Robot Shelf Imaging with Force-Guided Tilting Control
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Solution Overview
Problem
Existing robot systems struggle to image components located in blind spots when drawing them out from a shelf, as they lack effective force detection and controlled tilting mechanisms to adjust the component's position relative to the camera.
Innovation Solution
A robot system with a gripping section, a first arm for drawing out and tilting a storing section, a force detecting section to monitor applied forces, and a control section to suspend operations when a predetermined force is detected, allowing for controlled tilting to align the component's normal with the camera's optical axis, thereby imaging previously inaccessible areas.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot arm draws out the storing section from the shelf without force detection, then the drawing out operation is simple and fast, but the storing section may collide with other components causing damage
Solution Approach 1:
The force detecting section provides real-time feedback on the force applied during drawing out and tilting operations. The control section monitors this feedback and automatically suspends operations when the force exceeds a predetermined threshold, preventing component damage without requiring complex manual intervention systems.
2Reliability
If the robot system only images the storing section from a fixed position, then the imaging setup is simple, but components in blind spots cannot be imaged
Solution Approach 1:
The storing section is tilted dynamically during the imaging process to change its orientation relative to the camera. This allows the imaging section to capture components that would otherwise be in blind spots, improving imaging completeness without adding multiple cameras or complex positioning systems.
3Reliability
If the robot arm tilts the storing section aggressively to access blind spots, then imaging coverage is improved, but the storing section may collide with the shelf or other components
Solution Approach 1:
The force detecting section continuously monitors the force applied during tilting operations. When the force approaches a predetermined threshold that indicates potential collision, the control section automatically suspends the tilting operation, preventing damage to the storing section or surrounding components while still achieving adequate imaging coverage.
4Productivity
If the robot system performs both drawing out and tilting operations continuously without force monitoring, then the operation speed is high, but components may be damaged due to excessive force
Solution Approach 1:
The force detecting section provides real-time feedback during both drawing out and tilting operations. The control section uses this feedback to automatically suspend operations when force thresholds are exceeded, enabling the system to maintain high speeds during normal operations while preventing damage through automatic force-limited suspension.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables the robot system to effectively image and prevent damage to components by suspending operations when a predetermined force is applied, ensuring accurate alignment and reducing the risk of component damage during the drawing and tilting process.
Implementation Method 1
a force detecting section provided in the first arm and configured to detect force applied to the gripping section
Data Source
AI summary
A robot system includes a gripping section configured to grip a storing section, a first arm in which the gripping section is provided, the first arm drawing out the storing section from a shelf in which the storing section is housed, a force detecting section provided in the first arm and configured to detect force applied to the gripping section, an imaging section configured to image the storing section, and a control section configured to control the gripping section and the first arm. The control section performs control for drawing out the storing section from the shelf with the first arm and thereafter tilting the storing section with respect to the shelf with the gripping section or the first arm.