Mechanical Arm Coordinate Transfer Using ArUco Marker Vision
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Solution Overview
Problem
Manual extraction of absolute coordinates for mechanical arms in automated production is time-consuming, affecting production efficiency.
Innovation Solution
A computing device establishes a wireless connection with a mechanical arm, using a camera and ArUco markers to automate the determination of reference, intermediate, and target position coordinates, allowing the arm to move accurately between workstations without manual intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual operation is used to extract absolute coordinates, then the mechanical arm can be controlled to move between positions, but the time required to search for coordinates at multiple workstations is long
Solution Approach 1:
The patent replaces the manual mechanical operation of searching and extracting coordinates with an automated vision system. A camera captures images of ArUco markers at workstations, and image processing algorithms automatically extract position coordinates, eliminating the need for manual coordinate search and input while maintaining high precision.
Solution Approach 2:
The patent introduces ArUco markers as intermediary objects placed at each workstation. These markers serve as visual mediators that the camera can easily detect and track, enabling automatic coordinate extraction. The markers act as intermediaries between the physical workstation positions and the digital coordinate system, facilitating rapid and accurate position determination.
2Ease of operation
If manual extraction of absolute coordinates is performed at each workstation, then the mechanical arm can execute grabbing and placing operations, but production efficiency is affected
Solution Approach 1:
The system enables self-service coordinate determination where the mechanical arm and vision system automatically determine their own positions without human intervention. The camera autonomously captures marker images, the processing system automatically calculates coordinates, and the mechanical arm uses these coordinates for positioning, creating a self-sufficient automated workflow that eliminates manual coordinate input steps.
Solution Approach 2:
The patent implements preliminary action by pre-placing ArUco markers at all workstation positions before production begins. This preliminary setup allows the vision system to quickly identify and determine coordinates at any workstation instantly during operation, eliminating the need for manual coordinate search and input during the production process itself.
Data Source
AI summary
A method for determining coordinates of a mechanical arm includes taking a first picture of a marker on a target object on a first jig, obtaining first position coordinates of the marker, calculating reference position coordinates, controlling the mechanical arm to move to the reference position coordinates, moving the mechanical arm from the reference position coordinates to an intermediate position, setting current position coordinates as intermediate position coordinates, moving the mechanical arm from the intermediate position to a target position, setting current position coordinates as target position coordinates, moving the target object onto a second jig, taking a second picture of the marker to obtain second position coordinates, calculating reference position coordinates based on the second position coordinates, controlling the mechanical arm to move to the reference position coordinates, calculating intermediate position coordinates corresponding to the second jig, and calculating target position coordinates corresponding to the second jig.