Robot Arm 3D Sensing for Complete Point Cloud Capture
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Solution Overview
Problem
Existing robot systems struggle to generate complete three-dimensional point clouds of measurement targets due to data omission in areas inaccessible to fixed three-dimensional sensors, leading to potential interference with obstacles during tasks.
Innovation Solution
A robot system equipped with a three-dimensional sensor mounted on the arm, capable of moving and changing its position to measure targets from various angles, generating a three-dimensional point cloud by combining data from these measurements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a fixed three-dimensional sensor is installed to measure obstacles, then measurement can be performed from a stable position, but data is omitted in zones hidden behind obstacles
Solution Approach 1:
The three-dimensional sensor is mounted on the robot arm, transforming it from a fixed stationary measurement device to a dynamic one that moves with the robot arm throughout the task zone. This enables the sensor to capture data from multiple positions and angles, eliminating blind spots behind obstacles while maintaining measurement reliability.
Solution Approach 2:
The three-dimensional sensor serves dual functions: it measures both the workpiece and obstacles within the task zone. By integrating the sensor into the robot arm system, the same measurement device is used for multiple purposes (workpiece recognition and obstacle detection), reducing the need for separate fixed sensors and improving overall measurement completeness.
2Reliability
If multiple three-dimensional sensors are installed to cover all zones, then data omission is avoided, but calibration becomes necessary and complex
Solution Approach 1:
Instead of using multiple fixed sensors that each require individual calibration, the system segments the measurement task into multiple positions visited by a single sensor mounted on the robot arm. The sensor captures data sequentially from different locations, and the coordinate transformation unit integrates these segmented measurements into a complete three-dimensional point cloud without requiring complex multi-sensor calibration.
3Reliability
If the three-dimensional sensor position is changed to avoid data omission, then measurement completeness improves, but measurement time increases
Solution Approach 1:
The robot arm continuously moves the three-dimensional sensor throughout the task zone during the measurement process, eliminating idle time between measurements. The arm follows an optimized trajectory that ensures complete coverage of the task zone while minimizing total measurement time, maintaining continuous useful action rather than stopping and repositioning separate sensors.
Data Source
AI summary
To provide a robot system that can easily generate a complete 3D point group for a measurement object. A robot system including: a robot including an arm; a 3D sensor provided to the arm; and a 3D point group generation unit for generating a 3D point group of a measurement object according to 3D data obtained by measurement of the measurement object with the 3D sensor, wherein the 3D point group generation unit generates the 3D point group of the measurement object by combining 3D data from measurement of the measurement object while repositioning the 3D sensor in response to the motion of the arm in any coordinate system in a working area of the robot.