Pick and Place Robot Control via Conveyor Velocity
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Solution Overview
Problem
Existing pick and place systems face challenges in managing variations in item flow and availability of picking and placing positions, especially in systems with multiple output conveyors and robots, where prior art solutions only consider the availability of picking positions on the input conveyor, neglecting the impact of output conveyor velocity and placing position availability.
Innovation Solution
A method that determines available picking and placing positions by calculating picking and placing times based on the velocity of both input and output conveyors, and assigns pick and place tasks to robots based on predicted needs, ensuring items are picked and placed in an optimized order to manage fluctuations in item flow and output capacity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the output conveyor slows down or stops, then the availability of placing positions decreases, but the item flow on the input conveyor continues, causing the robot to be unable to place items
Solution Approach 1:
The control circuitry calculates picking and placing times in advance based on predicted picking positions and placing positions. By determining the optimal picking order beforehand considering both input conveyor availability and output conveyor capacity, the system prepares a execution plan that prevents bottlenecks before they occur.
Solution Approach 2:
The system dynamically adjusts the picking order and timing based on real-time conditions. The control circuitry continuously monitors picking position availability and placing position availability, and modifies the picking sequence adaptively to match the actual performance of both conveyors, ensuring the robot can always find valid pick and place positions.
2Adaptability or versatility
If the system considers only picking position availability, then the control logic is simple, but it cannot handle variations in output conveyor capacity and placing position availability
Solution Approach 1:
The control circuitry performs preliminary calculations of picking and placing times based on predicted positions before execution. This advance planning allows the system to consider multiple factors (input conveyor velocity, output conveyor velocity, picking position availability, placing position availability) without requiring complex real-time decision-making during actual operation.
Solution Approach 2:
The system uses feedback from sensors that detect actual picking positions and placing positions on both conveyors. This feedback information is fed back to the control circuitry, which adjusts the calculated picking order and timing to match actual conditions, enabling the system to adapt to variations in conveyor performance while maintaining a relatively simple control structure.
3Productivity
If items are picked in a fixed order from the input conveyor, then the picking process is simple, but bottlenecks occur when output conveyor capacity varies
Solution Approach 1:
The control circuitry calculates the optimal picking order in advance based on predicted picking positions and placing positions, considering the velocities of both conveyors. This preliminary optimization determines which items should be picked first to minimize robot waiting time and maximize throughput, rather than simply picking items in the order they appear on the conveyor.
Solution Approach 2:
The picking order is dynamically adjusted based on actual sensor feedback about picking position availability and placing position availability. Instead of a fixed picking sequence, the system adapts the picking order in real-time to match actual conveyor performance, reducing bottlenecks and robot waiting time while maintaining simple execution during the actual picking process.
Data Source
AI summary
A pick and place system including at least one input conveyor, at least one output conveyor, at least one pick and place robot and control circuitry. Available picking positions on an input conveyor at which a respective item can be picked are determined as well as available placing positions on an output conveyor at which a respective item can be placed. For the available picking positions and the available placing positions, a respective picking time and placing time is calculated, and the at least one robot is instructed to pick items at the picking positions and place the items at the placing positions in an order determined by the respective picking times and placing times.