Robot-Arm Camera Control for Fast Focus and Exposure Sync
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Solution Overview
Problem
Conventional image capturing systems for robot arms require significant time to adjust focus, focal length, and exposure settings when the distance to an object varies, leading to inefficient operation and smooth movement.
Innovation Solution
An image capturing apparatus connected to a robot arm that receives status information from a control apparatus to control its operations, including autofocus, focal length adjustment, and exposure settings based on the object's distance, using a TV-AF method and pre-defined parameters for faster image capture.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If visual feedback control is used to adjust focus, focal length, and aperture based on captured image data, then image quality is improved, but time is required to reduce error which prevents smooth movement of the robot arm
Solution Approach 1:
The control apparatus pre-calculates and stores optimal camera parameters (focus position, focal length, aperture value) corresponding to various robot arm positions and object distances before actual operation. When the robot arm moves to a specific position, the system directly retrieves the pre-computed parameters instead of performing real-time error reduction through repeated imaging and adjustment, thereby eliminating the time delay while maintaining image quality.
Solution Approach 2:
The system dynamically adjusts camera parameters based on real-time robot arm position information. By continuously receiving status information from the robot arm control apparatus and corresponding object distance information, the imaging control unit updates camera settings (focus, focal length, aperture) in synchronization with robot movement, enabling smooth operation without the lag associated with traditional feedback control.
2Extent of automation
If autofocus function is provided to automatically bring object into focus, then focusing operation is automated, but time is required to achieve focus if searching starts from a position away from in-focus position
Solution Approach 1:
Optimal focus positions are pre-calculated and stored in correspondence with various object distances and robot arm positions. When the robot arm moves to a new position, the system directly retrieves the pre-determined focus position rather than performing a time-consuming search from a distant starting point, thus maintaining automation while eliminating the time delay.
Solution Approach 2:
The traditional mechanical search-based autofocus system is replaced with a computational approach. Instead of mechanically moving the lens to search for the optimal focus position, the system uses pre-computed focus position data based on object distance and robot arm position, substituting mechanical search with information retrieval and calculation.
3Area of stationary object
If focal length is adjusted to make entire object image appear within field of view, then complete object capture is achieved, but time is required to adjust focal length while checking whether object is out of field of view
Solution Approach 1:
The optimal focal length values that ensure complete object capture within the field of view are pre-calculated and stored for various object distances and robot arm positions. When the robot arm moves to a specific position, the system directly sets the focal length to the pre-determined value without iterative adjustment and checking, thereby achieving complete object capture instantly without time loss.
4Illumination intensity
If AE function is provided to automatically adjust exposure conditions, then exposure is optimized for different lighting environments, but time is required until appropriate exposure conditions are achieved
Solution Approach 1:
Optimal exposure conditions (aperture value, shutter speed, gain) are pre-calculated and stored in correspondence with various object distances, lighting environments, and robot arm positions. When the robot arm moves to a new position or lighting conditions change, the system directly retrieves and applies the pre-determined exposure parameters instead of performing real-time adjustment through repeated imaging and evaluation, thus optimizing exposure instantly without time delay.
Data Source
AI summary
An image capturing apparatus that is attachable to a robot arm, comprises an image capturing device configured to capture an object image, a receiving unit configured to receive information relating to status of the robot arm from a control apparatus for controlling the robot arm, and an imaging control unit configured to control an image capturing operation of the image capturing device that is performed on an object, wherein the imaging control unit controls the image capturing operation based on the information relating to status of the robot arm that was notified by the control apparatus.