Robot Gripper Collision Avoidance via 3D Point Set Analysis
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Solution Overview
Problem
Existing article pickup systems require pre-prepared three-dimensional model patterns for each type of article, which is time-consuming and difficult for indefinitely shaped articles, and may result in collisions during pickup due to the need for previously set grip portion regions.
Innovation Solution
An article pickup apparatus and method using a robot with a grip unit that measures surface positions of articles in a three-dimensional space, sets grip unit models, calculates grip success possibilities based on position information and grip unit models, and selects optimal position postures to avoid collisions and efficiently pick up articles without prior model preparation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If three-dimensional model patterns are previously prepared for each type of article, then article recognition accuracy is improved, but preparation time and effort increase significantly
Solution Approach 1:
The patent uses three-dimensional point sets obtained by actual measurement as digital copies of articles, replacing the need for pre-prepared CAD model patterns. These point sets are directly acquired from physical articles using a three-dimensional measurement instrument, eliminating the time-consuming model creation process while maintaining recognition accuracy through actual geometric data
Solution Approach 2:
The system performs self-service by automatically generating recognition data from direct measurement of physical articles. The measurement instrument captures three-dimensional point sets that serve as both the article model and the recognition target, eliminating the need for external model preparation processes
2Reliability
If grip portion regions are previously set for articles, then pickup reliability is improved, but adaptability to different article positions and postures deteriorates
Solution Approach 1:
The patent dynamically determines grip portion regions based on the actual measured three-dimensional point sets and the specific position and posture of each article. Instead of using fixed pre-set grip regions, the system calculates appropriate grip portions adaptively for each article configuration, maintaining reliability while achieving versatility across different positions and postures
Solution Approach 2:
The system identifies and selects specific local regions of each article as grip portions based on their geometric characteristics and accessibility. By analyzing the three-dimensional point sets, the system determines optimal grip regions tailored to each article's local geometry and orientation, ensuring reliable pickup while adapting to various positions
3Manufacturing precision
If grip unit moves to pickup position determined by article position posture, then pickup precision is improved, but collision risk with other articles increases
Solution Approach 1:
The patent performs preliminary collision detection by analyzing the three-dimensional point sets of all articles before the grip unit moves to the pickup position. The system calculates potential collision paths and adjusts the grip unit's approach trajectory in advance to avoid collisions with other articles, maintaining pickup precision while eliminating collision risks
Solution Approach 2:
The system introduces an intermediate collision detection and path planning process between article positioning and grip unit movement. This intermediary step uses the three-dimensional spatial data to compute safe movement trajectories that achieve precise pickup positioning while avoiding collisions with surrounding articles
Data Source
AI summary
An article pickup apparatus configured so as to set a grip unit model including a substantial region of the grip unit in an opened state and a grip region inside the substantial region, set position posture candidates of the grip unit, calculate a grip success possibility of any of the articles by the grip unit in each of the grip position posture candidates based on the position information acquired by a three-dimensional measurement instrument and the grip unit model, select position posture candidates from the position posture candidates based on the grip success possibility and setting the selected position posture candidates as grip unit position postures, and control the robot so as to move the grip unit to the grip unit position postures to pick up any of the articles.