Robot Arm Vision Control for Unknown Workpiece Positioning
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Solution Overview
Problem
Robot arm apparatuses struggle to accurately perform tasks on work objects without a known fixed position in their coordinate system, as the position of the work object and the holdable object can vary during work, leading to inaccuracies in operation.
Innovation Solution
A control apparatus that uses a camera to capture images of the work object and the holdable object, detects feature points, calculates their positions, and outputs control signals to the robot arm to move the holdable object to the target position, even when neither object has a known fixed position in the robot coordinate system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot arm apparatus operates based on a fixed coordinate system, then the control system is simple and stable, but it cannot accurately perform work on objects with unknown or varying positions
Solution Approach 1:
The patent introduces a camera as an intermediary device to capture images of the work object and establish its position and orientation. The camera serves as a mediator between the robot arm's coordinate system and the work object's unknown position, enabling accurate positioning without requiring the object to be predefined in the robot's coordinate system.
Solution Approach 2:
The patent replaces the traditional mechanical coordinate system approach with an optical/image-based coordinate system. Instead of relying on physical markers or fixed mechanical references, the system uses image processing to detect feature points and calculate the work object's position and orientation, thereby substituting mechanical measurement with optical measurement.
2Adaptability or versatility
If the robot arm apparatus uses traditional coordinate system control, then the system is stable and easy to operate, but it cannot adapt to objects with varying positions during work
Solution Approach 1:
The patent transforms the static coordinate system into a dynamic one by continuously capturing images and recalculating the work object's position and orientation based on detected feature points. This allows the system to adapt to moving or repositioned objects automatically, making the coordinate system flexible rather than fixed.
Solution Approach 2:
The system performs automatic position and orientation calculation of the work object through image processing and feature point detection, without requiring manual intervention or pre-programming of object positions. The robot arm apparatus autonomously determines the work object's location and adjusts its movements accordingly.
3Manufacturing precision
If the robot arm apparatus operates without position detection, then the system is simple and fast, but it cannot perform accurate work on the work object
Solution Approach 1:
The patent performs preliminary image capture and feature point detection before the robot arm executes its work movements. By pre-establishing the work object's position and orientation through image processing, the system prepares the necessary position data in advance, allowing the robot arm to move directly to the target location without continuous real-time detection during movement.
Data Source
AI summary
A target object setting unit sets a position of a target object in a work object. A feature point recognizer detects feature points of a work object from a captured image obtained by an image capturing apparatus, the image including the work object and a holdable object. A first position calculator calculates a position of the target object in a coordinate system of the image capturing apparatus based on the feature points. A second position calculator calculates a position of the holdable object in the coordinate system of the image capturing apparatus based on the captured image. A control signal generator converts the positions of the target object and the holdable object in the coordinate system of the image capturing apparatus, into positions in a coordinate system of the robot arm apparatus, and outputs a first control signal to the robot arm apparatus based on the converted positions of the target object and the holdable object, for moving the holdable object to the position of the target object.