Robot-Mounted Mobile Positioning With Camera Error Compensation
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Solution Overview
Problem
Existing systems with robot-mounted mobile devices face accuracy issues due to positioning errors exceeding the movable range of the robot's acting part, leading to system shutdowns and reduced availability.
Innovation Solution
A robot-mounted mobile device with a camera and controller system that captures images of identification figures on machine tools to estimate positional errors, allowing for precise compensation of the robot's operating poses to avoid singularities and improve positioning accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the automatic guided vehicle moves to the operation position, then the robot can perform operations on multiple machine tools, but the positioning accuracy becomes insufficient due to positioning errors exceeding the movable range of the acting part
Solution Approach 1:
The patent introduces an intermediary compensation process between the automatic guided vehicle positioning and the robot operation. A camera captures images of identification figures on machine tools to measure actual positions, and a controller calculates compensation amounts to adjust the operating poses. This intermediary measurement and compensation mechanism bridges the gap between the coarse positioning of the mobile device and the precise operation requirements, resolving the contradiction between versatility and positioning accuracy.
Solution Approach 2:
The system implements a feedback loop where the camera continuously measures the actual position of machine tools relative to the mobile device, and the controller uses this feedback information to calculate and apply compensation amounts to the robot's operating poses. This closed-loop feedback mechanism ensures that positioning errors are detected and corrected in real-time, maintaining manufacturing precision while preserving the ability to operate on multiple machine tools.
2Reliability
If the positioning error of the automatic guided vehicle exceeds the movable range of the acting part, then the system cannot compensate the operating pose, but the system shuts down and loses availability
Solution Approach 1:
The patent applies dynamics by making the operating poses of the robot adjustable and compensatable based on measured positioning errors. Instead of fixed poses, the system dynamically calculates compensation amounts that adjust the target positions and orientations of the acting part. This dynamic adaptation allows the system to handle varying positioning errors without shutting down, improving reliability while maintaining the ability to compensate for precision errors within the robot's movable range.
3Manufacturing precision
If a fixed robot system is used, then positioning accuracy is maintained, but the degree of freedom in machine tool layout is reduced
Solution Approach 1:
The patent replaces the fixed mechanical positioning system with a mobile device equipped with camera-based measurement and software-based compensation. Instead of relying on rigid mechanical fixtures and fixed robot mounts, the system uses optical measurement (camera capturing identification figures) and computational compensation to achieve positioning accuracy. This substitution enables the mobile device to move freely to different machine tools while maintaining precision through software correction, thus providing layout flexibility without sacrificing manufacturing precision.
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
Enhances the accuracy of robot operations on machine tools by compensating for positioning errors, reducing system shutdowns and improving overall system availability.
Implementation Method 1
images of the identification figure are captured by a camera arranged on the robot
Implementation Method 2
a relative positional relation between the robot and the machine tool is measured based on the captured images and the position and pose of the camera
Data Source
AI summary
Based on a second identification position as a position of an identification figure when an image of the identification figure is captured by a camera (31) at a second device position different from a first device position, when the second identification position is within a predetermined range from the second device position, the position of a hand unit (29) is adjusted, and when the second identification position is out of the predetermined range from the second device position, the position of a moving unit (35) is adjusted by moving the moving unit (35).