Work Robot Holding Order for Randomly Oriented Workpieces
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Solution Overview
Problem
Articulated robots face inefficiencies in gripping workpieces placed in random orientations and positions due to the burdensome recognition process and potential interference with non-target workpieces, leading to decreased work efficiency.
Innovation Solution
A work robot equipped with an image-capturing device, image processing device, and control device that captures images, recognizes workpiece regions, determines their areas and positions, and establishes a holding order based on distance and area, allowing for efficient sequential gripping and movement of workpieces, even when non-target workpieces are adjacent.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the articulated robot performs recognition processing on each workpiece individually to determine gripping feasibility, then the robot can accurately identify grippable workpieces, but the recognition processing time increases significantly and work efficiency deteriorates
Solution Approach 1:
The system performs preliminary recognition processing on all workpieces in the container simultaneously to identify multiple grippable workpieces before actual gripping operations begin. This preliminary action creates a ready list of candidate workpieces, eliminating the need for repeated individual recognition checks during subsequent gripping operations.
Solution Approach 2:
The recognition process is segmented into two phases: a comprehensive preliminary recognition phase that identifies all grippable workpieces at once, and a subsequent execution phase that operates on the pre-identified candidates. This segmentation allows the system to perform thorough recognition once rather than repeatedly for each individual workpiece.
2Productivity
If the robot grips a target workpiece when non-target workpieces are adjacent, then the gripping operation can proceed, but the non-target workpiece position changes causing subsequent gripping failures
Solution Approach 1:
The system performs preliminary recognition on all workpieces to identify multiple grippable candidates and their positions before gripping begins. By knowing the positions and grippability of all workpieces in advance, the robot can plan a gripping sequence that avoids displacing non-target workpieces, ensuring both speed and accuracy.
Solution Approach 2:
The system dynamically determines the gripping sequence based on the spatial relationships and grippability status of all workpieces. The control device adjusts the gripping order adaptively, selecting workpieces that can be gripped without causing interference or position changes in other workpieces, thereby maintaining both productivity and reliability.
3Manufacturing precision
If the robot needs to reperform recognition processing when workpiece positions change, then accurate gripping can be maintained, but work efficiency deteriorates due to repeated processing
Solution Approach 1:
The system performs comprehensive recognition processing once at the beginning to identify all grippable workpieces and their positions. This preliminary action creates a complete map of the workpiece container, allowing the robot to operate efficiently without needing to reperform recognition processing even when workpiece positions change during sequential gripping operations.
Data Source
AI summary
A work robot sequentially holds multiple workpieces supplied to a supply area and moves the held workpieces to a work area. The work robot includes an image-capturing device configured to capture images of the multiple workpieces supplied to the supply area in random orientations and positions, an image processing device configured to recognize multiple workpiece regions from the images captured by the image-capturing device, obtain an area and a position of each of the recognized multiple workpiece regions, and obtain a distance between each workpiece region and the work area or the work robot, and a control device configured to determine a holding order of the workpiece based on the areas of the multiple workpiece regions and the distance between each workpiece region and the work area or the work robot as obtained by the image processing device.