Tagged Container Holding for Small Object Grasping
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Solution Overview
Problem
Holding apparatuses struggle to grasp small or intricately shaped objects due to structural limitations, and when objects are contained in transparent containers, the apparatus cannot differentiate between the object and the container, leading to failed grasping attempts.
Innovation Solution
A holding apparatus equipped with a first detection unit for identifying the object and a second detection unit for recognizing a tag on the container, allowing it to indirectly hold the container based on tag information, eliminating the need for direct object recognition and enabling stable holding even with transparent containers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the holding apparatus attempts to directly hold small or intricately shaped objects, then the structural limitations of the hand part prevent successful holding, but modifying the hand part structure increases device complexity
Solution Approach 1:
The patent introduces a container as an intermediary object between the holding apparatus and the target object. The holding apparatus holds the container instead of directly grasping the difficult-to-hold object, thereby bypassing structural limitations of the hand part while maintaining reliable object containment
Solution Approach 2:
The system uses automated detection units to identify both the target object and its container, eliminating the need for manual specification. The holding apparatus automatically determines to hold the container based on detection results, reducing user intervention and operational complexity
2Measurement precision
If the holding apparatus detects objects in transparent containers, then the detection unit cannot differentiate between the object and the container, but adding detection units increases device complexity
Solution Approach 1:
A tag attached to the container serves as an intermediary marker that provides detectable information about both the container and the target object. The detection unit reads the tag to identify the object without needing to visually differentiate through the transparent container material
Solution Approach 2:
The detection unit performs multiple functions: it detects the target object, identifies the container through the tag, and determines holding parameters, all using a single integrated detection system rather than requiring separate specialized sensors
3Ease of operation
If the user specifies the container to be held, then the operation becomes simpler, but the user must concern about container selection and perform association operations in advance
Solution Approach 1:
The system automatically identifies the target object and its containing container through the detection unit reading the tag. The user simply specifies the desired object, and the system自行 determines to hold the container, eliminating the need for users to manually select containers or perform association operations
Solution Approach 2:
The tag on the container contains pre-stored information about the target object and holding parameters. This preliminary encoding of information allows the detection unit to immediately retrieve necessary data without requiring advance user setup or association operations
4Reliability
If the holding apparatus performs learning work for indirect holding, then the holding accuracy improves, but the time and complexity of setup increases
Solution Approach 1:
All necessary holding information is pre-encoded in the tag attached to the container, including object identification and holding parameters. The system retrieves this information directly without requiring learning work or training phases, achieving accurate indirect holding immediately upon tag detection
Solution Approach 2:
The patent replaces the learning-based adaptive system with a tag-based information storage system. Instead of using machine learning to associate objects with containers, the system uses pre-encoded tag data to directly provide holding parameters, eliminating the need for learning work while maintaining accuracy
Data Source
AI summary
A holding apparatus includes a first detection unit configured to detect an indicated holding object, a second detection unit configured to detect, when the first detection unit detects the holding object, a tag proximate to the holding object, and a holding part configured to hold a container provided with the tag based on tag information of the tag detected by the second detection unit.