Gripping Device with Dual Sensor Feedback for Unstable Article Handling
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Solution Overview
Problem
Conventional article handling devices face challenges in accurately recognizing and gripping articles with complex patterns, closely arranged items, or obscured edges, leading to unstable gripping states and potential failure in unloading operations.
Innovation Solution
An article handling device equipped with a gripper, driver, article recognition unit, gripping recognition unit, and controller that uses image sensors and pressure sensors to recognize article positions and gripping states, allowing for initial gripping based on recognition results and adjusting the gripping position if the state is unstable, ensuring successful gripping and transfer.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Quantity of substance
If optical sensors are used to recognize articles, then wide range information can be acquired at once, but recognition accuracy deteriorates for articles with complicated patterns, closely arranged items, or obscured edges
Solution Approach 1:
The patent divides the recognition task into two stages: first using an image sensor to capture overall article positions and patterns, then using a line sensor to precisely detect edge positions and gripping points. This segmentation allows the system to leverage the wide coverage of the image sensor while achieving the precision needed for accurate gripping position determination, resolving the contradiction between information range and recognition accuracy.
2Productivity
If gripping is performed based on incorrect recognition results, then handling speed may be maintained, but gripping stability deteriorates and gripping may fail
Solution Approach 1:
The patent implements feedback by using the line sensor to detect actual edge positions after the initial gripping position is determined by the image sensor. The system compares the detected edge positions with the planned gripping position and adjusts the gripping position accordingly. This feedback mechanism ensures gripping stability while maintaining handling speed, as the adjustment is made automatically based on real-time detection results.
3Device complexity
If article size and shape are not registered in advance, then system complexity is reduced, but recognition precision deteriorates for accurate gripping
Solution Approach 1:
The patent enables the system to automatically determine gripping positions by detecting article edge positions in real-time using the line sensor, without requiring pre-registration of article size and shape information. The system self-adjusts the gripping position based on the detected edge positions, eliminating the need for complex pre-registration processes while maintaining high gripping position precision through automated real-time detection.
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 device improves the success rate of article gripping and transfer by dynamically adjusting the gripping position, enabling reliable handling of articles with complex configurations without prior registration of their size and shape, thus addressing the limitations of conventional systems.
Implementation Method 1
an optical sensor, such as an image sensor which is capable of acquiring a wide range of information at once
Implementation Method 2
uses image sensors and pressure sensors to recognize article positions and gripping states
Data Source
AI summary
An article handling device includes: a gripper that grips an article; a driver that moves the gripper; an article recognition unit that recognizes a state of the article; a gripping recognition unit that recognizes a gripping state of the gripper; a determination unit that determines whether the gripping state is stable or unstable based on a recognition result of the gripping recognition unit; and a controller that controls a first gripping operation in which the gripper grips the article by a gripping position determined based on the recognition result of the article recognition unit, and, when the gripping state is determined as unstable, controls a second gripping operation in which the gripping position is changed and the gripper re-grips the article.