Extraction Position Control for Failed Robotic Pick Attempts
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Solution Overview
Problem
Existing extraction methods face inefficiencies when workpieces fail extraction at one position, leading to difficulties in accessing alternative positions and completing the extraction process.
Innovation Solution
An extraction machine controller that includes a data acquisition unit, data processing unit, and extraction position selection unit to manage multiple extraction positions for each workpiece, updating a blacklist based on successful and unsuccessful attempts to efficiently select and control extraction operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a blacklist is used to control extraction operations after failure, then extraction efficiency is improved by avoiding repeated failures, but alternative extraction positions are incorrectly excluded leading to extraction failures
Solution Approach 1:
The patent segments the extraction position data by creating separate management for blacklisted workpiece positions and alternative extraction positions. When a workpiece cannot be extracted at the measured position, the system identifies and stores alternative extraction positions separately, allowing the robot to attempt extraction at these alternative positions without being blocked by the blacklist mechanism.
2Loss of time
If the robot is forbidden from accessing workpieces in the blacklist area, then repeated extraction failures are reduced, but legitimate extraction opportunities are lost
Solution Approach 1:
The patent performs preliminary identification and storage of alternative extraction positions before the blacklist blocking takes effect. When extraction fails at the measured position, the system proactively searches for and records alternative positions using the 3D sensor, ensuring that viable extraction opportunities are preserved before the workpiece is added to the blacklist.
3Device complexity
If a single extraction position is used per workpiece, then control simplicity is maintained, but extraction flexibility is reduced leading to more failures
Solution Approach 1:
The patent implements a dynamic extraction position selection system that adapts based on extraction outcomes. The system maintains a list of alternative extraction positions for each workpiece and dynamically selects from these alternatives when the primary position fails, allowing the control system to respond flexibly to extraction failures without requiring complex manual reprogramming.
Data Source
AI summary
A control device for controlling an extraction machine to extract an arbitrary object from a plurality of objects including at least one object on which extraction positions are set includes: a data extraction unit which extracts data from a sensor that measures the appearances of a plurality of objects; a data processing unit which processes the data from the data extraction unit, controls an extraction machine, associates, for each of the extraction positions, the data at the time of accessing the object with the extraction position, and stores the associated result in a list; an extraction position selection unit which selects an extraction position of the object extracted by the extraction machine on the basis of an output of the list; and an extraction machine control unit which controls the extraction machine and extracts the object on the basis of the output from the extraction position selection unit.