Conveying Control Apparatus for Object Container State Detection
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Solution Overview
Problem
Existing conveying systems in recycling processes face challenges in automatically adapting the conveying method based on the state of objects, such as contents adhered outside containers or varying amounts, leading to potential content diffusion and inefficiencies.
Innovation Solution
A conveying controlling apparatus and method that measures the 3D shape and state of objects using image obtaining apparatuses and information processing units, determining the optimal conveying method to prevent content diffusion by planning actions for robots to grasp and convey objects effectively, including adjusting speed and position to manage contents within containers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If automatic conveying method is used based on shape recognition only, then productivity is improved, but reliability deteriorates due to inability to detect content state
Solution Approach 1:
The patent introduces an image obtaining apparatus as an intermediary device that captures images of the object container and its contents. This intermediary captures visual information about content state (adhered contents, small amount of contents) and transmits it to the conveying method determination unit, enabling automatic detection of content conditions without manual inspection while maintaining reliable conveying method selection.
Solution Approach 2:
The system implements feedback by using the image obtaining apparatus to continuously monitor the state of object containers and their contents. The captured images provide feedback information about content adhesion and quantity, which the conveying method determination unit uses to automatically adjust conveying methods, ensuring reliability while maintaining productivity through closed-loop control.
2Device complexity
If conventional conveying method is used without state detection, then device complexity is reduced, but object-generated harmful factors increase due to content diffusion
Solution Approach 1:
The patent replaces complex mechanical state detection mechanisms with an optical-based image obtaining apparatus. Instead of using mechanical sensors or physical inspection systems to detect content state, the system uses image capture and processing to identify adhered contents and small amount of contents, thereby preventing content diffusion while keeping the system structure relatively simple.
Solution Approach 2:
The system creates a visual copy of the object container and its contents through the image obtaining apparatus. This optical copy contains information about content state (adhesion, quantity) that is processed to determine appropriate conveying methods, enabling harmful factor prevention without requiring direct physical interaction or complex mechanical detection systems.
3Reliability
If manual visual inspection is used to determine conveying method, then reliability is improved, but productivity deteriorates due to labor intensity
Solution Approach 1:
The system implements self-service by enabling automatic determination of conveying methods through the image obtaining apparatus and conveying method determination unit. The system serves itself by automatically detecting content state and selecting appropriate conveying methods without requiring manual visual inspection, thereby maintaining reliability while significantly improving productivity through automation.
Solution Approach 2:
The patent replaces manual visual inspection with an automated optical detection system. The image obtaining apparatus captures images and the conveying method determination unit processes them to automatically determine conveying methods, substituting human visual cognition with machine-based image processing, which maintains accuracy while eliminating labor intensity and improving operational speed.
4Measurement precision
If 3D shape measurement is used for object recognition, then measurement precision is improved, but difficulty of detecting and measuring increases due to content state complexity
Solution Approach 1:
The patent applies segmentation by separating the detection tasks into two parts: the 3D shape measuring unit handles object shape measurement, while the image obtaining apparatus specifically captures content state information. This segmentation allows each subsystem to focus on its specialized function, maintaining measurement precision for shape while simplifying content state detection through dedicated imaging.
Solution Approach 2:
The image obtaining apparatus serves as an intermediary that bridges the gap between 3D shape measurement and content state detection. While the 3D shape measuring unit provides accurate geometric information, the image obtaining apparatus captures visual details about content adhesion and quantity, combining both types of information to comprehensively determine conveying methods without overwhelming either detection system.
Data Source
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AI summary
To convey an object container so as to prevent the content thereof from being diffused, there is provided an information controlling apparatus which controls a robot conveying the object container, and comprises: a 3D shape measuring unit configured to measure the 3D shape of the object container; a state measuring unit configured to measure the state of the content of the object container; a conveying method determining unit configured to determine the conveying method for the object container by the robot based on the 3D shape measured by the 3D shape measuring unit and the state measured by the state measuring unit; and an action planning unit configured to control the action of the robot based on the conveying method determined by the conveying method determining unit.