Off-Center Camera Image Correction for Robot Workpiece Handling
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Solution Overview
Problem
When a camera is positioned off-center to avoid interference with a workpiece retention robot, the photographed workpiece images become distorted, leading to inaccurate recognition of the workpiece's position, which can prevent proper retention and transportation.
Innovation Solution
A workpiece photographed image processing device that calculates and applies conversion parameters to correct lens distortion in images, allowing for the accurate alignment of pixels and generation of a corrected image that represents the workpiece's true shape and position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the camera is located directly above the workpiece, then the shape of the workpiece is properly photographed, but the camera interferes with the workpiece retention robot when it transports the workpiece
Solution Approach 1:
The patent transitions from a two-dimensional top-down camera view to a three-dimensional oblique viewing angle. By positioning the camera at an offset position rather than directly above, the system captures the workpiece from an angled perspective that avoids interference with the robot's vertical movement while still enabling accurate position detection through coordinate transformation algorithms.
2Object-affected harmful factors
If the camera is located at a position deviated from directly above the center of the placement location, then interference with the workpiece retention robot is avoided, but the workpiece is photographed from an oblique direction causing trapezoidal distortion
Solution Approach 1:
The patent applies parameter transformation to convert the distorted oblique view into accurate position information. By establishing coordinate transformation relationships between the camera's oblique coordinate system and the workpiece placement coordinate system, the system compensates for trapezoidal distortion through mathematical parameter adjustments rather than physical camera repositioning.
Solution Approach 2:
The patent replaces the mechanical solution of positioning the camera directly above the workpiece with a computational approach. Instead of mechanically adjusting camera position to achieve top-down viewing, the system uses image processing algorithms and coordinate transformations to correct oblique viewing distortion, substituting mechanical positioning with computational geometry.
3Object-affected harmful factors
If the workpiece is photographed from an oblique direction, then camera interference is avoided, but the position of the workpiece cannot be correctly recognized
Solution Approach 1:
The patent introduces coordinate transformation as an intermediary process between the camera's oblique view and the workpiece position recognition. The coordinate system transformation acts as a mediator that translates distorted image coordinates into accurate placement position coordinates, enabling correct position recognition without requiring direct top-down camera positioning.
Data Source
AI summary
A camera is located at a position deviated from directly above a center of a placement location of a workpiece. When a photographed image is generated by photographing, with the camera, the placement location at which the workpiece is placed, an image processing device specifies, by using a preliminarily determined conversion parameter, to which pixels in the photographed image two-dimensional coordinates within a photographed three-dimensional space correspond, aligns the specified pixels corresponding to the respective coordinates in a two-dimensional manner, and generates a corrected photographed image in which a trapezoidal distortion in the photographed image is corrected. A robot control device detects a position of the workpiece at the placement location based on the corrected photographed image, and controls a workpiece retention robot so as to retain the workpiece and transport the workpiece to a processing machine.