Operating Arm Pose Error Detection Using Multiple Visual Markers
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Solution Overview
Problem
Robot systems for remote operations face challenges in accurately detecting pose errors of operating arms, which can lead to inaccuracies and safety risks during operations, as existing methods lack real-time error detection capabilities.
Innovation Solution
An error detection method that involves obtaining a target pose of the operating arm's end, acquiring positioning images, recognizing pose identifications, determining the actual pose, and generating control signals to address pose errors, utilizing a computer device with a processor and image acquisition device to perform these tasks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If real-time pose error detection is implemented, then operation accuracy and safety are improved, but device complexity increases due to additional sensors and processing requirements
Solution Approach 1:
The patent replaces complex mechanical sensing systems with vision-based detection. An image acquisition device captures images of pose identifications on the operating arm, and image processing algorithms determine the actual pose, substituting physical sensors with optical measurement methods to reduce system complexity while maintaining detection capability
Solution Approach 2:
The patent uses visual copies (images) of the operating arm's pose identifications to detect actual position and orientation. By capturing and processing visual information rather than using direct physical measurement, the system achieves accurate pose detection without requiring complex mechanical sensing infrastructure
2Measurement precision
If multiple pose identifications are recognized, then measurement precision of pose detection is improved, but difficulty of detecting and measuring increases due to image processing complexity
Solution Approach 1:
The patent divides the pose detection task into separate identification of multiple pose identifications (first, second, third, etc.) on the operating arm. Each pose identification is detected and processed independently to determine specific pose parameters, breaking down the complex measurement task into manageable segments that can be processed systematically
Solution Approach 2:
The patent uses multiple pose identifications positioned at different locations and orientations on the operating arm to detect pose in three-dimensional space. By distributing identifications across different spatial dimensions and using their relative positions, the system achieves comprehensive pose measurement while simplifying individual identification design
Data Source
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AI summary
The present disclosure relates to the field of error detection technology, disclosing an error detection method. The error detection method includes: obtaining a target pose of an end of an operating arm; acquiring a positioning image; recognizing, in the positioning image, a plurality of pose identifications located on the end of the operating arm, the plurality of pose identifications including different pose identification patterns; determining an actual pose of the end of the operating arm based on the plurality of pose identifications; and generating a control signal related to a fault in response to the target pose and the actual pose meeting an error detection condition.