Position Inspection Using Correction Angles for Tilted Rotation Axes
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Solution Overview
Problem
Existing technologies are unable to detect the rotational amount of an object about a rotation axis that is not parallel to the shooting direction of an inspection image, limiting the comprehensive detection of positional deviation.
Innovation Solution
A position inspection system and method that includes a gripping unit, shooting unit, and processor to identify a first rotational amount and correction angle, allowing detection of the rotational amount about a non-parallel axis, and correct the object's position accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a fixed-point inspection image is used to detect positional deviation, then the detection method is simple and the system structure is compact, but the rotational amount about a rotation axis not parallel to the shooting direction cannot be detected
Solution Approach 1:
The patent introduces a correction angle dimension (θ3) to complement the existing rotational amount (θ1) from the inspection image. By combining these two angular dimensions through trigonometric calculation (θ2 = θ1 / cos θ3), the system achieves three-dimensional rotational detection capability while maintaining the simple fixed-point imaging approach. This resolves the contradiction by adding a computational dimension rather than a physical one.
Solution Approach 2:
The correction angle θ3 acts as an intermediary parameter that bridges the limitation of fixed-point imaging. By introducing this intermediate angular parameter representing the orientation between the object's reference direction and the shooting direction, the system can indirectly calculate rotational amounts about axes not parallel to the shooting direction, thus overcoming the detection limitation without complicating the imaging system.
2Productivity
If only the first rotational amount from the inspection image plane is identified, then the processing is simple and fast, but the complete positional deviation including rotation about non-parallel axes cannot be detected
Solution Approach 1:
The patent performs preliminary identification of the correction angle θ3 based on control information of the gripping unit before calculating the final rotational amount. This preliminary action allows the system to prepare the necessary angular parameter in advance, enabling fast computation of the complete rotational amount θ2 without adding significant processing time, thus maintaining productivity while improving measurement precision.
Solution Approach 2:
The patent replaces complex multi-axis mechanical sensing with a computational approach using image processing and trigonometric calculations. By substituting physical sensors with mathematical transformations of the inspection image data combined with gripping unit control information, the system achieves comprehensive rotational detection while maintaining simple hardware and fast processing.
Data Source
AI summary
A position inspection system includes a gripping unit that grips an object, a shooting unit that shoots an inspection image of the object gripped by the gripping unit, and a processor. The processor identifies a first rotational amount of the object from the proper position within a plane of the inspection image. The processor identifies, based on control information of the gripping unit, a correction angle between a direction in which a particular portion of the object is facing and a shooting direction of the inspection image. The processor identifies, based on the first rotational amount and the correction angle, a second rotational amount of the object from the proper position about the direction in which the particular portion of the object is facing.