Robot Grip Point Buffering for Faster Object Handling Cycles
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Solution Overview
Problem
Handling systems, such as robots used for picking goods in warehouses, experience idle times due to waiting for grip point ascertainment results, which is inefficient especially when robot dynamics are fast.
Innovation Solution
A method that uses a handling system with a robot and a detection device to capture images of the work area, determine grip point candidates, and store them for subsequent cycles, allowing the robot to access pre-determined grip points without waiting for renewed determination, thereby reducing idle times and improving handling efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If grip point ascertainment is performed in each handling cycle, then gripping accuracy is ensured, but robot idle time increases
Solution Approach 1:
The system performs grip point ascertainment in advance before the handling cycle begins. The detection device captures images and determines grip point candidates beforehand, storing them in a buffer. During the handling cycle, the robot can immediately execute tasks using pre-determined grip points without waiting for real-time analysis, thus eliminating idle time while maintaining accuracy.
Solution Approach 2:
The system enables continuous operation by overlapping the image capture and grip point determination processes with the robot's handling tasks. While the robot performs handling operations using pre-determined grip points, the detection device simultaneously captures new images and determines grip points for the next cycle, ensuring that the robot is never idle and useful action continues uninterrupted.
2Reliability
If serial handling cycles are executed, then task completion is ensured, but overall handling speed decreases
Solution Approach 1:
Grip point candidates are determined and stored in advance in a buffer memory before the handling cycle starts. This preliminary determination allows the robot to execute multiple handling operations in sequence without interruption, as all necessary grip information is already available, thereby maintaining task completion reliability while significantly increasing handling speed.
Solution Approach 2:
The system dynamically adjusts the handling process by using pre-determined grip point candidates that allow the robot to execute tasks at its maximum speed without waiting for real-time computation. The buffer of pre-calculated grip points enables the robot to operate dynamically at full speed while the system simultaneously prepares grip points for subsequent tasks, optimizing both speed and reliability.
Data Source
AI summary
A method (for handling objects arranged in a work area) comprising carrying out a plurality of handling cycles one after the other, each handling cycle comprising capturing at least one image of the work area, determining, on the basis of the at least one image, at least one grip point candidate at which a corresponding object can be gripped with the end effector, wherein the determined grip point candidates form a set Me of grip point candidates, selecting a grip point candidate as the target grip point for the end effector, and performing a handling task comprising moving the end effector to the target grip point, wherein at least one subset Mes of the set Me is stored in a grip point memory, and at least one subset Mtes of the grip point candidates Mes stored in the grip point memory remains stored at least until the next handling cycle.