Movable Vision Calibration for Robotic Workpiece Bending
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Solution Overview
Problem
Conventional apparatuses for automated workpiece bending have a limited field of view due to a static image capture device, restricting the capture of workpieces to a small spatial region.
Innovation Solution
A movable image capture device with an actuator system allows positioning in different sections, using markings with known positions relative to a reference coordinate system for accurate determination of the device's and workpiece's location, enabling external calibration and expanded capture area.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If a fixed position image capture device is used, then the device structure is simple, 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 fixed static position to a movable dynamic position. The device can be moved to different positions via an actuator system, allowing it to capture image data from different sections of the storage. This dynamic positioning enables a much larger spatial region to be monitored while maintaining relatively simple device structure.
2Area of stationary object
If multiple image capture devices are used to cover larger storage area, then the coverage area increases, but the device complexity and cost increase
Solution Approach 1:
A single image capture device is designed to perform multiple functions by moving to different positions. Instead of requiring multiple fixed devices to cover different sections, one universal device can service the entire storage area by being repositioned, thereby reducing the total number of devices needed and simplifying the overall system.
Solution Approach 2:
The device's ability to change position dynamically allows one device to replace what would otherwise require multiple static devices. The actuator system enables the single device to access different sections of the storage, achieving comprehensive coverage without multiplying the device count.
3Area of stationary object
If the image capture device is moved to different positions, then the capture area increases, but the positioning accuracy must be maintained
Solution Approach 1:
The system uses feedback from captured image data to determine the location of the image capture device. By analyzing images of markings with known positions, the system can calculate the device's current location and use this information to control the robotic device accurately, maintaining measurement precision across the expanded capture area.
Solution Approach 2:
Markings with known positions serve as intermediaries between the movable image capture device and the reference coordinate system. These markings enable the system to translate the device's physical position into accurate digital location data, maintaining positioning precision regardless of where the device is located within the expanded spatial region.
Data Source
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AI summary
The invention relates to an apparatus for the automated bending of workpieces (10), comprising a storage (2) for workpieces (10), a robotic device (3) for handling the workpieces (10) and a bending machine (5) for deforming at least some of the workpieces (10) handled with the robotic device (3) via a bending process, the apparatus (1) also having an image capture device (7) for capturing image data (ID) about workpieces (10) in the storage (2) which are to be handled and a control device (6) for controlling the robotic device (3) using the image data (ID). The image capture device (7) can be moved into different positions (CP1, CP2) via an actuator system (8) in order to capture image data (ID) from different storage sections (201, 202, 203, 204) of the storage (2) associated with the respective positions (CP1, CP2), wherein a plurality of markings (M1, M2,..., M10) are provided on the storage (2), the positions (PO1, PO2,..., PO10) of which markings relative to a reference coordinate system (RC) are stored in the control device (6), wherein a respective position (CP1, CP2) of the image capture device (7) in the associated storage section (201, 202, 203, 204) contains at least two markings (M1, M2,..., M10) and the control device (6) is configured to carry out an evaluation of the image data (ID) of the associated storage section (201, 202, 203, 204), in which, by means of the stored positions (PO1, PO2,..., PO10) of the markings (M1, M2,..., M10) in the associated storage section (201, 202, 203, 204), the location (CL) of the image capture device (7) and/or the location (WL) of a workpiece (10) to be handled relative to the reference coordinate system (RC) is automatically determined.