Robotic Measurement Path Control for Occluded Workpiece Recognition
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Solution Overview
Problem
Robotic systems face challenges in accurately recognizing and picking up workpieces with complex shapes that overlap, causing occlusion and incomplete measurement data, leading to inefficient and inaccurate object recognition and potential interruptions in the picking process.
Innovation Solution
A control apparatus for a robotic system that includes a pose generator, measurement path determiner, instructor, and recognizer, which dynamically defines measurement paths and poses for a measurement device on a robotic arm to ensure comprehensive coverage of the measurement area, allowing for reliable recognition and efficient object manipulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a single fixed pose measurement is used, then the device complexity is low, but the measurement precision is insufficient due to occlusion and complex shapes
Solution Approach 1:
The patent applies dynamics by transitioning from a fixed measurement pose to multiple dynamic poses. The measurement device changes its position and orientation according to a predetermined measurement path, allowing it to capture objects from different angles and avoid occlusion issues that plague single-pose measurement systems.
Solution Approach 2:
The patent implements dimensionality change by moving the measurement device along a three-dimensional measurement path that includes multiple poses with different positions and orientations. This multi-dimensional approach enables comprehensive coverage of complex-shaped objects that cannot be fully measured from a single viewpoint.
2Measurement precision
If multiple poses and measurement paths are implemented, then the measurement precision improves, but the productivity decreases due to increased measurement time
Solution Approach 1:
The patent applies preliminary action by pre-defining the measurement path and multiple poses before actual measurement begins. This preparation allows the measurement device to efficiently traverse predetermined positions without real-time calculation delays, balancing comprehensive measurement with time efficiency.
Solution Approach 2:
The patent implements continuity of useful action by designing a measurement path that allows the measurement device to continuously capture data across multiple poses without interruption. The hand moves the measurement device along a continuous trajectory, ensuring uninterrupted data collection that maximizes productivity while maintaining precision.
3Reliability
If the measurement device remains fixed, then the ease of operation is high, but the reliability is low due to incomplete measurement data
Solution Approach 1:
The patent applies dynamics by making the measurement device movable rather than fixed. The hand manipulates the measurement device to follow a predetermined measurement path with multiple poses, enabling reliable measurement of complex objects while automating the operation to maintain ease of use.
Solution Approach 2:
The patent implements self-service by having the measurement system automatically traverse the predetermined measurement path without requiring manual intervention at each pose. The automated movement and measurement process maintains reliability through consistent multi-pose data collection while preserving operational simplicity.
Data Source
AI summary
A control apparatus according to one or more embodiments generates poses of the measurement device to measure an object, determines, for the measurement device, a measurement path including the poses to cause the measurement device to move along the measurement path including the poses and to measure the object, instructs the robot to move the measurement device along a movement path including the measurement path and instructs the measurement device to measure the object in the poses, recognizes the object using obtained measurement data, and determines the measurement path for the measurement device for a next operating cycle.