Robot-Mounted 3D Measurement Layout With Fewer External Cables
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Solution Overview
Problem
Three-dimensional measurement apparatuses mounted on robots face restrictions in drive range due to the large number of cables required for transmitting image data, which limits the robot's ability to move along a target path.
Innovation Solution
A three-dimensional measurement apparatus with a stereo camera system and a calculation unit integrated within the apparatus, using internal wiring and a compact design to minimize protrusion and reduce the need for external cables, allowing for efficient three-dimensional information processing and transmission.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a three-dimensional measurement apparatus is mounted on a robot to enable wide-range viewing angle information acquisition, then measurement capability is improved, but the robot's drive range is restricted due to the large number of cables required for data transmission
Solution Approach 1:
The patent combines multiple cameras and their associated processing functions into a single integrated three-dimensional measurement apparatus. This merging reduces the number of separate cable connections needed, as the integrated unit processes images internally and only requires a single data transmission connection to the robot controller, thereby resolving the cable restriction issue while maintaining comprehensive measurement capability.
Solution Approach 2:
The patent changes the data transmission parameter by performing image processing and three-dimensional calculation within the measurement apparatus itself rather than transmitting all raw image data externally. This parameter change in data processing location reduces the data transmission burden and cable requirements, enabling greater robot mobility while preserving measurement accuracy.
2Loss of information
If multiple cables are used to connect cameras and control unit for three-dimensional measurement, then data transmission capability is improved, but the robot's movement flexibility is reduced
Solution Approach 1:
The patent merges the image processing and three-dimensional calculation functions into the measurement apparatus itself, reducing multiple cable connections to a single integrated data transmission link. This consolidation maintains full data transmission capability while eliminating the physical constraints imposed by multiple cables on robot movement flexibility.
Solution Approach 2:
The patent extracts the complex image processing and three-dimensional calculation operations from the external control system and places them within the measurement apparatus. This extraction allows the robot controller to receive only the final processed data rather than managing multiple raw data streams, reducing cable requirements and improving movement flexibility.
3Measurement precision
If a stereo camera system with multiple cameras is used for three-dimensional measurement, then measurement accuracy is improved, but the number of cables and device complexity increases
Solution Approach 1:
The patent merges multiple cameras and their image processing functions into a single integrated three-dimensional measurement apparatus. This consolidation maintains the stereo vision capability for accurate three-dimensional point group information extraction while reducing the number of external cable connections by performing all image processing internally within the unified device.
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 configuration reduces the restriction on the robot's drive range by minimizing cable requirements and enabling high-speed, stable robot control with reduced information transfer, allowing for more flexible robot movement and efficient processing of three-dimensional data.
Implementation Method 1
a stereo camera having a plurality of image pickup units 102, 103 that receive light from an object
Implementation Method 2
a stereo method in which a distance image is determined based on the principle of triangulation, by detecting corresponding points between images captured from different viewpoints
Data Source
Figure 1
Figure 2A~2C
Figure 3A~3C
AI summary
A three-dimensional measurement apparatus includes an attachment portion for attaching the three-dimensional measurement apparatus to a robot, a flange for attaching an end effector, a sensor configured to receive light from an object, and a calculation unit configured to determine three-dimensional information about the object by performing a calculation using data obtained by the sensor. A shortest distance among distances from a center of the flange to an outer peripheral edge of the calculation unit is less than or equal to a radius of the attachment portion or the flange, as viewed from the flange.