Robot-Mounted 3D Measurement for Faster Point Cloud Registration
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Solution Overview
Problem
Current registration algorithms for 3D data in factory automation require extensive calculations and have low robustness, leading to lengthy processing times and potential registration failures, especially when the initial shift between point clouds is large.
Innovation Solution
A measurement system that includes a 3D sensor installed in a robot, a displacement detection device, and a synchronization control unit to reduce registration time by measuring 3D data at multiple points while the robot is in motion, with specific points stopped to synchronize position and posture, and using registration processing units to minimize registration errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If registration algorithms are used to process 3D data from multiple measurement points, then measurement precision is improved, but processing time increases significantly
Solution Approach 1:
The system performs preliminary actions by having the robot stop at specific measurement points to capture reference 3D data before motion. This pre-established reference data enables faster subsequent registration processing without requiring extensive real-time calculations during robot movement, thus resolving the contradiction between precision and processing time.
Solution Approach 2:
The measurement process is segmented into distinct phases: stationary measurement at reference points and motion-based measurement at intermediate points. This segmentation allows the system to apply different processing strategies to different data types, maintaining precision while reducing overall processing time by avoiding full registration calculations for all measurement points.
2Reliability
If the robot stops at multiple measurement points to synchronize position and posture, then registration reliability is improved, but productivity decreases
Solution Approach 1:
The robot performs preliminary stopping and synchronization only at the first measurement point to establish reference data. Subsequent measurement points are captured during continuous robot motion without additional stopping, thereby maintaining registration reliability through the preliminary reference while significantly improving productivity by eliminating repeated stops.
Solution Approach 2:
The system applies full synchronization and stopping action only partially - specifically at the first measurement point - rather than at every measurement point. This partial application of the synchronization action is sufficient to ensure registration reliability while avoiding the excessive productivity loss that would result from stopping at every single measurement point.
Data Source
AI summary
Provided are a measurement system, a measurement device, a measurement method, and a measurement program. 3D data is registered to 3D data based on the displacements of joints of a robot at a point in time when a 3D sensor measures 3D data of a measurement object at a specific measurement point while the robot is stopped, and the displacements of the joints of the robot at a point in time when the 3D sensor measures 3D data of the measurement object at a measurement point other than the specific measurement point while that robot is in motion. The 3D data is further registered to the 3D data such that a registration error between the 3D data and the 3D data is less than a threshold value. Similarly, each of 3D data is registered to the 3D data.