Robot Imaging Viewpoint Control Without Follow-Up Markers
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Solution Overview
Problem
Existing robot systems face difficulties in controlling the viewpoint of an imaging apparatus without using follow-up markers, especially when peripheral devices obstruct the view, making it challenging to perform maintenance tasks remotely in factory environments.
Innovation Solution
A robot system that includes a control apparatus capable of controlling the movement of the imaging apparatus based on the path of a predetermined part of the robot apparatus, allowing the imaging apparatus to continuously observe the robot's movement without the need for follow-up markers, by calculating and adjusting the imaging viewpoints to match the robot's trajectory and account for communication delays.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If follow-up markers are provided on robot parts to enable viewpoint control of imaging apparatus, then the imaging apparatus can follow robot movement, but the markers may be hidden behind peripheral devices making follow-up control difficult
Solution Approach 1:
The invention extracts the viewpoint control function from marker-based methods and implements it through image processing of the robot apparatus itself. The control apparatus acquires images from the imaging apparatus, detects the robot apparatus position and orientation in those images, and generates control commands to move the imaging apparatus accordingly, eliminating the need for physical markers that can be obscured.
Solution Approach 2:
The invention creates a virtual model of the robot apparatus by detecting its position and orientation in images. This virtual representation serves as a copy that enables viewpoint control without requiring physical markers on the actual robot. The control apparatus uses this detected information to generate appropriate control commands for the imaging apparatus.
2Adaptability or versatility
If multiple follow-up markers are installed on robot parts to enable comprehensive viewpoint control, then all robot parts can be tracked, but the complexity of the system increases due to marker installation and potential occlusion
Solution Approach 1:
The invention makes the imaging apparatus itself serve multiple functions: it both captures images of the robot apparatus and provides viewpoint control. The control apparatus processes images from this single imaging apparatus to detect robot position and orientation, then uses this information to control the imaging apparatus movement, eliminating the need for separate marker systems and reducing overall system complexity.
Solution Approach 2:
The robot apparatus serves its own viewpoint control needs through image processing. By detecting the robot's own position and orientation in the images captured by the imaging apparatus, the system enables self-following capability without requiring external markers or additional tracking infrastructure.
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.