Dynamic Mode Switching for Robot Position Measurement
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Solution Overview
Problem
Existing position/orientation measurement methods for robots often require unnecessary processing by using both two-dimensional and distance image information, leading to inefficiencies in calculation time and resource usage, especially when the shape of the object or its placement makes one type of information more accurate than the other.
Innovation Solution
A position/orientation measurement apparatus that selectively chooses between two measurement modes based on the determined state of the object, using either two-dimensional image features or both two-dimensional and distance image data, to optimize measurement accuracy and efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If measurement is performed using both two-dimensional image information and distance image information, then measurement accuracy is improved, but calculation time and calculation resource increase
Solution Approach 1:
The patent implements dynamic mode switching between first measurement mode (using both 2D image and distance image) and second measurement mode (using only 2D image) based on the determined state of the measurement object. The determination means evaluates object characteristics and automatically selects the appropriate measurement mode, making the system adaptable rather than static. This resolves the contradiction by using comprehensive measurement (both images) only when necessary for accuracy, while using simplified measurement (2D image only) when sufficient, thus reducing calculation time without sacrificing required accuracy.
Solution Approach 2:
The patent changes the measurement parameters dynamically by switching between different measurement modes based on object state parameters. When the object state indicates high measurement requirements, the system uses both 2D and distance image data; when object state indicates lower requirements, it uses only 2D image data. This parameter-based adaptation resolves the contradiction by adjusting the measurement approach to match the actual measurement needs, avoiding unnecessary calculation overhead.
2Measurement precision
If measurement is performed using both two-dimensional image information and distance image information, then measurement accuracy is improved, but calculation resource usage increases
Solution Approach 1:
The system dynamically adjusts its operational complexity by switching between measurement modes based on object characteristics. The determination means evaluates whether the object state requires full measurement capability or if simplified measurement suffices, thereby optimizing resource allocation. This resolves the contradiction by making calculation resource usage proportional to actual measurement needs rather than always operating at maximum complexity.
Solution Approach 2:
The patent implements parameter-based mode selection where the measurement approach changes based on evaluated object parameters. When object characteristics indicate sufficient accuracy can be achieved with 2D images alone, the system switches to the simpler second measurement mode, reducing calculation resource consumption. This resolves the contradiction by adapting resource usage to match the actual measurement requirements.
3Measurement precision
If measurement method is selected based on object shape and placement, then measurement accuracy is optimized, but system complexity increases
Solution Approach 1:
The determination means automatically evaluates the object state and selects the appropriate measurement mode without requiring external intervention or complex configuration. The system serves itself by making intelligent decisions about which measurement approach to use based on real-time object characteristics. This resolves the contradiction by automating the complexity management, where the added system complexity of having determination logic is offset by the elimination of manual configuration and the optimization of measurement accuracy.
Solution Approach 2:
The system incorporates feedback through the determination means that continuously evaluates object state and adjusts the measurement mode accordingly. This closed-loop approach allows the system to adapt to varying measurement requirements based on object shape and placement, optimizing accuracy while managing complexity through automated decision-making rather than requiring complex pre-programming for all scenarios.
Data Source
AI summary
A position/orientation measurement apparatus inputs the two-dimensional image of a measurement object captured by an image capturing apparatus, obtains the distance data of the measurement object measured by a distance sensor, detects an image feature of the measurement object from the two-dimensional image, determines the state of the measurement object, sets, based on the determined state, a usage mode regarding the image feature and the distance data when measuring the position/orientation, and measures the position/orientation of the measurement object in accordance with the set usage mode.