Object Gripping System with Priority-Based Orientation Adjustment

Solution Overview

Problem

Conventional gripping systems are inefficient in changing the gripping state of objects to accommodate subsequent processes, leading to increased object position and orientation changes, which can result in dropping the object and longer tact times.

Innovation Solution

An object gripping system that includes a position and orientation measurement unit, a selection unit, a determination unit, a gripping unit, and a changing unit to measure, select, and adjust the gripping state of objects based on priority settings, ensuring optimal positioning and orientation for assembly processes.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If the gripping portion grips an object without considering subsequent process requirements, then the gripping operation is simple, but the object position and orientation change amount increases leading to dropping or increased tact time

Engineering Contradiction:

Improvegripping operation simplicityVSAvoidobject dropping risk

Core Design Contradiction:

Ease of operationVSReliability

Solution Approach 1:

The system performs preliminary measurement of the object's position and orientation using a measurement unit before gripping. The determination unit then determines the optimal gripping position and orientation based on these measurements and the required gripping state changes for subsequent processes. This preliminary action ensures that the object is gripped in the correct state from the beginning, preventing excessive position and orientation changes that could lead to dropping.

Inventive Principle:

Principle #10Preliminary action

2Ease of operation

If the gripping portion grips an object without considering subsequent process requirements, then the gripping operation is simple, but the tact time increases due to large state changes

Engineering Contradiction:

Improvegripping operation simplicityVSAvoidtact time

Core Design Contradiction:

Ease of operationVSProductivity

Solution Approach 1:

The system determines the required gripping state change for the subsequent process in advance. Based on this predetermined information and the measured object state, the determination unit calculates the optimal gripping position and orientation before the gripping action occurs. This ensures that the object is gripped in the correct state from the beginning, minimizing the need for large state changes and reducing tact time.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system uses feedback from the measurement unit to continuously monitor the object's position and orientation. This feedback information is fed into the determination unit, which adjusts the gripping position and orientation based on the measured values and the required gripping state changes. This closed-loop control ensures optimal gripping parameters are selected, minimizing state changes and reducing tact time.

Inventive Principle:

Principle #23Feedback

3Ease of operation

If the gripping position and orientation are not optimized for subsequent assembly, then the gripping operation is straightforward, but the object position and orientation change amount increases

Engineering Contradiction:

Improvegripping operation straightforwardnessVSAvoidobject position and orientation change amount

Core Design Contradiction:

Ease of operationVSManufacturing precision

Solution Approach 1:

The system performs preliminary measurement of the object's position and orientation using a measurement unit before gripping. The determination unit then determines the optimal gripping position and orientation based on these measurements and the required gripping state changes for subsequent processes. This preliminary action ensures that the object is gripped in the correct state from the beginning, preventing excessive position and orientation changes that could lead to dropping.

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS10131054B2Object gripping system, object gripping method, storage medium and robot system

Publication Date: 2018.11.20 CANON KK

AI summary

An object gripping system includes a position and orientation measurement unit configured to measure a position and an orientation of at least one target object based on an image obtained by capturing the at least one target object. A selection unit is further provided to select at least one holdable target object based on the position and orientation. A determination unit determines, as an object to be held, a holdable target object based on a priority set, when assembling the holdable target object to an assembly destination object, and a controlling unit controls a holding unit to hold the object to be held, which is determined by the determination unit.