Robot-Mounted Camera Posture Setting from Teaching Points
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
The existing methods for determining the image pickup posture of a robot-mounted camera are cumbersome, requiring repeated visual observations and adjustments to ensure accurate image capture of a working area, and involve complex calibration processes using optical markers.
Innovation Solution
An image processing apparatus that simplifies the determination of image pickup posture and correction parameters by specifying a working area based on teaching points and automatically determining the optimal image pickup posture and correction parameters without the need for optical markers, using a combination of software modules for image processing, robot control, and display control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If repeated visual observation and adjustment of robot arm tilt and position are performed to determine image pickup posture, then the camera can pick up the working area appropriately, but the operation becomes troublesome and time-consuming
Solution Approach 1:
A marker is introduced as an intermediary object to facilitate the determination of image pickup posture. The marker is placed on the workpiece, and its detected position and posture in the image are used to calculate the required robot arm tilt and position, eliminating the need for repeated trial-and-adjustment operations by the user
Solution Approach 2:
The manual mechanical adjustment process is replaced with an automated computational method. The system uses image processing to detect marker coordinates, applies coordinate transformation calculations, and automatically determines the robot arm posture parameters, substituting the mechanical trial-and-adjustment process with an automated information processing system
2Measurement precision
If calibration using optical marker is performed to determine correction parameter, then the position and posture conversion between image and robot coordinate becomes accurate, but the correction process becomes complicated due to marker installation and calibration work
Solution Approach 1:
The complex marker installation and calibration procedures are extracted and replaced with a simplified approach. Instead of requiring optical marker calibration, the system uses a simple positional relationship calculation between the camera and workpiece based on image coordinate detection and coordinate transformation, removing the unnecessary calibration complexity while maintaining accuracy
Data Source
Figure 1
Figure 2A~2C
Figure 3
AI summary
An image processing apparatus capable of simplifying operations for determining an image pickup posture of an image pickup apparatus attached to a robot. The image processing apparatus processes an image that an image pickup apparatus attached to a robot picks up. The image processing apparatus includes a first specification means for specifying a working area of the robot on the basis of teaching point information showing a plurality of designated teaching points, a second specification means for specifying an image pickup area of the image pickup apparatus so as to include the specified working area, and a first determination means for determining an image pickup posture of the robot on the basis of the specified image pickup area.