Robot Article Takeout Sensor Positioning to Cut Redundant Scans
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Solution Overview
Problem
In article takeout systems where the working area is larger than the sensor's measurement range, existing methods require inefficient multiple measurements and unnecessary sensor position changes, prolonging the time required to remove articles due to ineffective measurement coverage and repeated useless measurements.
Innovation Solution
An article takeout apparatus and method utilizing a movable sensor with a smaller measurement range, including a position/posture detector, robot, data storage, data update section, evaluation value calculator, and sensor position selector to optimize sensor positions based on comprehensive evaluation values, reducing unnecessary measurements and improving efficiency by selecting the most effective measurement positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If multiple measurements are conducted at different sensor positions to cover the entire working area, then measurement coverage is improved, but the time required for article takeout is extended
Solution Approach 1:
The patent applies partial action by conducting measurements only at necessary sensor positions rather than all possible positions. The system determines which measurement positions are actually needed based on article distribution, performing measurements at a subset of positions that suffice to cover the working area, thereby reducing unnecessary measurement time while maintaining adequate coverage.
Solution Approach 2:
The system performs self-service by automatically determining the optimal measurement positions based on detected article locations. The control unit analyzes the distribution of articles and autonomously selects which sensor positions require measurement, eliminating the need for predetermined measurement schedules and enabling adaptive optimization of the measurement process.
2Reliability
If measurements are conducted at all positions every time an article is taken out, then complete measurement coverage is maintained, but measurement efficiency deteriorates
Solution Approach 1:
The patent applies local quality by making measurement effort proportional to local need. Areas with articles present receive measurement attention, while areas without articles skip measurement. The control unit creates a measurement plan that allocates measurement resources locally to where they are actually required, rather than uniformly across all positions, thereby maintaining reliability where needed while improving overall efficiency.
Solution Approach 2:
The system performs partial action by conducting measurements only at positions where articles are detected rather than at all positions. This selective measurement approach maintains sufficient measurement completeness for article takeout operations while significantly reducing the total number of measurements performed, thus improving measurement efficiency.
3Ease of operation
If sequential measurements are conducted in predetermined order, then measurement process is simplified, but unnecessary measurements increase
Solution Approach 1:
The patent applies dynamics by making the measurement process adaptive rather than static. Instead of following a fixed predetermined sequence, the control unit dynamically determines measurement positions based on real-time detection of article locations. The measurement plan is flexibly adjusted according to the actual distribution of articles, enabling the system to skip positions where no articles are present and focus measurements where they are needed.
Solution Approach 2:
The system uses feedback from article detection to optimize the measurement process. The control unit receives information about article locations and uses this feedback to determine which sensor positions require measurement. This feedback mechanism allows the system to adapt the measurement sequence dynamically, avoiding unnecessary measurements at positions where articles have already been removed or where no articles are present.
Data Source
AI summary
Article takeout apparatus and article takeout method capable of eliminating unnecessary measurements. The article takeout apparatus includes a sensor, a position/posture detector to detect a position/posture of an article in a working area, a robot configured to take out the article, a data storage to store evaluation data to evaluate a plurality of sensor measurement positions corresponding to respective positions at which the sensor measures a plurality of measurement areas, a data update section to update the evaluation data after the measurement area is measured by the sensor and after the article is taken out by the robot, an evaluation value calculator to calculate a comprehensive evaluation value of the working area on the basis of the updated evaluation data, and a sensor position selector to select a next sensor measurement position from among the plurality of sensor measurement positions on the basis of the calculated comprehensive evaluation value.