3D Object Placement Path Planning for Collision-Free Stacking
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Solution Overview
Problem
Current robot trajectory planning in palletizing applications often fails to effectively avoid collisions and optimize space usage, leading to inefficiencies and potential collisions during object placement.
Innovation Solution
A method and apparatus that determine a collision-free path for object placement by analyzing the object placement situation, identifying potential collisions, and selecting from three movement schemes (horizontal and vertical straight lines, tilted insertion, and top-down placement) to ensure safe and efficient stacking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the robot moves objects along a simple horizontal path, then the trajectory planning is simple, but collisions may occur with objects at different heights
Solution Approach 1:
The patent extends the trajectory planning from 2D horizontal movement to 3D space by introducing vertical dimension (height) and tilted insertion angles. The robot can now move objects along paths that include vertical displacement and angular orientation, allowing it to pass over or under other objects without collision while maintaining efficient placement
2Ease of operation
If the robot uses fixed placement positions, then the placement process is simple, but space utilization and compactness are reduced
Solution Approach 1:
The patent introduces dynamic placement positions and tilted insertion angles that adapt to the current stacking state. Instead of fixed predetermined positions, the system calculates optimal placement locations and approach angles based on real-time environmental feedback, enabling flexible adaptation to different stacking configurations and maximizing space utilization
3Productivity
If the robot places objects directly at the target position, then the placement speed is fast, but collisions with surrounding objects cannot be avoided
Solution Approach 1:
The patent performs preliminary collision detection and trajectory optimization before the actual placement action. The system calculates the optimal tilted insertion angle and adjusted target position in advance, allowing the robot to execute a direct but collision-free placement path, thus maintaining high speed while ensuring safety
4Reliability
If the robot uses complex tilted insertion paths, then collision avoidance is improved, but the trajectory planning complexity increases
Solution Approach 1:
The patent optimizes the tilted insertion approach by parameterizing the trajectory with key variables (insertion angle, vertical displacement, horizontal offset) and using mathematical optimization to find the best parameter values. This reduces the planning complexity from solving complex geometric constraints to adjusting a few key parameters, making the system computationally efficient while maintaining collision avoidance
Data Source
Figure 1A~1B
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AI summary
The present disclosure provides a method, apparatus, and computer-readable storage medium for determining a path for placing an object. This method includes: determining a final target position of a current object to be placed in an environment based on an object placement situation in the environment; determining whether a collision occurs when moving the current object in a horizontal straight line to an initial target position in surrounding space of the final target position, wherein horizontal plane projections of the current object at the initial target position and the final target position are overlapping, and the initial target position and the final target positions are at different heights; and determining a final path for placing the current object at the final target position based on the result from the determination on whether a collision occurs, wherein no collision will occur when the current object moves along the final path.