Carriage-Mounted Robot Positioning via Vision Mark Detection
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Solution Overview
Problem
Existing robot systems face challenges in accurately positioning a carriage-mounted robot, especially when working in confined spaces or with varying workpiece orientations, due to the complexity of dedicated equipment and the need for multiple marks or jigs, which complicates the setup and requires operator familiarity.
Innovation Solution
A robot system equipped with a vision sensor, either on the wrist or carriage, and a mark in the workspace, uses an arithmetic processing device to determine the carriage's position by processing images and calculating movement adjustments, allowing the operator to align the carriage accurately through a display device.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a camera or force sensor is used to measure carriage position and offset robot teaching position, then the robot can perform work even when carriage deviates, but positioning accuracy of the robot is not ensured and the robot may interfere with machine tool in confined spaces
Solution Approach 1:
The patent replaces the mechanical positioning system (rails and dedicated equipment) with a vision-based measurement system. The vision sensor captures images of marks to determine carriage position, and the control device calculates offset values to adjust robot operations, eliminating the need for physical contact or mechanical constraints.
Solution Approach 2:
The patent introduces marks as intermediary objects placed in the workspace. These marks serve as reference points that the vision sensor detects to determine carriage position and calculate offset values, acting as a mediator between the carriage and the positioning system.
2Measurement precision
If dedicated equipment such as rails is used for traveling carriage, then positioning accuracy is high, but the structure becomes complicated and facilities cannot be easily modified
Solution Approach 1:
The patent extracts the positioning function from the mechanical rail system and relocates it to a vision-based measurement system. The rails are removed entirely, and position measurement is performed optically using the vision sensor and marks, simplifying the overall system structure.
Solution Approach 2:
The patent replaces the mechanical rail-based positioning system with an optical vision-based system. Instead of using physical rails to constrain and position the carriage, the system uses image processing to detect carriage position and calculate offset values for robot operation adjustment.
3Measurement precision
If multiple marks or jigs are prepared for different workpiece types, then positioning accuracy is maintained, but the device complexity increases and operator familiarity is required
Solution Approach 1:
The patent creates a universal positioning system where a single mark design can be used for all workpiece types. The vision sensor and control device automatically adapt to different workpieces by detecting the mark position and calculating appropriate offset values, eliminating the need for multiple specialized marks or jigs.
Solution Approach 2:
The patent changes the approach from using multiple physical marks with different configurations to using a single mark type with dynamic parameter adjustment. The control device modifies the offset parameters based on the detected mark position and workpiece characteristics, maintaining positioning accuracy without increasing physical complexity.
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 simplifies the positioning process by enabling accurate carriage alignment without complex dedicated equipment, reducing the need for multiple marks or jigs and operator expertise, while allowing the robot to perform tasks in confined spaces with improved precision.
Implementation Method 1
a robot system equipped with a vision sensor, either on the wrist or carriage, and a mark in the workspace, uses an arithmetic processing device to determine the carriage's position by processing images
Data Source
AI summary
The robot system includes a carriage for supporting a robot. The robot system includes a camera, and a mark disposed in a workspace. The control device includes a position acquisition part that is configured to acquire a position of the mark on the basis of an image captured by the camera, and a determination part configured to determine whether or not the robot is located at a position within a predetermined determination range. When the determination part determines that the position of the robot deviates from the determination range, the display device displays the direction and the movement amount in which the carriage is to be moved.