Robotic Grasping Target Region Calculation for Interference Reduction

Solution Overview

Problem

Existing bulk picking technologies face inefficiencies when selecting workpieces with complex shapes, as they often prioritize height-based selection over surface-layer graspability, leading to increased interference with neighboring objects and reduced processing efficiency.

Innovation Solution

An information processing apparatus that sets target regions based on the positional relationship between the workpiece and the robot hand, using measurement data and three-dimensional shape models to calculate optimal grasp positions and orientations, minimizing interference by prioritizing surface-layer grasping.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Device complexity

If height-based selection is used to prioritize workpieces in upper areas, then workpiece selection is simplified, but interference with neighboring objects increases and processing efficiency decreases

Engineering Contradiction:

Improveworkpiece selection complexityVSAvoidprocessing efficiency

Core Design Contradiction:

Device complexityVSProductivity

Solution Approach 1:

The patent segments the workpiece selection process into multiple evaluation dimensions: vertical position (height), horizontal position (lateral direction), and graspability. Instead of relying solely on height-based selection, the system divides the selection criteria into these distinct segments to comprehensively assess which workpiece should be grasped first, thereby reducing interference while maintaining systematic complexity management.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent transitions from one-dimensional height-based selection to multi-dimensional selection by incorporating lateral position and graspability assessment. This dimensional expansion allows the system to evaluate workpieces not only by their vertical position but also by their horizontal arrangement and accessibility, enabling more efficient selection that minimizes interference with neighboring objects.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

2Device complexity

If height-based selection is used to prioritize workpieces, then selection process is simpler, but interference with neighboring objects increases

Engineering Contradiction:

Improveselection process complexityVSAvoidworkpiece interference

Core Design Contradiction:

Device complexityVSObject-affected harmful factors

Solution Approach 1:

The patent segments the workpiece selection process into multiple evaluation dimensions: vertical position (height), horizontal position (lateral direction), and graspability. Instead of relying solely on height-based selection, the system divides the selection criteria into these distinct segments to comprehensively assess which workpiece should be grasped first, thereby reducing interference while maintaining systematic complexity management.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent transitions from one-dimensional height-based selection to multi-dimensional selection by incorporating lateral position and graspability assessment. This dimensional expansion allows the system to evaluate workpieces not only by their vertical position but also by their horizontal arrangement and accessibility, enabling more efficient selection that minimizes interference with neighboring objects.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

3Productivity

If surface-layer grasping is prioritized, then processing efficiency improves, but selection complexity increases

Engineering Contradiction:

Improveprocessing efficiencyVSAvoidselection complexity

Core Design Contradiction:

ProductivityVSDevice complexity

Solution Approach 1:

The patent applies preliminary action by pre-defining graspable regions and establishing selection criteria before the actual picking process. The system pre-assesses which workpieces are graspable and their optimal grasp positions, allowing for efficient surface-layer prioritization without increasing real-time selection complexity. This preliminary assessment enables quick decision-making during operation.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The patent changes the selection parameters from simple height-based metrics to composite parameters that include graspability assessment and surface-layer position evaluation. By transforming the selection criteria into these optimized parameters, the system achieves improved processing efficiency while managing selection complexity through standardized evaluation metrics.

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS10532459B2Information processing apparatus, information processing method, and storage medium for grasping an object

Publication Date: 2020.01.14 CANON KK

AI summary

Setting a target region determined based on a positional relationship between an object and a holding unit at a time of holding the object with the holding unit, acquiring measurement data on a plurality of objects, recognizing positions and orientations of the plurality of objects based on the acquired measurement data and a three-dimensional shape model of the objects, calculating a position of the set target region for each of the plurality of recognized objects based on the recognized positions and orientations of the plurality of objects, performing interference judgment about interference between the holding unit and the object in an order determined based on the positions of the target regions, and causing the holding unit to hold one of the plurality of recognized objects based on a result of the performed interference judgment.