Robot Picking Control Using Staged Shape Measurement
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Solution Overview
Problem
Existing picking systems face challenges in reducing the time required for the picking task while minimizing impacts on the object, particularly due to difficulties in accurately measuring the three-dimensional shape of objects and calculating optimal placement positions, which can lead to increased task duration and decreased efficiency.
Innovation Solution
A picking system that employs a control device to calculate position candidates for object placement in a second space based on initial measurements from a first measuring instrument, followed by secondary calculations using a second measuring instrument to determine the robot hand's position, allowing for efficient transfer without stopping the picking robot and reducing object impacts.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the system waits for complete three-dimensional measurement before calculating placement position, then measurement accuracy is improved, but picking task duration increases
Solution Approach 1:
The system performs preliminary placement position candidate calculations using only first direction measurement data before the second measuring instrument completes its scan. The control device calculates multiple placement position candidates in advance based on partial information, then selects the optimal position after complete three-dimensional data is available, avoiding waiting for full measurement while maintaining accuracy.
Solution Approach 2:
The measurement and calculation process is divided into segments: first direction measurement for preliminary candidate calculation, second direction measurement for final verification. This segmentation allows parallel processing of measurement and calculation tasks, reducing overall task duration while maintaining measurement precision through multi-stage verification.
2Manufacturing precision
If the system uses complex three-dimensional modeling for accurate placement calculation, then placement precision is improved, but device complexity and processing time increase
Solution Approach 1:
The system calculates multiple placement position candidates in advance using simplified first direction measurement data without requiring complete three-dimensional models. This preliminary calculation phase reduces processing complexity and time, while the final selection phase ensures placement precision by considering complete measurement data.
Solution Approach 2:
The system performs calculations with partial measurement information (excessive action in terms of calculation steps) to generate candidate positions, then refines the selection with complete data. This approach achieves accurate placement without requiring complete three-dimensional models before calculation begins, reducing device complexity requirements.
3Measurement precision
If the system calculates hand position after object release, then measurement accuracy is improved, but task efficiency decreases
Solution Approach 1:
The system calculates the robot hand position in advance using measurement data obtained before object release. By performing this calculation preliminarily based on available measurement information, the system avoids delaying the picking task while maintaining sufficient accuracy for safe and efficient object transfer.
4Manufacturing precision
If the system stops the picking robot for accurate placement calculation, then placement precision is improved, but productivity decreases
Solution Approach 1:
The system performs placement position candidate calculations in advance using measurement data acquired before the picking robot stops. By preparing candidate positions preliminarily, the robot can continue its picking operations without interruption, and only pause briefly for final position selection and execution, thereby maintaining high productivity while ensuring accurate placement.
Data Source
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Figure 3A~3C
AI summary
According to one embodiment, a picking system (1) includes a picking robot (10) and a control device (30). The picking robot (10) transfers an object from a first space (SP1) to a second space (SP2) by using a robot hand (11). The control device (30) controls the picking robot (10). When a first measurement result related to a shape of the object in the first space (SP1) when viewed along a first direction is acquired, the control device (30) performs a first calculation of calculating a position candidate for placing the object in the second space (SP2) based on the first measurement result. When a second measurement result related to a shape of the object when viewed along a second direction is acquired, the control device (30) performs a second calculation of calculating a position of the robot hand (11) when placing the object in the second space (SP2) based on the second measurement result and the position candidate.