Robot Hand Relay Positioning for Collision-Free Bin Picking
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Solution Overview
Problem
Existing workpiece picking devices struggle to efficiently pick up randomly piled workpieces without interfering with the container or other workpieces due to the need for posture adjustment of the robot hand, which can cause collisions, and existing obstacle detection methods are inadequate for reliable prediction and avoidance.
Innovation Solution
A workpiece picking device and method that utilizes a robot with a hand configured to move from a relay position within the container to the picking position via translational movement, determining the relay position and picking posture to avoid interference by setting shapes of the hand, container, and workpiece, and using a sensor for detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the hand posture is changed corresponding to the posture of the workpiece immediately before picking, then the workpiece can be picked up with various postures, but the hand may interfere with the container and/or other workpieces
Solution Approach 1:
The hand is moved to a relay position above the container and adjusts its posture to match the target workpiece posture before approaching the workpiece. This preliminary posture adjustment at the relay position allows the hand to maintain the correct orientation for picking without interfering with other workpieces during the approach, as the approach is performed with a fixed posture along a vertically downward path.
2Object-affected harmful factors
If automatic path generation technology is used to determine robot movement trajectory to avoid interference, then the robot can avoid surrounding environment, but high-performance processing unit and considerable processing time are required
Solution Approach 1:
Instead of performing complex global path planning, the invention uses a localized approach by defining a specific relay position above the container and a fixed vertically downward approach path. This local quality strategy simplifies the path generation to basic geometric calculations, avoiding the need for high-performance processing units and reducing computation time while still ensuring interference-free operation.
3Difficulty of detecting and measuring
If 3D vision sensor is used to detect obstacles, then obstacle detection is enabled, but the sensor can only obtain superficial information regarding upper part of the container and may fail to obtain 3D data
Solution Approach 1:
The invention extracts only the essential geometric information (container shape and workpiece positions) needed for safe operation, rather than attempting to capture complete 3D data of all obstacles. By focusing on the relay position above the container and using simple geometric models, the system achieves reliable operation with minimal sensor data requirements.
Data Source
AI summary
Provided are a workpiece removal device, a removal method, and a control device for efficiently removing workpieces in a container. The workpiece removal device is provided with: a robot equipped with a hand for removing a workpiece in a container; a shape setting unit for setting the shape of each of the hand, the container, and the workpiece; a sensor configured so as to detect the container and the workpiece in the container; a removal position/attitude determination unit for determining a removal position and a removal attitude for the hand for when the detected workpiece is removed with the hand; a relay position determination unit for determining a relay position at which the hand is above and inside the container and at which the attitude of the hand becomes the removal attitude when the operation of removing the detected workpiece is performed; and an operation control unit for causing the hand to move only by translational movement from the relay position to the removal position.