Robot Imaging Inspection Control via Intermediate Signal Positions
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing imaging inspection apparatuses using multi-axis robots face challenges in achieving high-speed movement while maintaining precise image-capturing positions, as increasing speed compromises positional accuracy, and manual teaching errors can lead to deviations in the robot's movement trajectory.
Innovation Solution
A control device that sets a signal output position between taught positions, allowing the robot to move without stopping or reducing speed at image-capturing positions by transmitting an image-capturing command signal when the robot passes through this position, and includes correction mechanisms to adjust the signal output position based on directional errors, enabling high precision and increased speed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the robot moves to each image-capturing position (taught position) and stops to capture images, then the image-capturing position precision is maintained, but the inspection time increases significantly
Solution Approach 1:
The patent sets image-capturing positions in advance between taught positions and causes the robot to pass through these positions during movement between taught positions. The robot captures images at these intermediate positions without stopping, thereby reducing inspection time while maintaining positioning accuracy through pre-calculated positions based on movement trajectories.
Solution Approach 2:
The patent enables continuous robot movement between taught positions while capturing images at intermediate positions. By overlapping motion commands and eliminating stops at each image-capturing position, the system maintains continuous useful action (inspection) without interrupting the robot's movement, thereby reducing total inspection time.
2Productivity
If the robot moving speed is increased to reduce inspection time, then productivity improves, but the positional precision at image-capturing positions deteriorates
Solution Approach 1:
The patent pre-calculates and sets image-capturing positions between taught positions based on the robot's movement trajectory. By determining these positions in advance and causing the robot to pass through them during normal movement, the system maintains positioning precision without requiring speed reduction, as the positions are predetermined based on the movement path.
Solution Approach 2:
The patent introduces intermediate image-capturing positions that serve as mediators between taught positions. These intermediate positions allow the robot to capture images during continuous movement without requiring precise stopping, thereby maintaining positioning accuracy while enabling higher moving speeds and improved productivity.
3Loss of time
If multiple taught positions are set to achieve high-speed movement without stopping, then inspection time is reduced, but teaching errors cause deviations in the robot's movement trajectory
Solution Approach 1:
The patent corrects image-capturing positions based on the actual movement trajectory of the robot. By using feedback from the robot's actual movement (which may deviate due to teaching errors or mechanical play), the system adjusts the image-capturing positions to match the real trajectory, thereby maintaining positioning accuracy despite reduced teaching precision.
Solution Approach 2:
The patent sets image-capturing positions in advance between taught positions, but then corrects these positions based on actual movement. This preliminary setting combined with subsequent correction allows the system to maintain high-speed movement while compensating for trajectory deviations caused by teaching errors.
4Measurement precision
If the number of taught positions is increased to improve image-capturing precision, then positioning accuracy improves, but the inspection time increases due to more stopping points
Solution Approach 1:
The patent segments the inspection process by setting multiple image-capturing positions between taught positions. Instead of stopping at each position, the robot passes through these segmented positions during continuous movement, capturing images at each segment point without stopping, thereby maintaining positioning accuracy while improving inspection efficiency.
Solution Approach 2:
The patent maintains continuous robot movement while capturing images at multiple intermediate positions. By eliminating stops at each image-capturing position and using overlapping motion commands, the system ensures continuous useful action (inspection) across all segmented positions, thereby improving productivity without sacrificing positioning accuracy.
Data Source
AI summary
An imaging inspection apparatus includes a storage unit configured to store a predetermined position between a first position and a second position as a signal output position, the predetermined position being set by using a distance from a reference position that is based on at least one of the first position and the second position; an image-capturing command signal generator configured to determine, when causing a distal end portion of a robot to move from the first position to the second position, whether or not the distal end portion of the robot is located at the signal output position, and if it is determined that the distal end portion of the robot is located at the signal output position, the image-capturing command signal generator transmits, to the image-capturing device, an image-capturing command signal for capturing an image of the inspection object by using the image-capturing device.