Robot System with Dual-Frequency Visual Sensor Processing
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Solution Overview
Problem
Existing robot systems face challenges in accurately detecting the conveying velocity and position of objects on a conveyor belt, particularly in synchronizing the robot hand's movement with the object's movement, especially when the conveyor velocity fluctuates or when multiple objects are present in the viewing field.
Innovation Solution
A robot system that employs a two-dimensional camera to capture images at high frequency for detecting conveying velocity and position using a high-frequency processing unit, and at lower frequency for precise position and orientation detection using a low-frequency processing unit, with a control unit coordinating the robot's actions based on these inputs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single visual sensor is used to detect both conveying velocity and position, then device complexity is reduced, but measurement precision deteriorates due to the inability to simultaneously capture high-frequency velocity changes and precise position data
Solution Approach 1:
The patent divides the detection functions into two separate processing units: a high-frequency processing unit that detects conveying velocity by processing visual information at high frequency, and a low-frequency processing unit that detects object position by processing visual information at lower frequency. This segmentation allows each unit to optimize for its specific detection task, maintaining measurement precision while using a single visual sensor.
2Measurement precision
If visual information is processed at high frequency for velocity detection, then conveying velocity detection accuracy is improved, but processing load increases
Solution Approach 1:
The patent segments the processing load by creating two dedicated processing units: one for high-frequency velocity detection and another for lower-frequency position detection. This allows the system to process visual information at high frequency only when necessary for velocity measurement, while position measurement uses lower frequency processing, thereby reducing overall processing load while maintaining velocity detection accuracy.
3Measurement precision
If the robot hand position is controlled in synchronization with object movement, then gripping accuracy is improved, but system complexity increases due to coordination requirements
Solution Approach 1:
The patent implements a feedback control mechanism where the control unit receives conveying velocity information from the high-frequency processing unit and position information from the low-frequency processing unit. The control unit then adjusts the robot hand position in real-time based on this feedback, enabling synchronized movement with the conveyed object and improving gripping accuracy without requiring complex mechanical coordination mechanisms.
Data Source
AI summary
A robot system including a conveying apparatus that conveys an object; a robot that performs a process on the object being conveyed; a visual sensor that acquires visual information about the object; a high-frequency processing unit that detects at least one of a conveying velocity at which the object is being conveyed by the conveying apparatus and a position of the object by processing, at a first frequency, the visual information; a low-frequency processing unit that detects a position of the object by processing, at a second frequency that is lower than the first frequency, the visual information; and a control unit that controls the robot.