Robot Coordinate Calibration Using Surface and Base Reference Points
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Solution Overview
Problem
Existing robot coordinate systems are not accurately set on reference flat surfaces, leading to potential interference with workpieces and other robots, and require initial settings that may not account for actual installation conditions, such as gravity and assembly errors.
Innovation Solution
A robot system that uses measurement results from at least three vertical direction points on a reference flat surface and position coordinates of reference reflection portions on the robot's base to set and re-set its coordinate system, allowing for precise calibration and operation program adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the robot coordinate system is set using initial settings at manufacturing or shipping, then the setup process is simple and quick, but the coordinate system accuracy deteriorates due to not accounting for actual installation conditions such as gravity and assembly errors
Solution Approach 1:
The patent applies preliminary action by pre-providing reference reflection portions on the robot base and reference marks on the table before installation. These reference elements are prepared in advance to facilitate accurate coordinate system setting during actual installation, eliminating the need for complex post-installation adjustments while ensuring high precision.
Solution Approach 2:
The patent uses reference reflection portions and reference marks as intermediary elements between the robot and the table. These intermediaries enable precise measurement and alignment by providing fixed reference points that bridge the gap between manufacturing settings and actual installation conditions, allowing accurate coordinate system determination without direct complex measurements.
2Reliability
If the coordinate system is set without considering actual installation conditions, then the setting process is simple, but the robot may interfere with workpieces or other robots due to coordinate inaccuracies
Solution Approach 1:
The patent replaces complex mechanical measurement and adjustment systems with an optical measurement system. By using reference reflection portions and a measurement apparatus that utilizes light reflection, the system achieves high-precision coordinate system setting without complex mechanical procedures, improving both reliability and ease of operation.
Solution Approach 2:
The patent changes the measurement parameters by utilizing vertical direction position coordinates of multiple points on the reference flat surface. This parameter approach enables accurate determination of the coordinate system orientation and position, ensuring reliable robot operation while maintaining simple setting procedures through automated optical measurement.
3Measurement precision
If multiple measurement points are used to set the coordinate system, then the measurement precision improves, but the measurement time and process complexity increase
Solution Approach 1:
The patent replaces time-consuming mechanical measurement procedures with rapid optical measurement. The measurement apparatus uses light reflection from reference reflection portions to quickly obtain position coordinates of multiple measurement points, achieving high measurement precision without significant time loss.
Solution Approach 2:
The reference reflection portions are designed to automatically provide measurement reference points without requiring manual intervention. The measurement apparatus can autonomously detect and measure the positions of these reference portions, reducing both measurement time and operational complexity while maintaining high precision through multiple measurement points.
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
This method enables more accurate robot operation by ensuring precise calibration and preventing interference between the robot and workpieces, and between multiple robots, by setting the coordinate system based on actual installation conditions.
Implementation Method 1
measurement results of at least position coordinates in a vertical direction of three or more measurement points on the reference flat surface and measurement results of position coordinates of a plurality of reference reflection portions provided on a base portion of the robot
Data Source
AI summary
A robot includes a robot control unit configured to control an operation of a robot, wherein the robot control unit is configured to set a coordinate system of the robot installed on a reference flat surface using measurement results of at least position coordinates in a vertical direction of three or more measurement points on the reference flat surface on which the robot is installed and measurement results of position coordinates of a plurality of reference reflection portions provided on a base portion of the robot.