Sensor-Guided Object Rearrangement for Faster Robotic Handling
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Solution Overview
Problem
Conventional handling devices face challenges in efficiently holding objects with varied shapes, sizes, and weights, requiring extensive calculation for determining optimal holding strategies, which can increase decision time.
Innovation Solution
A handling system comprising a movable arm, holder, and sensor, controlled by a controller that evaluates and decides on arrangement changes based on sensor information to facilitate efficient object handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If extensive calculation operations are performed to determine optimal holding strategies for objects with various shapes, sizes, and weights, then the accuracy of holding strategy decision is improved, but the calculation time required increases
Solution Approach 1:
The system performs preliminary classification of objects into categories based on their shapes, sizes, and weights before detailed holding strategy calculation. By pre-defining object categories and associated holding strategies, the system reduces the computational burden during actual handling operations while maintaining decision accuracy through category-based selection of appropriate calculation models.
Solution Approach 2:
The holding strategy determination process is segmented into multiple stages: initial object classification, category-based strategy selection, and detailed parameter calculation. This segmentation allows the system to perform only necessary calculations for each object category, reducing overall computation time while preserving accuracy for the specific object type being handled.
2Adaptability or versatility
If the handling system performs comprehensive evaluation of holding strategies for objects with diverse characteristics, then the adaptability to different objects is improved, but the device complexity increases
Solution Approach 1:
The control device implements a universal holding strategy framework that can handle multiple object types through a single integrated system. By defining generic object categories and universal holding strategy templates that can be applied across different object types, the system achieves high adaptability without requiring separate complex control mechanisms for each object category.
Solution Approach 2:
The system achieves adaptability to diverse objects by dynamically adjusting holding strategy parameters based on object classification results. Rather than changing the fundamental control architecture, the system modifies specific parameters such as holding force, gripper position, and arm trajectory based on the detected object category, thereby maintaining versatility while controlling system complexity.
Data Source
AI summary
According to an embodiment, there is provided a handling system capable of handling a plurality of objects, the handling system including: a movable arm, a holder, a sensor, and a controller. The holder is attached to the movable arm and is capable of holding the object. The sensor is capable of detecting the object. The controller controls the movable arm and the holder. The controller determines whether or not to change an arrangement of the object before the object is held, on the basis of information acquired from the sensor. In a case where it is determined to change the arrangement of the object, the controller evaluates effectiveness of an arrangement change operation for each object, and decides on an arrangement change operation on the basis of an evaluation result.