Image-Processing Data Structure for Flexible Robot Workpiece Picking
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Solution Overview
Problem
In multiproduct variable cell production lines, the need for efficient image-processing data generation is hindered by the requirement for dedicated supply devices, which are costly and inefficient for handling various product types, and general-purpose devices complicate workpiece recognition due to uncertain positions and orientations.
Innovation Solution
A data structure comprising workpiece shape data for pattern matching and tool data for interference checking, allowing for the creation of image-processing data that can be easily adapted for different product types by rearranging shared settings, reducing labor in generating data for multiple product types.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a dedicated supply device is used to supply workpieces at predetermined positions and orientations, then the articulated robot can perform predetermined pickup operations easily, but the device requires dedicated design for each workpiece type and occupies large installation space with high costs
Solution Approach 1:
The patent applies universality by designing a general-purpose supply device that can handle multiple workpiece types without dedicated design for each product. The supply device uses a standardized data structure that can accommodate various workpiece shapes and tool configurations, allowing one device to serve multiple functions across different product types in multiproduct variable cell production
Solution Approach 2:
The patent uses parameter changes by storing workpiece shape data and tool data in a flexible data structure that can be reconfigured for different product types. The system changes parameters such as workpiece geometry, orientation, and tool characteristics through data modification rather than physical device redesign, enabling quick adaptation to different workpieces
2Area of stationary object
If a general-purpose supply device is used to supply multiple workpieces with simple placement, then the installation area is reduced and more workpieces can be supplied, but the positions and orientations of workpieces become uncertain causing interference issues
Solution Approach 1:
The patent replaces the mechanical alignment system with an image processing system. Instead of using mechanical fixtures to precisely position and orient workpieces, the system uses camera imaging and image processing algorithms to detect workpiece positions, orientations, and interference states, substituting mechanical precision with optical detection and computational analysis
Solution Approach 2:
The patent introduces an intermediary data structure that bridges the general-purpose supply device and the image processing system. This data structure stores workpiece shape information and tool characteristics, serving as a mediator that enables the image processing device to accurately interpret captured images and determine pickup feasibility despite uncertain workpiece arrangements
3Measurement precision
If image-processing data is generated for multiple product types using traditional methods, then accurate workpiece recognition is achieved, but a large amount of labor is required which conflicts with efficient multiproduct variable production
Solution Approach 1:
The patent applies copying by reusing workpiece shape data and tool data across different product types. Once data is created for a particular workpiece-tool combination, it can be copied and adapted for similar products, significantly reducing the labor required to generate image-processing data for multiple product types while maintaining recognition accuracy
Data Source
AI summary
Data structure for image-processing data is for creating image-processing data necessary for performing image processing on captured images of multiple workpieces when an articulated robot extracts a workable target workpiece from among multiple supplied workpieces. The data structure includes workpiece shape data for recognizing a target workpiece by pattern matching and tool data configured to check whether there is interference between a tool mounted on the articulated robot and a peripheral workpiece. The data structure is configured such that the combination of the workpiece shape data and the tool data can be rearranged for each workpiece or for each tool.