Image-Based Gripping Point Determination for Stable Object Transfer
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Solution Overview
Problem
Existing transfer devices lack efficiency in determining optimal gripping points for objects, leading to instability and inefficiencies in handling and transferring processes.
Innovation Solution
A determination device that utilizes a trained first model to calculate exterior shape data, a second model to predict gripping points, or a third method where a user designates the gripping point, ensuring stable and efficient object handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a transfer device uses conventional methods to determine gripping points, then the device structure remains simple, but the gripping stability and processing efficiency deteriorate
Solution Approach 1:
The patent introduces an intermediary determination device that mediates between the image acquisition device and the transfer device. This determination device receives images, processes them to identify gripping points, and outputs the results to the transfer device. By inserting this intermediary component, the system achieves reliable gripping point determination without requiring the transfer device itself to become overly complex, thus resolving the contradiction between gripping stability and device complexity.
Solution Approach 2:
The patent replaces conventional mechanical or simple sensor-based gripping point detection with an information-processing approach using images and determination algorithms. Instead of relying on complex mechanical sensing structures, the system uses image acquisition and computational determination to identify gripping points, thereby improving gripping stability while keeping the physical device structure relatively simple.
2Measurement precision
If the determination device processes images to calculate exterior shape data and gripping points, then gripping precision improves, but processing time increases
Solution Approach 1:
The patent applies preliminary action by pre-defining multiple gripping point candidates and their corresponding gripping methods before actual object handling. The determination device pre-calculates and stores exterior shape data and gripping point information based on learned models, so that when an object needs to be handled, the system can quickly retrieve and apply pre-determined gripping parameters rather than performing complex real-time calculations, thus reducing processing time while maintaining high gripping precision.
Solution Approach 2:
The patent utilizes parameter changes by dynamically selecting different determination methods based on object characteristics. The system changes parameters such as the number of gripping points to determine, the type of gripping method used, and the level of detail in exterior shape analysis according to the specific object being handled. This adaptive parameter adjustment allows the system to achieve high gripping point precision for complex objects while using faster, less precise methods for simple objects, thereby reducing overall processing time.
3Adaptability or versatility
If the system provides multiple determination methods (first, second, and third methods), then adaptability improves, but system complexity increases
Solution Approach 1:
The patent applies dynamics by making the determination system adaptable and flexible through multiple determination methods that can be dynamically selected based on object characteristics and task requirements. The determination device can switch between different methods (e.g., single-point determination, multi-point determination, template-based determination) depending on the object being handled, allowing the system to adapt to various scenarios without requiring a completely different system for each case. This dynamic adaptability is achieved through a unified determination architecture that manages multiple methods, thereby increasing versatility while controlling complexity through structured organization.
Data Source
AI summary
According to one embodiment, a determination device is configured to acquire an image of an object to be gripped and input the image to a determination part. The determination device is configured to obtain, from the determination part, an acquisition method of a gripping point. According to the input of the image, the determination part outputs, as the acquisition method, one of a first method, a second method, or a third method. The first method is a method of calculating exterior shape data of the object based on the image and calculating the gripping point by using the exterior shape data. The second method is a method of inputting the image to a second model and acquiring the gripping point output from the second model, the second model being trained. The third method is a method of acquiring the gripping point by the gripping point being designated.