Robot Position Prediction for Handling Objects on Moving AGVs
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Solution Overview
Problem
Conventional methods require AGVs to stop when robots handle objects, leading to energy waste and time inefficiencies, and pose challenges in accurately tracking objects due to wide measurement ranges during movement.
Innovation Solution
A system and method that utilizes multiple sensors to collect and fuse data from different viewpoints to predict the target position of an object on a moving AGV, allowing robots to operate without stopping the AGV, enhancing accuracy and efficiency by combining data from various sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the AGV stops for robot operation, then the robot can accurately handle the object, but the operation time increases and energy is wasted
Solution Approach 1:
The system performs preliminary actions by predicting the object's target position in advance using sensor data fusion before the robot executes the handling operation. This allows the robot to prepare and position itself proactively while the AGV is still moving, eliminating the need to wait for the AGV to stop and thereby reducing operation time without sacrificing positioning accuracy.
Solution Approach 2:
The patent replaces the traditional mechanical stopping mechanism with a computational prediction system. Instead of physically stopping the AGV to enable accurate object positioning, the system uses sensor data fusion and algorithms to calculate and predict the object's future position, substituting a mechanical constraint (stopping) with an intelligent computational approach that maintains both accuracy and continuous motion.
2Measurement precision
If the AGV stops for robot operation, then the robot can handle the object with stable measurement, but energy consumption increases
Solution Approach 1:
The system replaces the energy-consuming mechanical stopping action with a low-power computational prediction system. By using sensor data fusion and algorithms to predict object position while the AGV continues moving, the system eliminates the energy waste associated with repeated stopping and starting operations while maintaining measurement precision.
Solution Approach 2:
The patent enables continuous useful action by keeping the AGV in constant motion while the robot simultaneously performs prediction and handling operations. The sensor system continuously tracks the object's movement, and the prediction algorithm continuously updates the target position, allowing the AGV to maintain its transport function without interruption while the robot prepares for and executes the handling task efficiently.
3Area of stationary object
If multiple sensors are used to track moving object, then the measurement range increases, but the complexity of data processing increases
Solution Approach 1:
The system merges data from multiple sensors (laser radar, visual sensors, and AGV movement data) into a unified prediction model. By combining these diverse data sources through data fusion techniques, the system achieves comprehensive coverage of the measurement range while integrating the information processing into a coordinated workflow that manages complexity through systematic data integration rather than handling each sensor independently.
Solution Approach 2:
The patent introduces an intermediary prediction system that acts as a mediator between multiple sensors and the robot control system. This intermediary layer receives raw data from various sensors, performs data fusion and coordinate transformations, and outputs a predicted target position. This intermediary structure simplifies the overall system by centralizing the complex data processing tasks and providing a standardized interface to the robot controller.
Data Source
AI summary
Systems, devices, and methods for controlling a robot. Some methods include, in response to determining that an object enters a reachable area of the robot, triggering a first sensor to sense a movement of the object; determining first position information of the object based on data received from the first sensor; determining second position information of the object based on second data received from a second sensor; and generating a first prediction of a target position at which the object is operated by the robot. In this way, the robot can complete an operation for the object on the AGV within a limit operation time during which the AGV passes through the reachable area of the robot. Meanwhile, by collecting the sensing data from different sensor groups, a target position at which the object is handled by the robot may be predicted more accurately.