Robot Control Apparatus for Dynamic Bin Picking
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Solution Overview
Problem
Conventional bin-picking systems require stopping the conveyor to pick up objects, leading to inefficient and time-consuming operations when objects are conveyed by a conveyor or similar apparatus.
Innovation Solution
A robot control apparatus and method that calculates the orientation of conveyed objects and predicts their picking position based on sensing information and conveyor speed, allowing the robot to generate trajectory data for efficient picking without stopping the conveyor.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the conveyor is stopped to pick up workpieces, then the robot can accurately pick up workpieces, but the picking operation takes a huge amount of time
Solution Approach 1:
The system performs preliminary measurement of workpiece position and orientation while the conveyor is moving, calculates the future picking position where the workpiece will be, and prepares the robot trajectory in advance. This allows the robot to pick up the workpiece accurately without stopping the conveyor, resolving the contradiction between picking accuracy and picking speed.
2Productivity
If the conveyor continues moving during picking, then picking speed improves, but the robot must accurately track and predict workpiece position and orientation
Solution Approach 1:
The control system performs preliminary calculations of the workpiece's future position and orientation based on current measurement data and conveyor speed. By predicting where the workpiece will be when the robot arrives, the system simplifies the real-time control complexity while maintaining continuous conveyor operation and high picking speed.
Data Source
AI summary
A robot control apparatus includes a workpiece orientation calculation unit, an arrival prediction unit, a robot orientation calculation unit, and a trajectory data generation unit. The arrival prediction unit obtains a picking prediction position at which a workpiece that is conveyed by a conveyance apparatus may be picked up by a picking apparatus or the like, based on conveyance speed information supplied by the conveyance apparatus or the like and the sensing information supplied by an image acquisition apparatus.