Optical Work Coordinate Generation for Markerless Robot Targets

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Solution Overview

Problem

Existing methods for generating work coordinates for work robots are inefficient and prone to errors when detailed CAD information is lacking or when markers are not attached to targets, leading to manual measurement and teaching workloads that are time-consuming and error-prone.

Innovation Solution

A work coordinate generation device that registers shape information about a work region using optical definitions and employs image processing to recognize and generate work coordinates, allowing for automated coordinate generation even without known local coordinate systems.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If manual measurement or teaching work is used to generate work coordinates, then work coordinates can be obtained, but time consumption and operator effort increase significantly

Engineering Contradiction:

Improvework coordinate accuracyVSAvoidcoordinate generation time

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

The patent replaces manual mechanical measurement methods with automated optical image processing. A camera captures images of the target, and image processing algorithms automatically extract work region coordinates, eliminating the need for manual caliper measurements and teaching pendant operations.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The system enables self-service coordinate generation by automatically processing target images and extracting work region information without operator intervention. The image processing unit autonomously identifies work regions and calculates coordinates, making the system self-sufficient for coordinate generation tasks.

Inventive Principle:

Principle #25Self-service

2Ease of operation

If teaching work with teaching pendant is performed, then work coordinates can be set, but operation complexity and error risk increase

Engineering Contradiction:

Improvecoordinate setting easeVSAvoidoperation error rate

Core Design Contradiction:

Ease of operationVSReliability

Solution Approach 1:

The patent replaces the teaching pendant mechanical operation system with automated image processing. Instead of requiring operators to manually move the robot hand and record positions, the system automatically captures target images and computes work coordinates through algorithmic processing, eliminating teaching work entirely.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The coordinate setting process becomes self-service through automated image analysis. The system independently processes target images, identifies work regions, and generates coordinates without operator intervention, making the operation simple and error-free.

Inventive Principle:

Principle #25Self-service

3Measurement precision

If CAD information is required for markerless work, then accurate work coordinates can be generated, but system applicability decreases when CAD information is unavailable

Engineering Contradiction:

Improvework coordinate accuracyVSAvoidsystem applicability

Core Design Contradiction:

Measurement precisionVSAdaptability or versatility

Solution Approach 1:

The patent replaces the CAD information dependency with direct optical image processing. Instead of requiring pre-existing CAD data for coordinate generation, the system captures real-time images of the actual target and extracts work region coordinates directly from the visual information, enabling operation on targets without CAD information.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The system changes the information parameter from requiring pre-existing CAD data to using real-time optical image data. This parameter change enables the system to adapt to targets without CAD information while maintaining measurement accuracy through direct visual measurement and image processing.

Inventive Principle:

Principle #35Parameter changes

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

The device enables efficient and accurate generation of work coordinates for each target, reducing operator effort and the likelihood of errors, while improving work efficiency by automating the process of determining work regions and their positions.

Implementation Method 1

a camera, searches for at least a part of a region in first image data acquired by imaging a first target with the camera

Methodology Applied

Scientific EffectOptical imaging: Photography

Data Source

PatentUS11826919B2Work coordinate generation device

Publication Date: 2023.11.28 FUJI CORP

AI summary

A work coordinate generation device includes a shape register section configured to register shape information about a shape of a work region optically defined on a target which is a work target of a work robot; a first recognition section configured to acquire first image data; a first coordinate generation section configured to generate a first work coordinate which represents the work region of the first target based on a result of recognition of the first recognition section; a second recognition section configured to acquire second image data; and a second coordinate generation section configured to generate a second work coordinate which represents the work region of the second target based on the first work coordinate and a result of recognition of the second recognition section.