Transport Unit Coordinate Path Planning for Continuous Object Motion
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Solution Overview
Problem
Existing transport systems face challenges in effectively controlling and planning object paths along transport trajectories, as they require synchronization with the movement of transport units, leading to complex geometry and potential violations of kinematic and dynamic axis limit values.
Innovation Solution
The solution involves defining object paths in relation to a transport unit coordinate system that moves along a predefined transport trajectory, with at least one path point converted to a base coordinate system to control the object's movement, using transformation rules to ensure continuous transitions and adherence to axis limit values.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the object path is defined directly with respect to the reference coordinate system, then the transport trajectory and object path can be planned independently, but the object path geometry becomes complex and control becomes difficult
Solution Approach 1:
The patent introduces a transport unit coordinate system that moves with the transport unit, adding a dynamic reference dimension. This allows the object path to be defined relative to the moving transport unit rather than the fixed reference coordinate system, simplifying the path geometry while maintaining planning independence through coordinate transformation
2Device complexity
If the object path is defined in relation to a moving transport unit coordinate system, then the object path geometry is simplified, but synchronization with transport trajectory becomes complex
Solution Approach 1:
The control unit continuously monitors the transport unit's position, velocity, and acceleration, and uses this feedback to dynamically transform coordinates and adjust the object path definition. This ensures synchronization between the moving coordinate system and the actual transport trajectory while maintaining simplified path geometry
3Manufacturing precision
If coordinate transformation is performed continuously to maintain synchronization, then movement accuracy is improved, but computational load and processing time increase
Solution Approach 1:
The patent pre-calculates transformation parameters and prepares coordinate transformation data in advance based on the planned transport trajectory. This preliminary action reduces the computational burden during real-time execution, maintaining high movement accuracy while minimizing processing time and computational load
Data Source
AI summary
For improved control and planning of a movement of the object in relation to a transport unit of a transport system, the transport unit is moved along a predefined transport trajectory with respect to a reference coordinate system. Embodiments provide a synchronous phase, in which a movement of an object point of the object along an object path with respect to a transport unit coordinate system, different from the reference coordinate system, is predefined during the synchronous phase. The transport unit coordinate system containing the transport unit is moved along the transport trajectory. At least one path point of the object path is converted from the transport unit coordinate system to a base coordinate system in order to control the movement of the object point along the object path with respect to the base coordinate system.