Picking Hand Trajectory Control Under Time-Limited Calculation
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Solution Overview
Problem
Existing picking systems face challenges in calculating trajectories for a picking hand to move a work from one container to another within practical time, especially when considering obstacles, due to the complexity and time-consuming nature of the calculations involved.
Innovation Solution
A control device that includes a trajectory information generating unit, an execution time estimating unit, and determining units to adjust calculation amounts and generate optimal trajectories for the picking hand, considering various postures and potential interferences, allowing for efficient planning and execution of work movements between containers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the trajectory calculation considers interference with obstacles, then the trajectory accuracy and safety are improved, but the calculation time increases significantly
Solution Approach 1:
The trajectory calculation is divided into multiple segments: first calculating a preliminary trajectory without considering obstacles, then separately checking for interference with obstacles. This segmentation allows the system to perform detailed interference checking only when necessary, rather than continuously during the entire calculation process, thus reducing overall computation time while maintaining trajectory accuracy.
Solution Approach 2:
The system performs preliminary trajectory calculation before conducting interference checks. By first establishing a baseline trajectory and then adding obstacle consideration as a subsequent step, the system avoids the complexity of real-time integrated calculation, enabling faster computation while still ensuring trajectory safety and accuracy.
2Productivity
If the picking apparatus processes multiple works concurrently, then the productivity is improved, but the coordination complexity and potential for interference increase
Solution Approach 1:
The system implements a feedback mechanism where the trajectory information generating unit continuously monitors the status of multiple works being processed and adjusts trajectories in real-time. When interference is detected between concurrent operations, the system provides feedback to recalculate and adjust the trajectories, ensuring coordinated execution without collisions while maintaining high productivity.
Solution Approach 2:
The trajectory calculation is made dynamic and adaptive rather than static. The system can adjust trajectory parameters on-the-fly based on the real-time positions and movements of multiple works, allowing concurrent processing of multiple items while automatically resolving coordination conflicts through dynamic recalculation when interference is detected.
Data Source
AI summary
An trajectory information generating unit for generating trajectory information defining a trajectory for which a picking hand picks a work at a first position and arranges the work at a second position, an execution control unit for operating a picking apparatus based on trajectory information generated by the trajectory information generating unit, and an execution time estimating unit for estimating a period of time from when the picking apparatus receives an instruction for starting an operation on a work to a time when the operation of the picking apparatus on the work is ended are included. The trajectory information generating unit may adjust an amount of calculation based on an estimation result of the execution time estimating unit.