Packaging Machine Collision Control Using Workspace Data
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Solution Overview
Problem
The increased use of individual servo drives in packaging machines enhances the risk of collisions between moving machine parts and products, particularly when their traversing paths overlap, leading to potential faults and errors.
Innovation Solution
A method involving the generation of workspace data to map collision-prone and collision-free areas, allowing for real-time monitoring and prevention of collisions by comparing actual and predicted positions of machine organs and products with pre-defined data sets to control their movements and prevent collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If individual servo drives are used for each moving component instead of mechanical coupling to a main shaft, then the flexibility and control of each component is improved, but the risk of collisions between components increases
Solution Approach 1:
The system pre-calculates and stores collision-free trajectories for each moving component before operation. The workspace is analyzed in advance to identify collision-prone areas, and safe paths are predetermined based on the positions of all components, eliminating the need for real-time collision detection during motion.
Solution Approach 2:
The system continuously monitors the actual positions of moving components during operation and compares them with the pre-calculated safe trajectories. If a component deviates from its predetermined safe path or enters a collision-prone area, the system provides feedback to adjust the trajectory or stop motion to prevent collisions.
2Measurement precision
If complex real-time collision detection algorithms are used during operation, then collision detection accuracy is improved, but the computing time and system complexity increase
Solution Approach 1:
The system performs the computationally intensive workspace analysis and collision trajectory calculations before operation begins. The workspace is discretized and collision-prone areas are pre-identified, storing results in lookup tables. During actual operation, the system only needs to query these pre-computed tables based on current component positions, reducing real-time computing requirements to simple comparisons.
3Reliability
If the workspace is thoroughly mapped to identify all collision-prone areas, then collision prevention reliability is improved, but the data processing and system complexity increase
Solution Approach 1:
The workspace is divided into discrete volumetric elements or grid cells, with each element marked as either collision-prone or collision-free. This segmentation transforms the continuous workspace into a manageable discrete structure, allowing efficient storage and quick querying during operation without requiring complex continuous mathematical models.
Data Source
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AI summary
The invention relates to a method for detecting and/or avoiding collisions between at least one first machine element (11, 13, 19) of a device (10) for the production of packages, in particular for cigarettes or other tobacco products, which moves in a work space in which such collisions can occur and is in particular driven (intermittently) by an electric motor, or between products handled by the first machine element (11, 13, 19) moving in this work space and on the one hand a second part of the device (10), preferably a second moving machine element (11, 13, 19).The invention is characterized by the following measures: a) Generating workspace data (25) that maps the workspace, wherein within the workspace data a workspace data area is defined as a subset of the workspace data in which collisions would occur and/or a workspace data area as a subset of the workspace data in which no collisions can occur, b1) Generating a collision-free travel path for the first moving machine part (11, 13, 19) based on the generated workspace data (25), optionally additionally a collision-free travel path for the second moving machine part (11, 13, 19), as well as controlling the movement of the moving first machine part (11, 13, 19), optionally additionally the movement of the second moving machine part, according to the (if applicable)respective) travel path, and/or b2) monitoring the movement of the moving first machine part (11, 13, 19), and optionally also the movement of the second moving machine part (11, 13, 19), for collisions or possible collisions based on the generated workspace data (25).