Robot Arm Tool Checking Through Prepositioned Image Verification
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Solution Overview
Problem
Existing robot arm systems lack a specific configuration for accurately determining whether attached tools meet the necessary conditions for processing, such as proper type and state, which is crucial for effective operation.
Innovation Solution
A workpiece processing system equipped with a tool checking device that includes a tool movement control unit, imaging control unit, image processing unit, and determination unit to accurately determine the tool condition by moving the tool to a defined position and analyzing captured images for brightness values.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot arm performs operations with interchangeable tools, then the robot arm can perform multiple types of processing, but there is no specific configuration for accurately determining whether the tool satisfies the required tool conditions
Solution Approach 1:
The system performs preliminary actions by moving the tool to a predefined imaging position before verification, and by pre-storing reference images of tools in their correct states. This allows the imaging device to capture tool images at optimal positions and enables accurate comparison with reference images to determine tool conditions.
Solution Approach 2:
The system creates and stores reference images (copies) of tools in their correct states. These reference images are then used for comparison with actual tool images captured by the imaging device, enabling accurate determination of tool conditions without requiring complex physical measurements.
2Reliability
If the robot arm operates without a specific tool checking configuration, then the system is simpler, but the accuracy of determining tool conditions (proper type and state) cannot be ensured
Solution Approach 1:
The control device performs multiple functions: it controls the robot arm for tool movement, manages the imaging device for capture, stores reference images, and executes the determination logic by comparing actual images with references. This multi-functionality reduces the need for separate dedicated components for each function.
Solution Approach 2:
The imaging device serves as an intermediary between the physical tool and the verification system. It captures visual information of the tool and converts it into image data that can be processed and compared by the control device, enabling non-contact verification.
3Measurement precision
If tool verification is performed without moving the tool to a defined position, then the operation is faster, but the imaging accuracy and subsequent determination reliability are compromised
Solution Approach 1:
The system performs preliminary positioning by moving the tool to a predefined imaging position before image capture. This ensures that the tool is always imaged from the optimal angle and distance, guaranteeing consistent and accurate image quality for verification purposes.
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
Enables precise determination of tool conditions, ensuring the tool is properly attached and functioning, thereby enhancing the accuracy and reliability of robot arm operations.
Implementation Method 1
an imaging device (8) for capturing an image of the tool (40)
Data Source
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AI summary
A tool checking device for a robot arm includes: a tool movement control unit configured to control the robot arm so as to move a tool attached to the robot arm to a defined position; an imaging control unit configured to control an imaging device so as to capture an image of the tool moved to the defined position; and a determination unit configured to determine whether the tool satisfies a tool condition regarding a tool type or tool state that needs to be satisfied, on the basis of a captured image imaged by the imaging device.