Robot Joint Angle Estimation via Camera Image Analysis
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Solution Overview
Problem
Robots without implemented log functions or dedicated interfaces cannot acquire joint axis angles effectively.
Innovation Solution
A training data generation device and machine learning device system that captures two-dimensional images of robots and estimates joint axis angles using supervised learning, enabling the generation of a trained model to determine joint axis positions and angles from camera-captured images, even without log functions or dedicated interfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a robot is not implemented with a log function or dedicated interface, then the robot structure is simpler and easier to manufacture, but it becomes impossible to acquire joint axis angles
Solution Approach 1:
The patent introduces a camera as an intermediary device to capture images of the robot, and uses image processing algorithms as a mediator to extract joint axis angle information from these images. This intermediary approach allows angle acquisition without requiring direct access to the robot's internal log functions or dedicated interfaces.
Solution Approach 2:
The patent replaces the mechanical/electrical system approach (using log functions or dedicated interfaces within the robot) with an optical system approach (using camera imaging and computer vision). This substitution enables angle measurement through optical field interactions rather than electrical signal access.
2Measurement precision
If log functions or dedicated interfaces are implemented in the robot, then joint axis angles can be acquired directly, but the device complexity increases
Solution Approach 1:
Instead of implementing complex internal systems within the robot, the patent uses an external camera and image processing system as intermediaries to achieve the measurement function. This externalizes the complexity from the robot itself to separate measurement equipment.
Solution Approach 2:
The patent creates a visual copy or representation of the robot's physical state through camera images, and then extracts angle information from this copy rather than accessing the robot's internal data directly. This copying approach simplifies the interaction with the robot system.
3Measurement precision
If traditional methods are used to acquire joint axis angles, then accurate angle data can be obtained, but the ease of operation decreases for robots without log functions
Solution Approach 1:
The system enables the robot to effectively measure its own joint angles through external imaging, where the camera captures the robot's own state and the processing system extracts the angle information autonomously, making the operation easier without requiring special robot functions.
Solution Approach 2:
The patent replaces complex mechanical/electrical access methods with simpler optical imaging methods, making the angle acquisition process easier to implement while maintaining measurement accuracy through image-based extraction.
Data Source
AI summary
A training data generation device generates training data for generating a trained model that takes a two-dimensional image of a robot captured by a camera as well as the distance and tilt between the camera and the robot as inputs, and that estimates angles of a plurality of joint shafts included in the robot when the two-dimensional image was captured and a two-dimensional posture indicating the locations of the centers of the plurality of joint shafts in the two-dimensional image. The training data generation device comprising: an input data acquisition unit for acquiring a two-dimensional image of the robot captured by the camera as well as the distance and tilt between the camera and the robot; and a label acquisition unit for acquiring, as label data, the two-dimensional posture and the angles of the plurality of joint shafts when the two-dimensional image was captured.