Robotic Picking Device Perturbation Mechanism for Failed Grasps

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Solution Overview

Problem

Robotic picking devices often fail to grasp items due to their position, configuration, or obstruction, leading to the need for human intervention, which results in downtime and resource consumption, as existing techniques lack a reliable backup plan for grasp failures.

Innovation Solution

A method and system that utilize a perturbation mechanism to reorient or reconfigure items, allowing the picking device to attempt a grasp again, using processor analysis of previous attempts and imagery to determine the need for perturbation operations, such as rotating, translating, or reconfiguring items to facilitate successful grasping.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If existing hardware and software improvements are made to prevent grasp failures, then the picking device's reliability is improved, but there is still no guarantee of successful grasping and requires human intervention

Engineering Contradiction:

Improvegrasp reliabilityVSAvoidhuman intervention requirement

Core Design Contradiction:

ReliabilityVSEase of operation

Solution Approach 1:

The picking device performs self-correction by automatically executing perturbation operations when grasp attempts fail. The system monitors its own performance and autonomously adjusts item positions or configurations without requiring external human intervention, enabling the device to service itself and resolve grasp failures independently

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The system performs preliminary perturbation operations on items before attempting to grasp them. By proactively adjusting item positions, orientations, or configurations in advance, the system prevents grasp failures rather than reacting to them, ensuring items are in optimal states for successful picking

Inventive Principle:

Principle #10Preliminary action

2Reliability

If perturbation operations are performed to reorient items, then the picking device can successfully grasp items, but the operational time and complexity increase

Engineering Contradiction:

Improvegrasp success rateVSAvoidoperational time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The system applies perturbation operations selectively rather than continuously. Perturbations are executed only when and where needed based on real-time analysis of grasp attempt outcomes and item states, avoiding unnecessary operations that would waste time while ensuring sufficient action is taken to achieve successful grasps

Inventive Principle:

Principle #16Partial or excessive action

Solution Approach 2:

The system implements a closed-loop feedback mechanism where the outcomes of grasp attempts are analyzed and used to determine subsequent perturbation operations. This feedback-driven approach ensures that perturbation actions are taken only when necessary, optimizing the balance between achieving grasp success and minimizing operational time

Inventive Principle:

Principle #23Feedback

Data Source

PatentUS12115677B2Item perturbation for picking operations

Publication Date: 2024.10.15 RIGHTHAND ROBOTICS INC

AI summary

Robotic picking devices and methods for performing a picking operation. The methods described herein may involve determining that a picking device is unable to grasp an item and then performing, using a perturbation mechanism, a perturbation operation to perturb the item so that the picking device is more likely to grasp the item by executing a subsequent grasp attempt.