Mobile Robot 3D Position Correction Using Target Mark Stereo Sensing
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Solution Overview
Problem
Existing robot systems mounted on carts or AGVs face challenges in performing precise tasks due to changes in their stopping positions, requiring complex coordinate corrections that are difficult and time-consuming for users to manage.
Innovation Solution
A robot system equipped with a visual sensor for stereoscopic measurement of target marks, allowing for three-dimensional position correction and operation adjustment, enabling precise work without user intervention in coordinate systems or vision settings, using a low-cost two-dimensional camera for six-degree-of-freedom correction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot is mounted on a cart or AGV to enable mobile operation, then the robot can perform work in various locations, but the stopping position changes each time making precise task execution difficult
Solution Approach 1:
The patent transitions from two-dimensional image capture to three-dimensional position measurement by introducing a laser distance meter that measures distance in the depth direction. This dimensional addition enables accurate calculation of the robot's stopping position relative to the work area, resolving the position accuracy issue while maintaining mobile operation capability
Solution Approach 2:
The patent introduces a laser distance meter as an intermediary measurement device between the robot and the work area. This intermediary component provides accurate distance information that, when combined with image processing data, enables precise position correction without requiring complex coordinate system calculations from the user
2Measurement precision
If a camera is mounted to the robot hand for position detection, then the robot can detect target marks and correct operation, but the user must manually manage coordinate corrections and vision settings making the process complex
Solution Approach 1:
The patent implements self-service by enabling the system to automatically calculate and apply position corrections. The control unit integrates data from the image processor and laser distance meter, automatically computes the displacement amount, and adjusts robot operations without requiring user intervention in coordinate systems or vision settings
Solution Approach 2:
The patent merges multiple measurement functions into a single integrated system. The image processor and laser distance meter work together under unified control, combining two-dimensional image data with three-dimensional distance measurement to automatically determine position correction, eliminating the need for separate coordinate management by the user
3Device complexity
If traditional two-dimensional camera measurement is used for position correction, then the system is simple, but three-dimensional position correction cannot be achieved accurately
Solution Approach 1:
The patent adds the depth dimension to traditional two-dimensional camera measurement by introducing a laser distance meter. This dimensional enhancement enables accurate three-dimensional position correction while maintaining relative system simplicity, as the laser distance meter provides direct distance measurements that complement the image data
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
Enables automatic and precise three-dimensional correction of the robot's position, allowing it to perform tasks accurately even when its position changes, simplifying the process and reducing user effort, while using a low-cost camera for six-degree-of-freedom corrections.
Implementation Method 1
a target mark position acquiring unit for obtaining a three-dimensional position by using a vision sensor provided on the robot to perform stereoscopic measurement of the at least two target marks
Data Source
AI summary
The objective of the present invention is to provide a robot system with which, if the position of a robot becomes displaced, it is easy to perform work by employing a camera or the like to apply a three-dimensional correction. This robot system is provided with: a robot 2; a robot conveying device 3 on which the robot is mounted, for moving the robot to a predetermined work space; at least two target marks 4 installed in the work space; a target mark position acquiring unit 5 for obtaining a three-dimensional position by using a vision sensor provided on the robot 2 to perform stereoscopic measurement of the at least two target marks 4; a displacement amount acquiring unit 6 for obtaining the displacement amount between the robot 2 and a desired relative position in the work space, from the acquired three-dimensional position; and a robot control unit 7 for activating the robot 2 using a value adjusted from a prescribed activation amount, using the acquired displacement amount.