Image-Guided Work Support Arm for Precise Alignment on Shaking Tables
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Solution Overview
Problem
The accuracy of work alignment in a work space, such as an elevator shaft, is compromised due to the shaking of the work table, leading to deteriorated work precision in conventional systems that rely on estimated positions from 3D models and angle adjustments.
Innovation Solution
A work support device equipped with a robot mechanism, laser irradiation unit, and image capturing system that derives the relative position between the work target and the tool from captured images, controlling the arm mechanism to align the tool with the work target accurately despite table shakes, using laser irradiation and template matching when necessary.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If conventional work support systems use estimated positions from 3D models and angle adjustments, then the system structure remains simple, but work accuracy deteriorates due to work table shaking
Solution Approach 1:
The system captures images of the work target and tool portion, derives their relative positions, and feeds this information back to the control unit. The control unit then adjusts the arm mechanism's position and speed in real-time based on this feedback, enabling accurate alignment despite work table shaking. This closed-loop feedback mechanism resolves the contradiction by maintaining high work accuracy through continuous correction.
Solution Approach 2:
The invention replaces conventional mechanical alignment methods (angle adjustments and estimated positions from 3D models) with an image-based detection and control system. By using image capturing units to detect positions and a control unit to process this visual information, the system achieves higher accuracy without relying on mechanical estimation methods.
2Manufacturing precision
If the system dynamically adjusts tool position and speed to compensate for table shaking, then work accuracy improves, but device complexity increases due to additional sensors and control mechanisms
Solution Approach 1:
The control unit serves multiple functions: it controls the arm mechanism's movement, processes image data from the capturing units, derives relative positions, and adjusts positioning in real-time. By consolidating these diverse functions into a single control unit, the system achieves high alignment precision without proportionally increasing overall system complexity.
Solution Approach 2:
The image capturing units act as intermediaries between the physical work environment and the control system. They convert physical positions into image data that the control unit can process, enabling accurate detection and control without requiring direct mechanical sensors on the work table or tool.
3Manufacturing precision
If the system uses real-time image capture and processing to derive relative positions, then work accuracy improves despite shaking, but the time required for work operations increases
Solution Approach 1:
The system performs image capture, processing, and position derivation continuously during the work operation rather than as separate discrete steps. The control unit continuously adjusts the arm mechanism's position and speed while the work is being performed, maintaining accurate alignment throughout the entire operation without stopping or pausing for separate measurement phases.
Solution Approach 2:
The control unit is pre-programmed with the derived relative position information and uses this information to proactively adjust the arm mechanism's position and speed before alignment errors accumulate. This preliminary adjustment based on derived positions prevents deviations rather than correcting them after they occur.
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
The system ensures precise alignment and improved work accuracy even when the work table shakes, by dynamically adjusting the position and speed of the tool to match the work target, thereby enhancing operational precision.
Implementation Method 1
a laser irradiation unit 20... a laser irradiation unit 20 that irradiates the work target portion T with laser light L
Implementation Method 2
an image capturing unit 12 that captures images of the work target portion T and the tool portion 18A... acquire captured images of the work target portion T and the tool portion 18A
Data Source
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AI summary
A work support device 10 includes an arm mechanism 18, a second determination unit 22D, an acquisition unit 22E, a deriving unit 22F, and a drive control unit 22G. The arm mechanism 18 is a mechanism mounted on a work table disposed in a work space and provided with a tool portion at an end portion. The acquisition unit 22E acquires a captured image of a work target portion and the tool portion in the work space. The deriving unit 22F derives a relative position between the work target portion and the tool portion based on the captured image. The drive control unit 22G controls a drive unit 30 of the arm mechanism 18 so that the position of the work target portion and the position of the tool portion coincide with each other based on the relative position.