3D Camera Guidance for Curved Wire Tip Insertion
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Solution Overview
Problem
Existing methods for moving the tip of a line-like object, such as an electric wire, using a robot hand struggle when the object is curved, as the robot hand cannot accurately recognize and align the tip with a target position, such as a through hole, due to the curvature.
Innovation Solution
A method involving a robot hand and a three-dimensional camera that measures the position and orientation of the line-like object's tip, allowing the robot hand to move it to a target position by matching the orientation with a predetermined orientation, ensuring accurate insertion even when the object is curved.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the robot hand assumes the line-like object extends straight from the grasped region toward the tip, then the control system is simple, but the tip position recognition becomes inaccurate when the object is curved
Solution Approach 1:
The patent replaces the mechanical assumption of straight-line extension with an optical measurement system (three-dimensional camera) to detect the actual curved position of the tip. The camera captures spatial coordinates of the tip, and a processor calculates the corrected tip position based on these optical measurements, substituting the simple mechanical control assumption with optical-field measurement and computational correction.
2Ease of operation
If the robot hand moves the tip along a straight trajectory, then the movement control is simple, but the tip cannot reach the target position accurately when the object is curved
Solution Approach 1:
The patent implements a feedback mechanism where the three-dimensional camera continuously monitors the actual tip position, and the processor compares it with the target position. Based on this feedback, the control system dynamically adjusts the robot hand's movement trajectory to compensate for curvature, ensuring accurate tip insertion while maintaining operational simplicity through automated correction.
Solution Approach 2:
The patent changes the movement parameters (trajectory, speed, direction) dynamically based on the detected curvature. The processor calculates the deviation between the assumed straight trajectory and the actual curved tip position, then adjusts the movement parameters to correct the trajectory and achieve precise tip insertion into the target hole.
3Device complexity
If no orientation measurement is performed, then the measurement process is simple, but the tip alignment with the target hole is inaccurate
Solution Approach 1:
The patent transitions from two-dimensional image capture to three-dimensional spatial measurement by using a three-dimensional camera that captures depth information. This dimensional enhancement allows the system to measure not only the tip position but also its orientation in three-dimensional space, enabling accurate alignment with the target hole while keeping the measurement process integrated and relatively simple.
Data Source
AI summary
The present method for moving a tip of a line-like object is a method for moving a tip of a line-like object grasped by a robot hand to a target position, the method including: measuring a position of the tip of the line-like object grasped by the robot hand; and moving the tip to the target position based on the measured position of the tip.