AR Robot Teaching With Virtual End Effector Overlay
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Solution Overview
Problem
In industrial robot systems, the absence of end effectors or peripheral equipment hinders the teaching process, as existing augmented reality techniques do not effectively display virtual images of these components on real robots.
Innovation Solution
A robot system equipped with a control apparatus and a video display apparatus that uses augmented reality to superimpose virtual images of end effectors or peripheral equipment onto real-time camera feed, allowing for their display based on relative position and angle, enabling teaching tasks even when they are not physically present.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If augmented reality technology is used to display virtual images of end effectors or peripheral equipment, then the ability to perform robot teaching tasks without physical equipment is improved, but the complexity of the display system increases
Solution Approach 1:
The patent creates virtual copies of end effectors and peripheral equipment that are displayed in superimposed fashion on real robot images. These virtual images replicate the appearance and position of the actual equipment, allowing operators to perform teaching tasks as if the physical equipment were present. The virtual images are generated based on camera images and position information, enabling realistic simulation without requiring the actual hardware.
Solution Approach 2:
The patent introduces a video display apparatus as an intermediary between the robot control system and the operator. This apparatus captures real-time images of the robot, processes them to add virtual equipment overlays, and presents the composite view to the operator. This intermediary system bridges the gap between the absence of physical equipment and the need for teaching operations, enabling indirect interaction with virtual representations.
2Measurement precision
If virtual images are superimposed on real robot images in real-time, then the simulation accuracy of equipment positions is improved, but the processing time and computational load increase
Solution Approach 1:
The patent pre-calculates and stores position information for multiple types of end effectors and peripheral equipment relative to the robot. When performing teaching tasks, the system retrieves pre-stored position data and camera images, then quickly overlays the appropriate virtual images without requiring complex real-time calculations. This preliminary preparation of position data enables fast rendering while maintaining accurate position simulation.
Solution Approach 2:
The patent replaces complex real-time mechanical positioning calculations with image processing techniques. Instead of calculating virtual image positions based on robot kinematics and transformation matrices in real-time, the system uses camera-captured images and superimposes virtual equipment at positions determined from pre-stored data and simple image coordinate transformations. This substitution of mechanical calculation with image-based methods reduces computational load while maintaining visual accuracy.
Data Source
AI summary
A robot system according to the present invention comprises a control apparatus for controlling a robot, and a video display apparatus connected to the control apparatus. The video display apparatus comprises a display unit which displays an image of a real space containing the robot, in real time as the image is taken by a camera, and an augmented reality image processing unit which causes a virtual image of an end effector or robot peripheral equipment of the robot to be displayed on the display unit in superimposed fashion on a real image of the robot taken by the camera. According to the robot system, even when the end effector or the robot peripheral equipment is not present, a robot teaching task can be performed by assuming that they are present.