Picking Trajectory Control Using Execution Time Estimation
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Solution Overview
Problem
Existing picking systems face challenges in calculating trajectories for moving works between containers efficiently, especially when considering obstacles, which leads to lengthy calculation times and practical limitations.
Innovation Solution
A control device is introduced that includes a trajectory information generating unit, an execution control unit, and an execution time estimating unit. This device adjusts the amount of calculation based on estimated execution time, allowing for efficient trajectory planning and execution, even when calculating for multiple works concurrently.
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 pre-calculates and stores trajectory information for multiple possible paths before actual picking operations. By preparing trajectory data in advance including obstacle interference considerations, the system avoids performing complex calculations during real-time operations, thus achieving both accurate trajectories and fast execution
Solution Approach 2:
The system performs preliminary trajectory calculations and stores results in a database for future reference. This cushioning approach prepares computational results beforehand so that when actual picking operations occur, the system can quickly retrieve pre-computed trajectory information without undergoing time-consuming recalculations
2Productivity
If trajectory information is generated for multiple works concurrently, then productivity is improved, but calculation complexity increases
Solution Approach 1:
The system divides trajectory calculation into separate modular components: trajectory generation unit, interference determination unit, and execution control unit. Each unit handles specific aspects of the calculation independently, allowing concurrent processing of multiple works while managing complexity through functional segmentation
Solution Approach 2:
The system generates and stores trajectory information for multiple works in advance before actual picking operations begin. By preparing all necessary trajectory data beforehand, the system can handle multiple works concurrently during execution without performing complex real-time calculations, thus improving productivity while managing computational complexity
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.