Cooperative Robot Picking for Heavy and Oversized Objects

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Solution Overview

Problem

Conventional robotic arms are often limited in handling objects that vary significantly in size and weight, as they are typically rated for the largest, heaviest, or most difficult object, and struggle with collaborative tasks due to individual robotic capabilities and environmental constraints.

Innovation Solution

A system that coordinates multiple robots to collaboratively pick and place objects by detecting the need for cooperative handling, using integrated computer vision for obstacle identification and path planning, and employing a control architecture that allows robots to cooperate safely and effectively, including tactile manipulation and collision avoidance techniques.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If a single robotic arm is designed to handle the largest, heaviest object, then it can handle the maximum size and weight, but it becomes difficult to handle smaller, lighter objects efficiently

Engineering Contradiction:

Improveability to handle varying object sizes and weightsVSAvoiddifficulty in handling objects of different sizes and weights

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

The system divides the task of handling objects of varying sizes and weights into segments by using multiple robotic arms with different capabilities. Each robot can independently handle objects within its capability range, and the system segments the decision-making process to determine which robot should handle each object based on its properties.

Inventive Principle:

Principle #1Segmentation

2Weight of moving object

If multiple robots are used to handle heavy objects, then the ability to handle heavy and oversized objects improves, but the system complexity increases

Engineering Contradiction:

Improvemaximum weight of handleable objectsVSAvoidcomplexity of coordinating multiple robots

Core Design Contradiction:

Weight of moving objectVSDevice complexity

Solution Approach 1:

The robotic system performs self-service by autonomously determining when cooperative handling is needed and automatically coordinating multiple robots without human intervention. The system evaluates object properties, identifies suitable robots, and executes coordinated movement automatically, reducing the perceived complexity for operators.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The system uses feedback mechanisms where robots continuously communicate their status, position, and capability information to the control system. This feedback enables real-time coordination and adjustment of multiple robots during cooperative tasks, managing system complexity through automated information exchange.

Inventive Principle:

Principle #23Feedback

3Reliability

If conventional robotic arms are used for collaborative tasks, then individual robot capabilities are maintained, but coordination and safety in collaborative environments are compromised

Engineering Contradiction:

Improvesafety and effectiveness of collaborative tasksVSAvoiddifficulty in coordinating robots safely

Core Design Contradiction:

ReliabilityVSEase of operation

Solution Approach 1:

The system merges multiple individual robot capabilities into a coordinated collaborative system. By combining the strengths of different robots and integrating their control through a unified system that considers spatial relationships and safety constraints, the system achieves reliable collaborative task execution while maintaining the individual capabilities of each robot.

Inventive Principle:

Principle #5Merging (Combining)

Data Source

PatentUS20230158676A1Controlling multiple robots to cooperatively pick and place items

Publication Date: 2023.05.25 DEXTERITY INC

AI summary

A robotic system is disclosed to control multiple robots to cooperatively pick and place objects. In various embodiments, the robotic system includes a first robotic arm having a first end effector; a second robotic arm having a second end effector; and a control computer configured to use the first robotic arm and the second robotic arm to pick and place a plurality of objects, including by using the first robotic arm and the second robotic arm to work cooperatively to pick and place one or more of the objects.