3D Vision Sensor Integration for Large Object Measurement
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Solution Overview
Problem
Existing three-dimensional shape measurement systems struggle to capture complete information of large objects, as they often exceed the camera's field of view, leading to missed data in determining the position and attitude of workpieces within containers.
Innovation Solution
A three-dimensional shape measurement system utilizing an articulated robot equipped with multiple three-dimensional vision sensors that capture distance images from overlapping measurement areas, integrating these images to generate a comprehensive integrated distance image, allowing for the measurement of larger objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single camera is used to measure three-dimensional shape, then the measurement system is simple, but large objects cannot be fully captured as they exceed the camera's field of view
Solution Approach 1:
The patent divides the measurement task into multiple segments by using multiple cameras positioned at different locations. Each camera captures a specific portion of the object's three-dimensional shape, and these segmented measurements are later combined to form a complete measurement of the entire object, resolving the contradiction between system simplicity and information completeness.
Solution Approach 2:
The patent merges the measurement data from multiple cameras by integrating their respective three-dimensional shape information. The measurement results from different cameras are combined to create a comprehensive measurement of the object, allowing the system to measure large objects that would be too big for a single camera's field of view.
2Loss of information
If multiple cameras are used to measure large objects, then complete three-dimensional information can be obtained, but the system complexity increases
Solution Approach 1:
The patent applies a universal measurement approach where multiple cameras perform the same measurement function from different positions. Each camera captures three-dimensional shape data using the same processing methodology, and the results are integrated to provide complete measurement information, achieving both completeness and manageable complexity through standardized multi-functional operation.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables the generation of three-dimensional information for objects that are too large to fit within a single measurement area, ensuring accurate position and attitude calculation without missing data, thereby improving the measurement of large-sized objects.
Implementation Method 1
at least one three-dimensional vision sensor mounted to the articulated robot and configured to measure a three-dimensional shape of an object to be imaged
Data Source
AI summary
A three-dimensional shape measurement system includes: an articulated robot having a plurality of axes; at least one three-dimensional vision sensor mounted to the articulated robot and configured to measure a three-dimensional shape of an object to be imaged; a storage unit configured to store distance images representing the three-dimensional shape measured respectively in a plurality of measurement areas including an overlap region; and an integrating unit configured to integrate the plurality of distance images stored in the storage unit in such a manner that parts of the distance images corresponding to the overlap region are superimposed on each other, to thereby generate an integrated distance image.