Robot Imaging Setup Map for Workpiece Pose Measurement
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Solution Overview
Problem
Existing workpiece picking systems require manual adjustment of measurement parameters to account for various orientations of workpieces, making condition setting time-consuming and labor-intensive.
Innovation Solution
An assistance system that includes an imaging device, a setting unit, a robot, a measurement unit, and a presentation unit to capture images, measure positions and orientations, evaluate results, and present a map showing the correspondence between measurement positions and evaluation results, allowing for easier condition setting.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual adjustment of measurement parameters is performed to account for various orientations of workpieces, then measurement accuracy for different orientations is improved, but the time and effort required for condition setting increases
Solution Approach 1:
The system performs preliminary measurement at multiple predetermined positions before actual workpiece picking. By pre-measuring and evaluating positions in advance, the system identifies optimal measurement positions and parameters beforehand, eliminating the need for time-consuming manual adjustment during operation. The evaluation unit assesses measurement results at each position and stores optimal parameters for later use.
Solution Approach 2:
The system automatically determines optimal measurement positions and parameters through the evaluation unit, which autonomously assesses measurement results and identifies suitable positions without manual intervention. The system serves itself by automatically selecting and storing optimal measurement conditions based on evaluated data, reducing dependency on manual operator input.
2Adaptability or versatility
If multiple measurement positions are evaluated to find optimal settings for various workpiece orientations, then adaptability to different orientations is improved, but device complexity increases
Solution Approach 1:
The system divides the measurement space into multiple discrete predetermined positions around the workpiece. By segmenting the continuous orientation space into discrete measurement positions, the system can systematically evaluate each position independently. This segmentation allows comprehensive coverage of different orientations while maintaining manageable system complexity through structured position evaluation.
Solution Approach 2:
The measurement system is designed to operate at multiple predetermined positions, making it universally applicable to various workpiece orientations. The same imaging device and evaluation unit serve multiple measurement positions, providing multi-functional capability that adapts to different orientations without requiring separate specialized systems for each orientation.
Data Source
AI summary
An assistance system includes: an imaging device configured to perform image capturing of an object; a setting unit configured to set a movement range of the imaging device; a robot configured to sequentially move the imaging device to a plurality of measurement positions within the movement range; a measurement unit configured to measure, for each of the plurality of measurement positions, position and orientation of the object by using a captured image obtained by the image capturing by the imaging device; an evaluation unit configured to evaluate a measurement result by the measurement unit; and a presentation unit configured to present a map representing a correspondence relationship between each of the plurality of measurement positions and an evaluation result by the evaluation unit. Such an assistance system can assist condition setting when measuring the position and orientation of the object in consideration of a possible orientation of the object.