Robot Camera Linear Motion for Image Clarity
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Solution Overview
Problem
Robot systems with cameras mounted on robot arms face blurring issues when capturing images while moving, leading to inaccurate positional information and decreased operating speed due to the need to halt the arm for photography.
Innovation Solution
A robot system with a camera that moves linearly parallel to its optical axis while capturing images, allowing for accurate position measurement without halting the robot arm, using a control device to generate and manage trajectories for the robot arm and camera to maintain image clarity during movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot arm is halted to photograph the work piece, then measurement precision is improved, but productivity deteriorates
Solution Approach 1:
The camera takes images continuously during the robot arm's movement without halting the arm. The imaging operation continues throughout the approach and work phases, capturing multiple images at different positions to enable accurate work piece positioning while maintaining continuous robot operation.
Solution Approach 2:
The camera captures images in advance during the approach phase before the gripping operation. By obtaining work piece position information beforehand through continuous imaging during movement, the system prepares measurement data ahead of time, eliminating the need to halt the arm for photography.
2Productivity
If the robot arm moves while the camera photographs, then productivity is improved, but measurement precision deteriorates due to image blurring
Solution Approach 1:
The camera captures more images than the single stationary shot in conventional methods. By taking multiple images at different positions during the arm's movement (excessive imaging), the system obtains sufficient measurement data even though the arm is moving, thereby maintaining precision while improving productivity.
Solution Approach 2:
The control device processes multiple images captured during movement to calculate the work piece position. By using feedback from multiple captured images rather than a single stationary image, the system compensates for motion-induced blurring and achieves accurate position measurement while the arm is moving.
Data Source
AI summary
A robot system includes a robot body, a camera mounted on the robot body and capable of photographing a work piece; and a control device for driving and controlling the robot body based on a trajectory to an instruction point, which is set in advance, and, when the camera arrives at an area in which the camera is capable of photographing the work piece during this driving and controlling, driving and controlling the robot body so that the camera moves linearly toward the work piece, taking an image of the work piece with the camera while the camera is moving linearly, and measuring a position of the work piece from the taken image.