Picking Hand Trajectory Control for Fast Obstacle Avoidance
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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 while avoiding obstacles within practical time, due to complex calculations and potential interference.
Innovation Solution
A control device that generates trajectory information for a picking apparatus, adjusting calculation amounts based on estimated execution time, and iteratively refines the trajectory to avoid interference by considering multiple postures and candidate combinations for the picking hand at both the starting and ending positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If automatic trajectory calculation considering interference with obstacles is performed, then trajectory accuracy is improved, but calculation time increases excessively
Solution Approach 1:
The system performs preliminary actions by pre-calculating and storing interference information between the picking hand and obstacles before actual trajectory planning. This pre-computed interference data is then reused during trajectory generation, eliminating the need for repeated complex interference calculations and significantly reducing real-time computation time while maintaining accurate trajectory planning.
Solution Approach 2:
The trajectory planning process is segmented into distinct stages: interference information pre-calculation, trajectory candidate generation, and trajectory selection. By dividing the complex calculation into modular segments, the system can efficiently manage computational resources and reduce overall calculation time while preserving trajectory accuracy through systematic processing.
2Productivity
If the picking apparatus processes multiple works concurrently, then productivity is improved, but coordination complexity increases
Solution Approach 1:
The control device performs preliminary calculation of trajectory information for multiple works before actual execution begins. By pre-computing trajectories for all works in the batch, the system establishes a complete coordination plan that prevents conflicts between concurrent operations, enabling high throughput without increasing real-time coordination complexity.
Solution Approach 2:
The system incorporates feedback mechanisms that monitor the execution status of concurrent operations and adjust subsequent trajectory calculations accordingly. This feedback loop ensures that multiple works are coordinated efficiently, with the control device able to respond to actual execution conditions while maintaining the overall productivity gains from concurrent processing.
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.