3D Camera Robot Identification via Plenoptic Light Field Sensing
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Solution Overview
Problem
Current methods for identifying manipulators in industrial settings are complex and unreliable, often requiring manual entry of control addresses or attachment of markers like QR codes or RFID tags, which can be hidden or require manual intervention.
Innovation Solution
A method using a portable terminal with a 3D camera, such as a plenoptic camera, captures a three-dimensional image of the manipulator to determine its actual state, allowing for identification based on reference states without the need for markers, enabling intuitive and automatic selection from a distance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual entry of control address is used to identify robot, then robot can be identified and controlled, but the process is complex and requires address to be known and entered
Solution Approach 1:
The robot system automatically provides its own identification information through status messages transmitted via communication interface. The portable terminal receives these status messages and extracts identification data without requiring manual address entry, making the system self-identifying and eliminating complex manual procedures
Solution Approach 2:
The manual mechanical process of typing addresses is replaced by an automated optical/electronic system. The portable terminal's camera captures images of the robot, and image processing algorithms automatically extract and recognize the robot's identification information from visual data, substituting manual entry with automated vision-based identification
2Ease of operation
If QR code or RFID tag is attached to robot for identification, then robot can be identified automatically, but the markings can be temporarily hidden and method is unreliable
Solution Approach 1:
The status message transmission system serves multiple functions: it provides real-time robot status information for monitoring purposes and simultaneously contains identification information for robot identification. This multi-functional approach eliminates the need for separate identification markers while ensuring reliable identification through the existing communication infrastructure
Solution Approach 2:
The status message acts as an intermediary carrier that conveys both operational status and identification information. Instead of relying on physical markers that can be hidden, the identification data is transmitted through the communication interface as part of the status messages, ensuring continuous availability and reliability of identification information
3Measurement precision
If camera image is used to recognize robot position and posture, then 3D information can be obtained, but additional CG synthesis is required to create robot model
Solution Approach 1:
The system extracts only the essential identification information from the captured images, such as robot position, posture, and unique visual features. Rather than performing complete CG synthesis to create full 3D models, the method extracts and utilizes only the necessary data elements for identification purposes, simplifying the processing while maintaining accuracy
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
This approach allows for accurate and efficient identification of manipulators without markers, enabling safe and intuitive selection from a distance, reducing complexity and improving reliability by using a 3D image to determine the manipulator's state and match it with provided reference states.
Implementation Method 1
The portable terminal includes a 3D camera. The 3D camera is preferably a plenoptic camera based on the principle of light field sensors. Such light field sensors consist of an array of micro lenses and record the light and color of the photographed object. The direction from which the light rays arrive is also recorded.
Data Source
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AI summary
The invention relates to a method for identifying a manipulator using a portable device, wherein the portable device comprises a 3D camera. The method includes, among other things, capturing a three-dimensional image of at least a part of the manipulator to be identified using the 3D camera of the portable device. Based on the captured three-dimensional image, the current state of the manipulator is determined. Preferably, the 3D camera is a plenoptic camera, and the capture of the three-dimensional image preferably includes capturing a four-dimensional light field of at least a part of the manipulator to be identified.