Object Transporter Control Using Test Moves and Holding State Estimation
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Solution Overview
Problem
Existing transport systems face inefficiencies in moving objects of varying sizes and shapes, particularly when parameters such as the center of gravity and holding forces are unknown, leading to potential drops and increased operation times.
Innovation Solution
A transporter system equipped with a holder, moving mechanism, sensor, and controller that performs test operations to estimate object parameters like weight and center of gravity, and adjusts movement plans based on holding state scores to ensure secure and efficient transport.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If the transporter moves objects without knowing parameters like center of gravity and holding forces, then operation time is reduced, but reliability deteriorates due to potential drops
Solution Approach 1:
The system performs a test operation before the actual transport to preliminarily acquire object parameters such as center of gravity and holding forces. This preliminary action enables the main transport operation to proceed with accurate parameter knowledge, ensuring both speed and reliability.
Solution Approach 2:
The sensor detects holding forces and object parameters during the test operation, providing feedback to the controller. This feedback loop allows the system to adjust movement plans based on actual object characteristics, preventing drops while optimizing transport time.
2Reliability
If the transporter performs test operations to estimate object parameters, then reliability is improved, but operation time increases
Solution Approach 1:
The test operation performs only the minimum necessary movements to acquire essential object parameters like center of gravity and holding forces. Rather than comprehensive testing, the system executes partial actions sufficient for safe transport, reducing time penalty while maintaining reliability.
3Reliability
If the holder adjusts movement plans based on holding state scores, then transport security is improved, but device complexity increases
Solution Approach 1:
The holder autonomously evaluates its own holding state using sensor feedback and automatically adjusts movement plans based on calculated holding state scores. This self-service capability eliminates the need for external monitoring and complex manual control systems.
Solution Approach 2:
The system changes movement parameters such as acceleration, velocity, and trajectory based on holding state scores. By dynamically adjusting these parameters, the holder ensures secure transport without requiring complex mechanical modifications.
4Measurement precision
If the sensor detects object parameters during test operation, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The sensor serves multiple functions: detecting holding forces, measuring object parameters like center of gravity, and providing feedback for control adjustments. This multi-functionality achieves high measurement precision without requiring separate specialized sensors for each parameter.
Data Source
AI summary
According to one embodiment, a transporter includes a holder, a moving mechanism, a sensor, an operation controller, and a parameter estimator. The holder is configured to hold an object. The moving mechanism is configured to move the holder. The sensor is provided at the holder or the moving mechanism. The operation controller is configured to execute a test operation of moving the holder in a state in which the object is held by the holder. The parameter estimator is configured to estimate at least one parameter relating to the object based on a result of detection acquired by the sensor during the test operation.