Robot Edge-Following Inspection for Complex Object Defects
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Solution Overview
Problem
Existing object handling systems, particularly in reverse-logistics for computing devices, face challenges in precisely controlling multi-axis robots to manage complex object shapes and detect physical defects on edges, leading to inefficient and resource-intensive processes.
Innovation Solution
An edge-following system using a multi-axis robot and ancillary tools to maintain a predetermined working offset and orientation, enabling continuous image capture and anomaly detection along the object's edge, utilizing machine learning models for defect identification.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional object handling systems are used to control multi-axis robots for managing complex object shapes, then the systems can handle basic object manipulation, but the control complexity and resource consumption increase significantly
Solution Approach 1:
The patent introduces an edge-following camera as an intermediary device that simplifies the control problem. Instead of controlling the multi-axis robot to directly track complex edge geometries, the camera captures edge images and provides feedback signals that guide the robot's movement along the edge, mediating between the complex object shape and the robot's control system
Solution Approach 2:
The patent replaces complex mechanical control algorithms with vision-based guidance. The edge-following camera system substitutes for sophisticated mechanical control by using image processing and visual feedback to guide the robot's path along object edges, reducing the computational and control complexity
2Measurement precision
If conventional methods are used for defect detection on object edges, then basic inspection can be performed, but the time and resource consumption increase
Solution Approach 1:
The patent implements continuous edge following and imaging, where the edge-following camera continuously captures images along the entire edge path without interruption. This continuous action allows defect detection to occur throughout the entire inspection process rather than requiring separate sampling steps, reducing total inspection time while maintaining precision
Solution Approach 2:
The patent creates a visual copy of the edge through camera imaging. The edge-following camera captures images that replicate the edge geometry and any defects, allowing the system to analyze the copied visual information rather than requiring direct physical measurement, which speeds up the inspection process
3Area of stationary object
If the working point moves along the edge from one side to another, then complete edge coverage is achieved, but maintaining continuous focus and offset becomes more difficult
Solution Approach 1:
The patent employs feedback control where the edge-following camera continuously monitors the working point's position relative to the edge and provides feedback signals to the multi-axis robot. This feedback loop enables real-time adjustments to maintain the predetermined working offset and focus throughout the entire edge traversal, ensuring precision across the complete edge coverage area
Data Source
AI summary
Embodiments of the present disclosure provide methods, apparatuses, and computer program products configured to follow an edge of an object via an edge-following system. The edge-following system is configured to execute an edge-following operation configured for determining dimensional attributes associated with the object. Embodiments also include causing a handling tool associated with a multi-axis robot to engage the object. Embodiments also include defining a working point on the edge of the object, where the working point is kept at a predetermined working offset from an ancillary tool. Embodiments also include manipulating the object such that the working point is configured to move along the edge of the object from a first location on a first side of the edge of the object to a second location along a second side of the edge of the object while maintaining the predetermined working offset between the ancillary tool and the working point.