Offset-Stack Unit Gripping With Position and Orientation Detection
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Solution Overview
Problem
Existing technologies face challenges in automatically gripping and transferring individual units from a stack where units are offset, as only the uppermost unit can be safely grasped without causing the others to slip or fall, particularly when the ground is non-rigid.
Innovation Solution
A method and system using a handling device with a gripper and controller to detect the position and orientation of the uppermost unit, allowing precise gripping and transfer, utilizing sensors, cameras, and AI for accurate positioning and orientation detection, even on elastic surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If automatic gripping of stacked objects is implemented, then productivity is improved, but reliability deteriorates because only the uppermost exposed stack can be gripped without causing other stacks to slip or fall
Solution Approach 1:
The system performs preliminary detection of the uppermost exposed stack's position and orientation using sensors and cameras before gripping. This advance identification allows the control unit to plan the gripping action precisely, ensuring that only the exposed stack is targeted while others remain undisturbed, thus maintaining stack stability during automated high-speed operation
Solution Approach 2:
The system continuously monitors the positions of all stacks using detection devices and provides feedback to the control unit. This real-time feedback allows the system to adjust gripping forces and positions dynamically, ensuring that gripping actions maintain stack stability while enabling continuous automated operation for high productivity
2Quantity of substance
If individual units are stacked in offset manner to maximize storage, then quantity is improved, but difficulty of detecting and measuring worsens due to partial coverage of units
Solution Approach 1:
The detection system uses multiple types of sensors (cameras, light sensors, position sensors) that can detect various features of offset-stacked units simultaneously. This multi-functional detection approach allows the system to identify the uppermost exposed unit's position and orientation even when other units partially cover the storage area, maximizing storage capacity while maintaining detection accuracy
Solution Approach 2:
The system employs 3D detection methods and multi-angle imaging to detect unit positions in three-dimensional space. By adding spatial dimensions to detection, the system can accurately identify exposed units even in complex offset arrangements where units overlap in multiple directions, enabling both high storage density and precise detection
3Reliability
If gripping force is increased to secure individual units, then reliability is improved, but object-generated harmful factors worsen due to potential damage to flexible units
Solution Approach 1:
The gripping device applies force locally at specific contact points on the uppermost exposed unit rather than distributing force across the entire stack. The control unit precisely controls the gripping force at each contact point based on the detected unit characteristics, ensuring secure gripping of the target unit while preventing damage to flexible materials through localized, controlled force application
Solution Approach 2:
The system dynamically adjusts gripping force parameters based on real-time detection of unit material properties, shape, and orientation. By changing the gripping force parameter adaptively rather than using fixed high force, the system maintains reliable gripping security while preventing damage to flexible units through optimized force levels matched to each specific unit's characteristics
Data Source
AI summary
A method for gripping and transferring an individual unit out of a stock of individual units, which are stacked in an offset manner, using a system including a handling device with a gripping device and including a controller, the stock of individual units, which are stacked in an offset manner, is provided on a storage surface. The position and/or orientation of an exposed individual unit on the storage surface is detected by the controller. The handling device and the gripping device are actuated the controller by the ascertained position and/or orientation to grip the individual unit. The gripped individual unit is transferred to a specified location and/or unit. A system including a handling device with at least one gripping device and including a controller is used to grip and transfer an individual unit, the position and/or the orientation of an individual unit on a storage surface detected by the controller.