Suction Gripper Multi-Object Picking With Grasp Quality Scoring
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Solution Overview
Problem
Existing robotic systems face challenges in efficiently grasping and placing multiple objects simultaneously due to issues such as selecting suitable groups of objects, ensuring secure grasps, and coordinating placement on conveyors, which can lead to inefficiencies and damage.
Innovation Solution
A method for determining candidate groups of objects to grasp using a physical model of gripper-object interactions, evaluating grasp quality, and employing a computing device to select and secure the grasp, along with techniques for coordinated placement on conveyors based on object dimensions and conveyor width.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple objects are grasped simultaneously to increase throughput, then productivity improves, but the complexity of selecting suitable object groups and ensuring secure grasps increases
Solution Approach 1:
The system performs preliminary evaluation of candidate object groups and grasp quality scores before execution. The computing device determines which groups of objects can be safely grasped together and calculates grasp quality metrics in advance, allowing the robotic system to plan multi-object grasps systematically rather than reacting during execution.
Solution Approach 2:
The system uses feedback from grasp quality evaluation to iteratively improve grasp selection. By continuously assessing grasp quality scores for different object combinations and using this information to refine selection decisions, the system optimizes which objects to grasp simultaneously while managing complexity through data-driven feedback loops.
2Reliability
If higher quality grasps are selected to reduce object drop and damage, then reliability improves, but the time required for evaluation and selection increases
Solution Approach 1:
The system evaluates only the necessary subset of grasp parameters and object groups required to ensure reliable grasps, rather than performing exhaustive analysis of all possible combinations. By focusing evaluation on critical factors that most impact grasp security and object integrity, the system achieves high reliability without proportional time costs.
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
Enhances the throughput of pick and place operations by reducing object drop and damage, allowing for faster and more efficient handling of multiple objects.
Implementation Method 1
An on-board vacuum system may then be activated to use suction to adhere the object to the gripper.
Data Source
AI summary
A method of grasping and/or placing multiple objects by a gripper of a mobile robot. The multi-grasp method includes determining one or more candidate groups of objects to grasp by the suction-based gripper of the mobile robot, each of the one or more candidate groups of objects including a plurality of objects, determining a grasp quality score for each of the one or more candidate groups of objects, and grasping, by the suction-based gripper of the mobile robot, all objects in a candidate group of objects based, at least in part, on the grasp quality score. The multi-place method includes determining an allowed width associated with the conveyor, selecting a multi-place technique based, at least in part, on the allowed width and a dimension of the multiple grasped objects, and controlling the mobile robot to place the multiple grasped objects on the conveyor based on the selected multi-place technique.