Robot Imaging Viewpoint Control Without Follow-Up Markers
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Solution Overview
Problem
In robot systems with installed peripheral devices, controlling the viewpoint of an imaging apparatus without using follow-up markers is challenging, especially when performing maintenance tasks remotely, as follow-up markers can be hidden behind other devices, complicating the follow-up control of the imaging apparatus.
Innovation Solution
A robot system that includes a control apparatus capable of controlling both the robot apparatus and the imaging apparatus, allowing the imaging apparatus to follow the movement of a predetermined part of the robot apparatus based on its path, even when the robot is moved, thereby eliminating the need for follow-up markers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If follow-up markers are used to control the viewpoint of the imaging apparatus, then the imaging apparatus can follow the movement of the robot apparatus, but the follow-up markers may be hidden behind peripheral devices, making follow-up control difficult
Solution Approach 1:
The invention extracts and removes the follow-up markers from the system. Instead of using physical markers attached to the robot, the system calculates the movement trajectory of the robot based on control commands and uses this calculated trajectory to control the imaging apparatus, completely eliminating the need for physical markers that could be hidden by peripheral devices
Solution Approach 2:
The invention replaces the mechanical/optical system of physical follow-up markers with an information-processing system. The control apparatus calculates the robot's movement trajectory from control commands and transmits this information to control the imaging apparatus's viewpoint, substituting physical marker detection with computational trajectory tracking
2Adaptability or versatility
If multiple follow-up markers are provided on different parts of the robot to enable comprehensive follow-up control, then the imaging can cover more areas, but the complexity of the system increases and markers are more likely to be hidden
Solution Approach 1:
The invention makes the control apparatus perform multiple functions: it not only controls the robot apparatus but also calculates the movement trajectory and controls the imaging apparatus. This multi-functional approach eliminates the need for separate follow-up marker systems while maintaining comprehensive imaging capability
Solution Approach 2:
The invention removes the entire follow-up marker system from the configuration, extracting the essential function of trajectory tracking and transferring it to the control apparatus, thereby simplifying the overall system while maintaining adaptability
3Reliability
If the imaging apparatus is controlled to follow the robot movement using image matching processing, then the viewpoint can be maintained, but the processing time and computational load increase
Solution Approach 1:
The invention performs preliminary action by calculating the movement trajectory in advance based on control commands before the robot actually moves. This pre-calculated trajectory information is then used to control the imaging apparatus, avoiding the need for real-time image matching processing during robot movement
Solution Approach 2:
The invention replaces the computational image matching process with a simpler information-processing approach that uses control command data to directly calculate trajectory, significantly reducing computational load and processing time
Data Source
AI summary
A robot system including a robot apparatus and an imaging apparatus includes a control apparatus configured to control the robot apparatus and the imaging apparatus, and the control apparatus controls, based on a path in which a predetermined part of the robot apparatus is moved, a movement of the imaging apparatus to image the predetermined part even if the robot apparatus is moved.