Gripping Apparatus Orientation Estimation Feedback Control

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Solution Overview

Problem

Conventional techniques for gripping target objects fail to consider the orientation of the objects during gripping, leading to increased processing time and higher failure probabilities due to erroneous orientation estimation and gripping failures.

Innovation Solution

A target object gripping apparatus comprising an estimation unit for estimating the orientation of the object, a gripping unit for gripping based on the estimated orientation, a detection unit for detecting gripping failures, and a modifying unit that adjusts the orientation estimation parameters based on detected failures to reduce error and improve processing efficiency.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If conventional orientation estimation techniques are used, then processing speed is maintained at baseline levels, but gripping failure probability increases due to erroneous orientation estimation

Engineering Contradiction:

Improvegripping success rateVSAvoidprocessing time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The system implements feedback by detecting gripping failures and using this information to modify orientation estimation parameters. The detection unit identifies when gripping fails, and the modifying unit adjusts the estimation parameters based on the detected failure and the estimated orientation at that moment, creating a closed-loop system that continuously improves accuracy while maintaining speed.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The modifying unit changes the orientation estimation parameters dynamically based on detected gripping failures. By adjusting these parameters according to failure patterns and orientations, the system adapts the estimation process to avoid previously failed orientations, thereby reducing future failure rates without requiring slower re-estimation procedures.

Inventive Principle:

Principle #35Parameter changes

2Productivity

If orientation estimation is performed without considering gripping accessibility, then processing is faster, but the manipulator cannot access specific portions to fail in gripping

Engineering Contradiction:

Improveprocessing speedVSAvoidgripping success rate

Core Design Contradiction:

ProductivityVSReliability

Solution Approach 1:

The system uses feedback from detected gripping failures to modify orientation estimation parameters. When a gripping failure occurs, the system learns from that orientation and adjusts parameters to prioritize orientations that are more accessible to the manipulator, thereby maintaining processing speed while improving gripping success rate.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The system performs preliminary action by pre-modifying orientation estimation parameters based on previously detected failures before attempting to grip again. This allows the system to avoid orientations that have previously caused failures, ensuring that the manipulator attempts to grip from orientations that are more likely to succeed without requiring slow re-planning.

Inventive Principle:

Principle #10Preliminary action

3Productivity

If matching models are prioritized by recognition frequency, then processing speed increases, but erroneous orientation estimation occurs when sensor information is similar across orientations

Engineering Contradiction:

Improveprocessing speedVSAvoidorientation estimation accuracy

Core Design Contradiction:

ProductivityVSMeasurement precision

Solution Approach 1:

The system implements feedback by detecting gripping failures and modifying orientation estimation parameters accordingly. When sensor information is similar across orientations leading to erroneous estimates, the feedback mechanism identifies these failures and adjusts parameters to disambiguate between similar orientations, maintaining fast processing while improving accuracy.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The matching model priority order is made dynamic rather than static. The modifying unit adjusts the priority order based on detected gripping failures and orientation information, allowing the system to adapt to cases where sensor information is similar across orientations. This dynamic adjustment enables the system to maintain high processing speed while avoiding erroneous estimations that would occur with fixed priority ordering.

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS9044858B2Target object gripping apparatus, method for controlling the same and storage medium

Publication Date: 2015.06.02 CANON KK

AI summary

A target object gripping apparatus comprises: an estimation unit configured to estimate an orientation of a target object based on orientation estimation parameters; a gripping unit configured to grip the target object based on the orientation of the target object estimated by the estimation unit; a detection unit configured to detect a failure of gripping by the gripping unit; and a modifying unit configured to modify the orientation estimation parameters based on the orientation of the target object when the detection unit detects a gripping failure.