Robot Workpiece Selection Control for Parallel Task Execution
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Solution Overview
Problem
Current robot control systems face increased cycle times when selecting a task object from multiple workpieces, especially when workpieces are moving, as the selection and task processes are serially processed, leading to delays and inefficiencies due to potential obstructions and the need for prolonged monitoring.
Innovation Solution
A robot control system that includes a robot, a tool attached to the robot, a first vision sensor for wide-area detection, and an operation control section that allows simultaneous and parallel execution of workpiece selection and task performance, with the selector transmitting information to the operation control section to control the robot, utilizing both wide-area and narrow-area sensors for accurate positioning and orientation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If workpiece selection and robot task are processed in serial, then the robot can accurately select the task object, but the cycle time increases
Solution Approach 1:
The system performs workpiece selection in advance using a wide-area sensor before the robot task begins. The selector identifies and designates the task object from multiple workpieces beforehand, so that when the robot executes the task, the target is already determined. This preliminary selection action eliminates waiting time during task execution while maintaining accurate selection.
Solution Approach 2:
The system divides the workpiece detection function into two separate sensors: a wide-area sensor for initial workpiece selection and a narrow-area sensor for detailed task execution. This segmentation allows the wide-area sensor to perform selection operations independently in parallel with robot task preparation, while the narrow-area sensor provides precise positioning when needed, thus reducing overall cycle time without sacrificing selection accuracy.
2Adaptability or versatility
If the workpiece is moving around, then the robot can handle dynamic workpieces, but the workpiece may be turned over or obstructed, making detection time consuming
Solution Approach 1:
The wide-area sensor performs preliminary detection and selection of moving workpieces before they may be turned over or obstructed by other workpieces. By capturing workpiece positions and identifying targets in advance while they are still visible and accessible, the system determines selection results before dynamic changes occur, reducing detection time despite workpiece movement.
Solution Approach 2:
The system maintains continuous monitoring and detection capabilities with the wide-area sensor operating throughout the workpiece movement process. Rather than performing discrete, interrupted detection attempts, the sensor continuously tracks workpiece positions and maintains selection information, ensuring that detection actions are ongoing and effective even as workpieces move dynamically, thereby reducing overall detection time.
Data Source
AI summary
A robot control system includes: a selector configured to perform a selection of a task object from among a plurality of workpieces by using a first vision sensor; and an operation control section configured to control a robot to perform a task on the task object by using a tool. The selection and the task are executed simultaneously and in parallel, the selector transmits the information of the selected task object to the operation control section before the task, and the operation control section controls the robot based on the transmitted information of the task object.