Marker Depth Value Determination for Robotic Arm Grasping
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Solution Overview
Problem
The accuracy of robotic arm grasping in automated production is affected by the depth value of markers, which existing methods fail to determine reliably and efficiently, impacting successful object manipulation.
Innovation Solution
A method and system that use a computer device to calculate a standard depth value of a marker by integrating force sensor data and camera imaging, establishing a coordinate system, and employing RMS calculations to determine the accurate depth value, allowing the robotic arm to grasp objects accurately.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If existing methods are used to determine marker depth value, then the process is simple, but the accuracy and reliability of depth value determination is insufficient
Solution Approach 1:
The patent combines force sensor data and camera imaging data into a unified determination system. The force sensor measures actual contact depth while the camera captures marker position, and both data streams are merged through coordinate system transformation and RMS calculation to produce a reliable standard depth value, resolving the contradiction between measurement precision and device complexity
Solution Approach 2:
The system implements feedback by using the force sensor to measure actual depth during grasping operations and comparing it with camera-based depth estimates. This feedback loop allows continuous refinement of the standard depth value through RMS calculation, improving measurement precision while maintaining a manageable system through iterative optimization
2Productivity
If existing methods are used to determine marker depth value, then the implementation is straightforward, but the determination speed and efficiency are insufficient
Solution Approach 1:
The patent performs preliminary coordinate system establishment and calibration before actual depth determination. By pre-configuring the coordinate systems for both the force sensor and camera, and establishing their spatial relationships in advance, the system enables rapid real-time depth calculations without repeated calibration, thus improving determination speed while maintaining precision through pre-established accurate reference frames
Data Source
AI summary
A method for determining a standard depth value of a marker includes obtaining a maximum depth value of the marker. A reference depth value of the marker is obtained based on a depth image of the marker, and a Z-axis coordinate value of the marker is obtained based on a color image of the marker. When the reference depth value and the Z-axis coordinate value are both less than the maximum depth value, and a difference between the reference depth value and the Z-axis coordinate value is not greater than 0, the depth reference value is set as the standard depth value of the marker; and when the difference is greater than 0, the Z-axis coordinate value is set as the standard depth value of the marker.