Articulated Robot Arm Control Device for Multi-Target Imaging
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Solution Overview
Problem
Existing articulated-robot-arm-control devices face challenges in efficiently recognizing and processing a large number of targets in a work area, leading to increased operator workload due to the need for frequent adjustments and data modifications to improve detection accuracy.
Innovation Solution
The proposed control device includes an imaging device, an image display, an image processor, and a driving controller. The image processor calculates coordinates of specified target objects, detects target images, and determines a reference imaging position based on the number of target images recognized by the operator, allowing the device to adjust its imaging position for optimal target detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Quantity of substance
If a work area image is captured to include a large number of targets in the work area, then the number of targets included in the work area image increases, but the size of the target images becomes small which hinders recognition
Solution Approach 1:
The system segments the work area into multiple sub-regions and captures multiple work area images from different imaging positions. This allows the system to cover a larger number of targets while maintaining adequate image size for each target by focusing on specific sub-regions from different angles.
Solution Approach 2:
The system transitions from a single imaging position to multiple imaging positions in three-dimensional space. By capturing images from different positions (different x, y, z coordinates), the system can include more targets in the overall coverage while maintaining sufficient target image size in each individual image.
2Measurement precision
If programs or training data are modified to enhance detection accuracy of target images, then target detection accuracy improves, but operator workload increases due to heavy pre-work burden
Solution Approach 1:
The system performs automatic detection of target images using the captured work area images without requiring manual program correction or training data modification. The image processor automatically identifies and processes target images, eliminating the need for operators to perform time-consuming pre-work adjustments.
Solution Approach 2:
The system captures multiple work area images from different imaging positions before the actual harvesting work begins. This preliminary capture of multiple images provides the image processor with sufficient data to automatically detect targets accurately without requiring subsequent manual adjustments or training.
Data Source
AI summary
A control device for controlling an articulated robot arm performing work on at least one target object in a work area. The control device includes an imaging device configured to capture work area images at different imaging positions; an image display that displays the captured work area images; an image processor that determines a reference imaging position that is a position of the imaging device; and a driving controller that drives an actuator of the articulated robot arm to move the imaging device. The image processor includes a specified-position-coordinate calculator that calculates coordinates corresponding to a position of each of user-specified target objects, a target detector that detects a plurality of images of the target objects, and a reference-imaging-position determiner that determines the reference imaging position based on the detected images of the target objects and the user-specified target objects.