Picking Trajectory Planning Using Reused Motion Calculation Results
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Solution Overview
Problem
Current picking systems face challenges in efficiently calculating trajectories for moving works between containers, especially when considering obstacles, which results in lengthy computation times and practical difficulties in achieving timely results.
Innovation Solution
A control device and system that generates trajectory information for a picking apparatus, allowing it to move works from supply containers to arrangement containers using a picking hand, by acquiring and utilizing container and work state information, and performing calculations in a manner that optimizes the process by using operation results from previous work movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If trajectory calculation considers interference with obstacles, then trajectory accuracy is improved, but calculation time increases significantly
Solution Approach 1:
The system performs preliminary recognition and acquisition of workpiece information, container information, and obstacle information before trajectory calculation. By pre-processing and storing this data, the actual trajectory calculation can proceed more efficiently while still considering all relevant factors for accuracy.
Solution Approach 2:
The trajectory calculation process is divided into multiple stages: information acquisition, preliminary processing, actual trajectory calculation, and execution. This segmentation allows complex calculations to be broken down into manageable steps, improving both accuracy and time management.
2Manufacturing precision
If trajectory information is generated for each workpiece sequentially, then calculation accuracy is maintained, but overall processing speed decreases
Solution Approach 1:
The system performs preliminary recognition and acquisition of workpiece information, container information, and obstacle information before trajectory calculation. By pre-processing and storing this data, the actual trajectory calculation can proceed more efficiently while still considering all relevant factors for accuracy.
Solution Approach 2:
The system continuously updates trajectory information for multiple workpieces in advance, rather than waiting for each workpiece to be individually processed. This allows overlapping of calculation tasks and maintains continuous productive action throughout the picking process.
Data Source
AI summary
A trajectory information generating unit is included, the trajectory information generating unit generating trajectory information that defines a trajectory for which a picking hand picks one of one or more works stored in one supply container included in one or more supply containers and arranges the work in one arrangement container included in one or more arrangement containers. After performing a process of generating trajectory information representing a first work included in the one or more works and before a movement of the first work is completed, the trajectory information generating unit may generate trajectory information representing a second work included in the one or more work and different from the first work by using an operation result in the process of generating the trajectory information regarding the first work.