Beam-Split Robotic Arm Vision Alignment for Precise Positioning
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Solution Overview
Problem
Existing robotic arm systems face challenges with reduced operable space and precision due to non-coaxial arrangements of the camera and robotic arm, leading to random errors between visual and mechanical spaces.
Innovation Solution
An automatic robotic arm system and coordinating method that uses a beam-splitting mirror to align the capturing optical axis with the flange axis, allowing for precise coordination between the robotic arm and computer vision by measuring target distances and computing transformation relations between visual and mechanical spaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robotic arm and camera are arranged in a coaxial arrangement, then the coordination precision between visual space and mechanical space is improved, but the operable space of the robotic arm is reduced
Solution Approach 1:
A beam-splitting mirror is introduced as an intermediary component to separate the optical path from the mechanical axis. The mirror reflects light from the target to the camera while allowing the robotic arm to operate along its own axis, thus achieving both coaxial alignment for precision and maintaining operable space.
Solution Approach 2:
The optical path is redirected into a different spatial dimension using the beam-splitting mirror. Instead of the camera being positioned directly on the mechanical axis, the light path is bent at an angle, allowing the camera to be positioned offset from the axis while maintaining optical coaxiality.
2Area of moving object
If the robotic arm and camera are arranged in a non-coaxial arrangement, then the operable space of the robotic arm is increased, but offset errors occur between visual space and mechanical space
Solution Approach 1:
The beam-splitting mirror serves as a mediator that decouples the physical positioning of the camera from the mechanical axis. The camera can be positioned in a location that provides adequate operable space, while the mirror ensures that the optical axis remains aligned with the mechanical axis for precision.
3Area of moving object
If the camera is positioned outside the flange axis, then the operable space is improved, but the upper limit of the camera's allowable volume is restricted
Solution Approach 1:
By using the beam-splitting mirror to redirect the optical path, the camera can be positioned in a different spatial location that provides sufficient operable space. The optical path is extended through the mirror reflection, allowing a larger camera to be positioned outside the flange axis without compromising the operational envelope.
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
This solution enhances the operable space, improves precision, and eliminates offset errors, enabling accurate positioning and operation of the robotic arm through computer vision.
Implementation Method 1
a beam-splitting mirror is configured to guide a visible light to the image capturing device arranged outside a flange axis of the robotic arm, and guide a ranging light to the optical ranging device
Data Source
AI summary
An automatic robotic arm system and a coordinating method for robotic arm and computer vision thereof are disclosed. A beam-splitting mirror splits an incident light into a visible light and a ranging light and respectively guides to an image capturing device and an optical ranging device arranged in the different reference axes. In a calibration mode, a transformation relation is computed based on a plurality of the calibration postures and corresponding calibration images. In an operation mode, a mechanical space coordinate is determined based on an operation image and the transformation relation, and the robotic arm is controlled to move based on the mechanical space coordinate.