Movable Vision Calibration for Automated Workpiece Bending
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Solution Overview
Problem
Conventional apparatuses for automated bending of workpieces have a limited field of view due to a static image capture device, restricting the spatial region that can be captured.
Innovation Solution
A movable image capture device with an actuator system allows positioning in different sections of the storage, using markings with known positions to determine its location and that of the workpieces relative to a stationary reference coordinate system, enabling external calibration and capturing a larger spatial region.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If the image capture device is arranged at a fixed position, then the device structure is simple and stable, but the field of view is limited and only a small spatial region can be captured
Solution Approach 1:
The image capture device is transformed from a static fixed-position arrangement to a dynamic movable arrangement. The device can be positioned at multiple locations along the storage length direction through a movable support structure, enabling it to capture different spatial regions and significantly expanding the field of view while maintaining operational simplicity.
2Area of stationary object
If the image capture device is made movable to capture larger spatial region, then the field of view is improved, but the device complexity and positioning accuracy requirements increase
Solution Approach 1:
Reference markings are introduced as intermediary elements to facilitate positioning. These markings are placed at known positions on the storage structure, and the image capture device captures images of these markings to determine its own location and orientation. This intermediary system enables accurate positioning without requiring complex positioning mechanisms, as the markings serve as natural reference points for calibration.
Solution Approach 2:
The positions of the reference markings are pre-established and stored in the control device before the image capture operation. This preliminary arrangement of known reference points allows the system to perform external calibration and determine the device's location and orientation through image processing, simplifying the real-time operation and reducing the complexity of dynamic positioning control.
3Measurement precision
If external calibration using markings is implemented, then the positioning accuracy is improved, but the device complexity increases
Solution Approach 1:
The system performs self-calibration by capturing images of reference markings that are already present on the storage structure. The control device automatically processes the captured images to determine the image capture device's location and orientation, and uses this information to calculate workpiece positions. This self-service approach eliminates the need for separate complex calibration equipment or manual calibration procedures, achieving high positioning accuracy while maintaining system simplicity.
Data Source
AI summary
An apparatus for the automated bending of workpieces is disclosed. The apparatus includes a storage, a robotic device and a bending machine for deforming workpieces handled by the robotic device. The apparatus further includes an image capture device and a control device. The image capture device can capture image data from different storage sections. A plurality of markings are provided on the storage, the positions of which are stored in the control device. A respective position of the image capture device includes at least two markings. The control device is configured to carry out an evaluation of the image data of the associated storage section by means of the stored positions of the markings in the associated storage section, the location of the image capture device and/or the location of a workpiece to be handled relative to the reference coordinate system automatically.