Picking Robot Recovery Control for Inadequate Grips
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Solution Overview
Problem
Conventional picking systems face difficulties in recovering from inadequacies in the picking process without forcibly stopping the robot, leading to repeated incorrect picking and returning of articles.
Innovation Solution
A picking robot with an acquisition unit, first and second calculation units, and a control unit that acquires and calculates position and posture information, allowing for automatic detection and recovery by adjusting the grip and movement of the robot based on different position and posture information to correct inadequate picking operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If conventional picking systems continue operation after inadequate picking, then productivity is maintained, but reliability deteriorates due to repeated incorrect picking and returning
Solution Approach 1:
The system implements feedback by detecting the return position of articles and comparing it with the original position. When an article is returned to its original container, the system detects this through the sensor and triggers a recovery process. The control unit receives feedback about the inadequate picking (article returned to original container) and automatically initiates correction by selecting a different article for picking, thus maintaining both productivity and reliability.
2Reliability
If the system implements automatic recovery from inadequate picking, then reliability is improved, but device complexity increases due to additional detection and control mechanisms
Solution Approach 1:
The sensor serves multiple functions: it both detects the position of articles during normal picking operations and detects when articles are returned to their original containers. The control unit also performs multiple roles: it manages normal picking sequences and simultaneously monitors for return conditions to trigger recovery. This multi-functionality reduces the need for separate dedicated components for detection and control, thereby limiting the increase in device complexity while improving reliability.
3Reliability
If the robot forcibly stops to correct inadequate picking, then reliability is improved, but productivity decreases due to interruption of operation
Solution Approach 1:
The system performs preliminary detection of return conditions continuously during operation. When an article is returned to its original container, the system has already detected this condition and is prepared to immediately select a different article for picking. This preliminary detection and preparedness allow the system to correct inadequate picking without stopping, as the recovery action (selecting a different article) is ready to be executed immediately, thus maintaining both reliability and productivity.
Data Source
AI summary
A picking robot of an embodiment includes an acquisition unit, first and second calculation units, a control unit, and a grip unit. The acquisition unit acquires first area information. The first calculation unit calculates first position/posture information indicating a position/posture of a target object from the first area information. The second calculation unit calculates second position/posture information differing from the first position/posture information. The control unit grips the target object, based on the first position/posture information, controls a first operation of moving the target object to a second area. When a first operation result is inadequate, the control unit controls a second operation of arranging the target object at a position indicated by the second position/posture information in a posture indicated by the second position/posture information. The grip unit grips the target object and moves the gripped target object, based on the control by the control unit.