Robot Camera and Hand Inspection for Dirt-Scratch Separation
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Solution Overview
Problem
Current robot devices fail to distinguish between dirt and scratches on camera lenses and hands, leading to inefficient operation and potential contamination of objects during grasping tasks.
Innovation Solution
A robot device equipped with a camera and a hand, controlled by a controller that processes images to differentiate between dirt and scratches on the camera lens and hand by comparing reference images with detection images, determining the location of dirt or scratches through correlation analysis and performing cleaning operations as necessary.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot device compares multiple images to detect dirt on the camera lens, then the detection capability is improved, but the device cannot distinguish between dirt and scratches on the lens
Solution Approach 1:
The system performs preliminary classification by comparing images taken at different hand positions to identify potential contaminants before determining their nature. This preliminary action allows the system to flag areas of interest for further analysis, improving detection precision while preserving information about the type of contamination.
Solution Approach 2:
The detection process is segmented into multiple stages: first comparing images to detect potential dirt, then separately determining whether the detected contaminant is dirt or a scratch by analyzing changes when the hand position changes. This segmentation allows the system to maintain high detection capability while also preserving the distinction between different types of lens contamination.
2Measurement precision
If the robot device uses image comparison to detect dirt on the hand, then the detection accuracy is improved, but the device cannot differentiate between dirt and scratches on the hand
Solution Approach 1:
The system performs preliminary detection of contaminants on the hand through image comparison, then performs a second preliminary action by comparing images at different hand positions to determine the nature of the contaminant. This multi-stage preliminary action improves detection accuracy while preserving information about contaminant type.
Solution Approach 2:
The detection process is segmented into distinct phases: initial detection of hand contamination through image comparison, followed by a separate determination phase that analyzes how the contaminant appears when the hand position changes. This segmentation enables the system to achieve high detection accuracy while maintaining the ability to differentiate between dirt and scratches.
3Productivity
If the robot device continuously monitors for dirt and scratches, then the operational efficiency is improved, but the time required for image processing and analysis increases
Solution Approach 1:
The system performs partial image comparison by focusing only on specific regions where contaminants are detected rather than analyzing entire images. This partial action approach maintains operational efficiency by reducing processing time while still achieving effective detection of dirt and scratches on the camera lens and hand.
Data Source
AI summary
Provided is an excellent robot device capable of preferably detecting difference between dirt and a scratch on a lens of a camera and difference between dirt and a scratch on a hand. A robot device detects a site in which there is the dirt or the scratch using an image of the hand taken by a camera as a reference image. Further, this determines whether the detected dirt or scratch is due to the lens of the camera or the hand by moving the hand. The robot device performs cleaning work assuming that the dirt is detected, and then this detects the difference between the dirt and the scratch depending on whether the dirt is removed.