3D Measuring Robot Vision With Vibration-Adaptive Pattern Projection
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Solution Overview
Problem
Three-dimensional measurement accuracy is reduced due to camera vibrations exceeding measurement accuracy thresholds during phase shift methods in three-dimensional measurement systems, especially when imaging with faster shutter speeds and significant camera shakes.
Innovation Solution
A three-dimensional measuring apparatus that projects first and second pattern lights with different periods based on vibration thresholds, using a vibration sensor to control the imaging process, ensuring high accuracy by adjusting the pattern light period according to the level of vibration, thereby minimizing the impact of residual vibrations on measurement precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the shutter speed is made faster to improve work efficiency, then productivity is improved, but measurement precision deteriorates when vibration amplitude exceeds the measurement accuracy threshold
Solution Approach 1:
The patent applies dynamics by making the pattern light period adjustable rather than fixed. The control unit dynamically changes the pattern light period based on real-time vibration information from the vibration sensor. When vibration is detected, the system switches to a longer period pattern light, and when vibration subsides, it returns to the shorter period pattern light, optimizing measurement conditions adaptively.
Solution Approach 2:
The patent changes the physical parameter of the pattern light period based on vibration conditions. The projection unit projects different period pattern lights (first period pattern light and second period pattern light) according to the vibration state detected by the vibration sensor and processed by the control unit, thereby maintaining measurement accuracy under varying vibration conditions.
2Productivity
If imaging is performed immediately after robot arm positioning to improve productivity, then productivity is improved, but measurement precision deteriorates due to residual vibrations
Solution Approach 1:
The patent implements preliminary action by detecting vibrations before imaging occurs and preemptively adjusting the pattern light period in response to detected vibrations. The vibration sensor continuously monitors the robot arm and projection unit, and the control unit adjusts imaging parameters before actual measurement imaging takes place, preventing vibration-induced errors rather than correcting them afterward.
Solution Approach 2:
The system establishes a feedback loop where the vibration sensor continuously monitors vibration levels of the robot arm and projection unit, feeds this information to the control unit, which then adjusts the pattern light period and imaging timing accordingly. This closed-loop control ensures measurement accuracy is maintained despite ongoing vibrations.
3Device complexity
If a fixed pattern light period is used to simplify the system, then device complexity is reduced, but measurement precision deteriorates under varying vibration conditions
Solution Approach 1:
The patent makes the projection unit multi-functional by enabling it to project different period pattern lights (both first period and second period pattern lights) based on vibration conditions. The control unit manages this versatility by selecting appropriate pattern light periods, allowing a single system to handle both low-vibration and high-vibration measurement scenarios without requiring separate dedicated systems.
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
The solution allows for high-accuracy three-dimensional measurements even with significant residual vibrations, improving operational efficiency by starting measurements sooner and reducing the time required after the robot arm reaches the measurement posture, while maintaining high precision.
Implementation Method 1
a three-dimensional measuring apparatus that performs a three-dimensional measurement of an object using a laser beam
Data Source
AI summary
A three-dimensional measuring apparatus includes a projection unit that projects a first pattern light and a second pattern light by a laser beam on a region containing an object, an imaging unit that images a captured image of the region, a vibration information receiving part that receives vibration information on a vibration of the projection unit or the imaging unit, and a measuring unit that measures a three-dimensional shape of the object based on the captured image, wherein the region on which the first pattern light having a first period is projected is imaged by the imaging unit when the vibration information is equal to or smaller than a first threshold value.