Robot Material Handling Alignment Using Rack Image Calibration
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Solution Overview
Problem
Existing intelligent warehousing systems using robots for automatic retrieval and storage often result in collisions between the material handling apparatus and racks due to improper alignment, leading to damage and safety hazards during goods placement or retrieval.
Innovation Solution
An adjustment method involving image acquisition to determine the pose position relationship between the material handling apparatus and the target storage location, aligning the apparatus with the supporting portions of the storage location using image detection of rack identification codes and supporting portions to prevent collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the robot moves directly to the target storage location based on instructions, then the operation speed is improved, but the positioning accuracy deteriorates causing collision with the rack
Solution Approach 1:
The system performs preliminary image acquisition and pose position relationship determination before the material handling apparatus reaches the target storage location. This advance calibration allows the robot to adjust its position and orientation in advance, ensuring accurate alignment without sacrificing operation speed.
Solution Approach 2:
The system uses image acquisition apparatus to capture real-time images of the rack and supporting portions, determines the pose position relationship, and provides feedback for adjusting the material handling apparatus position. This closed-loop feedback mechanism ensures high positioning accuracy while maintaining fast operation speed through automated real-time correction.
2Measurement precision
If automatic calibration through image acquisition is implemented, then positioning accuracy is improved, but the device complexity increases
Solution Approach 1:
The image acquisition apparatus serves multiple functions: it captures images for positioning calibration, identifies rack locations, determines pose relationships, and verifies alignment. This multi-functionality reduces the need for separate specialized devices, thereby limiting the increase in system complexity while achieving high positioning accuracy.
3Reliability
If the material handling apparatus is adjusted to align precisely with the target storage location, then collision safety is improved, but the operation time increases
Solution Approach 1:
The image acquisition and pose determination process occurs continuously as the robot approaches the target location, rather than as a separate discrete step. This allows the material handling apparatus to be adjusted dynamically during movement, maintaining collision safety while minimizing the time added to the operation through continuous rather than batched processing.
Data Source
AI summary
The embodiments of the present application provide a method, apparatus, and device for adjusting a material handling apparatus of a robot. The method includes: acquiring a first detection image through an image acquisition apparatus when the robot moves to a target ground identifier corresponding to a target storage location; determining a pose position relationship between the target storage location and the image acquisition apparatus based on preset key points in the first detection image; and adjusting the material handling apparatus of the robot to be aligned with the target storage location based on the pose position relationship, so that an insert plate of the material handling apparatus is placed between a first supporting portion and a second supporting portion. In this way, the material handling apparatus is calibrated before goods are retrieved or stored, which avoids collisions during goods retrieval and storage and improves operation safety of the robot.