Moving Coordinate Path Control for Transported Objects
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Solution Overview
Problem
Existing transport systems face challenges in effectively controlling and planning object paths along transport trajectories, particularly when the transport unit moves relative to a reference coordinate system, as current methods require direct coordination with the transport trajectory, limiting flexibility and efficiency.
Innovation Solution
A method where the object path is specified in relation to a transport unit coordinate system that moves with the transport unit, allowing transformation of path points into a base coordinate system for control, using position, speed, and acceleration data to determine the transport trajectory, and employing coupling and decoupling processes for smooth transitions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the object path is planned directly in the reference coordinate system, then the transport trajectory and object path can be coordinated, but the path planning flexibility is reduced and the control complexity increases
Solution Approach 1:
The patent introduces a moving coordinate system that travels with the transport unit, adding a temporal dimension to the coordinate transformation. This allows path planning to be performed in a simplified moving frame while automatically accounting for the transport trajectory through coordinate transformation, thereby increasing flexibility without proportionally increasing control complexity.
Solution Approach 2:
The patent uses a coordinate transformation mechanism as an intermediary between the simple object path definition in the moving coordinate system and the actual control in the reference coordinate system. This intermediary automatically handles the complexity of trajectory coordination, allowing flexible path planning while maintaining precise control through mathematical transformation rather than direct complex control.
2Ease of manufacture
If the object path is defined relative to the moving transport unit, then the path geometry is simplified, but the coordination with the transport trajectory becomes more challenging
Solution Approach 1:
The patent implements continuous coordinate transformation based on the real-time position of the transport unit. The control system continuously monitors the transport unit's position and uses this feedback to dynamically transform coordinates between the moving and reference frames, ensuring accurate trajectory coordination while maintaining simple path definition in the moving coordinate system.
Solution Approach 2:
The patent pre-defines the object path in the moving coordinate system before the transport operation begins. This preliminary path definition in the simplified moving frame, combined with real-time coordinate transformation, allows the system to achieve both simple path geometry and accurate trajectory coordination without requiring complex real-time calculations.
3Speed
If continuous coordinate transformation is performed, then the object can follow the transport unit smoothly, but the computational load and processing time increase
Solution Approach 1:
The patent divides the continuous coordinate transformation into discrete transformation steps corresponding to control cycles or trajectory segments. By segmenting the transformation process, the system achieves smooth object movement through regular updates while reducing computational load by performing transformations only at necessary intervals rather than continuously.
Solution Approach 2:
The patent performs coordinate transformation for critical path points rather than all points along the trajectory. This partial transformation approach maintains movement smoothness by transforming key reference points and interpolating between them, reducing computational processing time while preserving the smoothness of object movement along the path.
Data Source
Figure 1a~1b
Figure 1c~1d
Figure 2a~2b
AI summary
For improved control and planning of a movement of the object (2) in relation to a transport unit (1) of a transport system (10), wherein the transport unit (1) is moved along a predefined transport trajectory (T1) with respect to a reference coordinate system, the invention provides a synchronous phase (P2), wherein a movement of an object point (TCP) of the object (2) along an object path (zTF) with respect to a transport unit coordinate system (TF), different from the reference coordinate system, is predefined during the synchronous phase (P2), wherein the transport unit coordinate system (TF) containing the transport unit (1) is moved along the transport trajectory (T1). At least one path point of the object path (zTF) is converted from the transport unit coordinate system (TF) to a base coordinate system (BCS) in order to control the movement of the object point (TCP) along the object path (zTF) with respect to the base coordinate system (BCS).