3D Point Cloud Contour Extraction for Robot Tool Trajectory
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Solution Overview
Problem
Existing methods for generating arm trajectory data from CAD data are inaccurate due to discrepancies between CAD data and actual object shapes, and manually teaching robotic arms is time-consuming and inefficient.
Innovation Solution
An information processing method that acquires three-dimensional point group data from an object, specifies contour point group data to determine the object's shape, and uses this data to generate tool control information for robotic arms, including position and posture information to control the tool trajectory.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If CAD data is created from scan data of an actual object, then the error between CAD data and actual object shape is reduced, but additional man-hours are required for creating CAD data
Solution Approach 1:
The invention extracts only the essential contour information from three-dimensional point group data obtained through scanning, rather than creating complete CAD data. By isolating and processing only the contour points that define the object shape, the system achieves accurate shape representation while eliminating the time-consuming process of full CAD model creation.
Solution Approach 2:
The invention creates a simplified digital copy of the object's contour from scan data, using three-dimensional point group data to represent the essential shape information. This digital contour copy serves as sufficient basis for robotic arm trajectory generation, replacing the need for detailed CAD models while maintaining shape accuracy.
2Device complexity
If arm trajectory data is generated from three-dimensional point group data, then the process is simplified, but it is difficult to determine the contour shape from point group data
Solution Approach 1:
The invention performs preliminary processing to identify and extract contour points from the three-dimensional point group data before generating arm trajectory data. By pre-processing the scan data to isolate contour-defining points, the system makes the subsequent trajectory generation straightforward while accurately capturing the object's shape.
Solution Approach 2:
The invention introduces contour point group data as an intermediary representation between the raw three-dimensional point group data and the final arm trajectory data. This intermediate contour extraction serves as a bridge that simplifies the complex task of determining shape from point cloud data while maintaining accuracy for trajectory generation.
3Reliability
If manual teaching is used to determine arm trajectory, then accurate control is achieved, but the process is time-consuming and inefficient
Solution Approach 1:
The invention enables the robotic system to automatically determine its own arm trajectory by processing three-dimensional point group data and extracting contour information. Instead of requiring manual teaching, the system self-generates the trajectory data needed for accurate control, significantly improving productivity while maintaining reliability.
Solution Approach 2:
The invention replaces the manual mechanical teaching process with an automated computational approach. By using algorithms to process scan data and generate trajectory information, the system substitutes human-operated mechanical teaching with automated digital processing, achieving both accuracy and efficiency.
Data Source
AI summary
The easy and quick detection of a contour shape of an object from three dimensional point group data, and control a robotic arm and a tool using it. An information processing method comprising: a step of acquiring three-dimensional point group data by a sensor from an object, a step of specifying a contour point group data that constitutes a contour of the object from the three-dimensional point group data, a step of acquiring tool control information including tool position information and tool posture information for specifying a tool trajectory of the tool connected to the arm of the working robot from the contour point group data, and a step of controlling the tool based on the tool control information.