3D Vision Robot Simulation for Teaching Point Correction
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Solution Overview
Problem
Existing simulation devices struggle to accurately determine and correct the position and orientation of a robot with respect to a workpiece due to deviations in the installation positions of the robot and peripheral devices, making it difficult to match the simulation with the actual setup, and marker detection can fail, complicating the correction of operation programs.
Innovation Solution
A simulation device that generates robot and workpiece models based on three-dimensional shape data, uses a three-dimensional vision sensor to acquire position information, and corrects operation programs by superimposing three-dimensional position information on the simulation models to align with the actual workpiece, allowing for precise adjustment of teaching points and orientations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If a simulation device is used to create an operation program, then the operation program can be generated before actual robot operation, but it is difficult to correct teaching point positions and orientations to match actual installation deviations
Solution Approach 1:
The patent applies preliminary action by capturing actual workpiece position data using a vision sensor before finalizing the operation program in the simulation device. This allows the simulation to be adjusted based on real installation positions, enabling both early program creation and accurate position correction by incorporating actual measurement data into the simulation model.
2Measurement precision
If markers are placed on workpieces for position detection, then the position can be detected by vision sensor, but detection may fail and marker creation complicates the process
Solution Approach 1:
The patent extracts the essential position information directly from the workpiece surface features without requiring additional markers. By using the vision sensor to detect natural geometric features of the workpiece itself, the system eliminates marker-related complexity while maintaining detection accuracy, removing the unnecessary marker component from the detection system.
Solution Approach 2:
The workpiece serves itself for position detection by utilizing its own surface features and geometry as detection targets. The vision sensor captures images of the workpiece's inherent characteristics, eliminating the need for external markers and making the workpiece self-sufficient for the detection process.
3Adaptability or versatility
If actual robot and peripheral device installation positions deviate from design values, then the simulation does not match reality, but adjusting simulation parameters to compensate for deviations is difficult
Solution Approach 1:
The patent implements feedback by using the vision sensor to capture actual workpiece position data and feeding this information back to adjust the simulation parameters. This automatic feedback mechanism eliminates the need for manual simulation adjustment, making the system adaptable to installation deviations while maintaining ease of operation through automated parameter correction.
Data Source
AI summary
This simulation device comprises a simulation implementation unit that simulates a movement of a robot device, and estimates a movement path of a robot. The simulation device comprises a position information generation unit that generates three-dimensional position information for a surface of a workpiece on the basis of the output of a vision sensor, which has imaged an actual workpiece. A display unit displays the three-dimensional position information for the surface of the workpiece, superimposed on an image of a robot device model, an image of a workpiece model, and the movement path of the robot.