
Solution Approach 2:
The system controls the vibration parameters (frequency, amplitude, duration) to optimize the balance between distribution quality and processing time. By adjusting these parameters, the system achieves effective object unraveling in minimal time, preventing excessive processing delays.
3Manufacturing precision
If multiple shaking actions are performed to distribute objects, then picking accuracy is improved, but productivity decreases
Solution Approach 1:
The system performs preliminary vibratory redistribution of objects before the picking operation begins. This preliminary action ensures that objects are properly distributed and accessible in advance, eliminating the need for multiple corrective shaking actions during the picking process, thereby maintaining both accuracy and productivity.
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
The system rapidly and effectively repositions objects for efficient picking, reducing the number of actions and time required to isolate objects for robotic retrieval.
Implementation Method 1
the support can be shaken manually or through the help of tools suitable to impart a vibratory motion on the support which causes a motion of the objects so as to distribute them at the same level
Data Source
Figure 1~2
AI summary
A process for repositioning a group of objects arranged in bulk on a stand is provided, implemented by computer and comprising a repositioning system (1) including a plurality of objects (10) each one defining a shape and/or gripping surface and/or a material in such a manner as to determine one or more stable gripping zones (10a) on the object (10), a support (2) developing along a support plane (2a) on which the objects (10) are distributed in bulk, moving means (3) configured to move, on command, the support (2) along at least one moving axis (3a) parallel to the support plane (2a), acquisition means (4) configured to acquire, on command, an at least two-dimensional image (40) of the objects (10) on the support (2) in such a way that templates (41) of the objects (10) are identified, visible by the acquisition means (4) on the support plane (2a), including gripping portions (41a) corresponding to the gripping zones (10a), a computer (5) configured to exchange data with the acquisition means (4) and the moving means (3) in such a way as to be able to control them; and further comprising acquiring the image (40); and distributing the objects (10) by determining through the computer (5) for at least a template (41) interfering with at least another template (41) a displacement segment (4a) along which the template (41) is to be moved parallelly to the support plane (2a) to bring the template (41) from an initial interference position to a final non-interference position in which the gripping portions (41a) of the template (41) result to be spaced with respect to the other template (41) by a predetermined distance, and by controlling the alignment of the moving axis (3a) with the displacement segment (4a) and the motion of the support (2) along the moving axis (3a) to displace the object (10) along the moving axis (3a) by a distance equal to the displacement segment (4a) in such a way that the relative template (41) goes from the initial position to the final position.