Monocular Camera 3D Detection Using Intersecting Light Beams
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Solution Overview
Problem
Industrial robots face challenges in accurately detecting the three-dimensional position and posture of objects in real time, especially when using monocular cameras, as they often require complex processing and take significant time, limiting their productivity and flexibility in tasks like fast picking and handling.
Innovation Solution
A detection apparatus equipped with a monocular camera and a light beam irradiation unit that calculates the distance and three-dimensional position of an object by projecting light beams at intersecting angles, using image processing to create profile data and interpolate or extrapolate the object's position, enabling real-time processing and accurate object detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a compound eye camera is used to obtain three-dimensional position information, then measurement precision is improved, but processing time increases significantly (about 0.4 seconds)
Solution Approach 1:
The patent segments the three-dimensional detection problem into two separate two-dimensional image acquisitions taken at different time points. By capturing images at different moments and analyzing the temporal change in object position, the system achieves three-dimensional detection without requiring complex compound eye camera processing, thus reducing processing time while maintaining measurement precision.
Solution Approach 2:
The patent introduces time as an intermediary variable to enable three-dimensional detection. By using the temporal change in two-dimensional image positions as a mediator, the system can infer depth information without directly capturing it through complex optical systems, thereby achieving fast three-dimensional detection with a simple monocular camera.
2Productivity
If a monocular camera is used to reduce processing time, then productivity is improved, but the ability to accurately detect three-dimensional position is degraded
Solution Approach 1:
The patent applies dynamics by capturing images at different time points rather than using a static single-image approach. By analyzing the dynamic change in object position between two time points, the monocular camera can infer three-dimensional information, achieving both high productivity through simple hardware and accurate measurement through temporal analysis.
3Reliability
If sequential images are used to monitor work quality and detect pickup failures, then reliability is improved, but processing complexity increases
Solution Approach 1:
The patent maintains continuous useful action by using sequential images to monitor work quality, pickup failures, and work completion. By continuously analyzing the temporal sequence of images, the system ensures reliable detection of work quality issues without requiring additional sensors or complex processing systems, achieving both high reliability and simple processing.
Data Source
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AI summary
A detection unit comprising a manipulator, a imaging unit, a light beam irradiation unit and a computing unit, the imaging unit and the light beam irradiation unit are provided on a manipulator. The detection apparatus includes a horizontal imaging plane, which includes an optical axis of the imaging unit, and a vertical imaging plane, which includes the optical axis of the imaging unit and 1) a projection of a light beam from the light beam irradiation unit on the horizontal imaging plane and 2) a projection of a light beam from the light beam irradiation unit on the vertical imaging plane respectively form an intersecting angle with the optical axis of the imaging unit.